CN104003192B - Silver net conveying for negative plate automatic production line picks and places method and device - Google Patents

Silver net conveying for negative plate automatic production line picks and places method and device Download PDF

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Publication number
CN104003192B
CN104003192B CN201410250778.8A CN201410250778A CN104003192B CN 104003192 B CN104003192 B CN 104003192B CN 201410250778 A CN201410250778 A CN 201410250778A CN 104003192 B CN104003192 B CN 104003192B
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CN
China
Prior art keywords
silver
net
negative plate
colored
catching robot
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Expired - Fee Related
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CN201410250778.8A
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Chinese (zh)
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CN104003192A (en
Inventor
杨建国
李蓓智
谢卫
吕士银
倪作恒
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Donghua University
Shanghai Institute of Space Power Sources
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Donghua University
Shanghai Institute of Space Power Sources
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Priority to CN201410250778.8A priority Critical patent/CN104003192B/en
Publication of CN104003192A publication Critical patent/CN104003192A/en
Application granted granted Critical
Publication of CN104003192B publication Critical patent/CN104003192B/en
Expired - Fee Related legal-status Critical Current
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10Energy storage using batteries

Abstract

The invention provides a kind of silver net conveying for negative plate automatic production line and pick and place method and device.The described conveying of the silver net for negative plate automatic production line fetching device comprises Timing Belt, Timing Belt connects drive motor and change speed gear box respectively, the rotating shaft of change speed gear box connects silver-colored net rotating disk, drive motor is fixed on support, support is positioned on silver-colored net turntable support, silver net rotating disk is provided with multiple silver net and places station, main conveyor line pallet is located on negative plate main pipeline, negative plate main pipeline is provided with transmission support, transmission support is provided with manipulator and transmits belt wheel and the first guide rail, belt conveyor is fixedly connected with catching robot, catching robot can be placed between station along the silver-colored net feed station of the first guide rail on negative plate main pipeline and the silver net on silver-colored net rotating disk and move around under the drive of belt conveyor.The present invention can realize the full automaticity conveying of silver net and capture, and alleviates the labour intensity of workman.

Description

Silver net conveying for negative plate automatic production line picks and places method and device
Technical field
The silver net conveying that the present invention relates to for negative plate automatic production line picks and places method and device.
Background technology
Negative plate is the critical component of zinc-silver oxide cell, and the silver-colored net important conductive component that to be zinc-silver negative plate shaping, in zinc-silver negative plate automatic moulding manufacturing line, silver net conveying process is most important, silver net transfer position precision height, the direct relations such as the stability drawn the quality of production of negative plate, this silver-colored net picks and places carrying method and equipment special access position precision is high, good stability when picking and placeing, not easily drop, the manual randomness of placing silver net of workman can be reduced, fugitiveness, improve the negative plate quality of production, in minimizing negative plate product, toxic substance is to the injury of workman's health, also may be used for other similarly raw-materially to pick and place and carry.
Zinc-silver negative plate battery is widely used in aerospace and military industry field, silver net is the crucial conductive component of zinc-silver negative plate, be welded to form by silver-colored network framework and white fungus, its made of soft, thickness is thin, overall easily flexural deformation, net structure is not easily drawn, silver net weld size precision own is not high, in zinc-silver negative plate automatic forming manufacturing line, require by be accurately placed on shaping negative plate framed in, placement location is inaccurate will directly cause negative plate to be scrapped, the automatic transport of silver net and to pick and place be the shaping critical process of negative plate, direct relation the quality of negative plate Forming Quality, therefore exploitation is badly in need of a kind of stable, efficiently, high-precision conveying and pick and place silver net automation equipment special.
Summary of the invention
The special for automatic that picks and places and carry that technical matters to be solved by this invention is to provide a kind of negative plate silver net is equipped, to improve transport efficiency and the precision of silver net, the final injury ensureing the steady quality that negative plate is shaping and avoid toxic substance healthy to workman.
In order to solve the problems of the technologies described above, the invention provides a kind of silver net for negative plate automatic production line conveying fetching device, it is characterized in that, comprise manipulator and transmit belt wheel, main conveyor line pallet, belt conveyor, catching robot, first guide rail, vacuum slot, silver net rotating disk, Timing Belt, indexing sensor, drive motor and support, Timing Belt connects drive motor and change speed gear box respectively, the rotating shaft of change speed gear box connects silver-colored net rotating disk, drive motor is fixed on support, support is positioned on silver-colored net support for rotary disc, silver net rotating disk is provided with multiple silver net and places station, main conveyor line pallet is located on negative plate main pipeline, negative plate main pipeline is provided with transmission support, transmission support is provided with manipulator and transmits belt wheel and the first guide rail, belt conveyor is taken turns by motor drive machinery hand belt conveyor and is driven, belt conveyor is fixedly connected with catching robot, catching robot can be placed between station along the silver-colored net feed station of the first guide rail on negative plate main pipeline and the silver net on silver-colored net rotating disk and move around under the drive of belt conveyor, catching robot lower end is provided with vacuum slot.
Preferably, described catching robot comprises catching robot body, catching robot body is fixedly connected with conveying slide block, conveying slide block to be located on the first guide rail and can be placed between station along the silver net in the silver-colored net feed station of the first guide rail on negative plate main pipeline and silver-colored net rotating disk and moves around, the two ends up and down of catching robot body are respectively provided with a belt wheel supporting seat, belt wheel supporting seat is provided with belt wheel, one of them belt wheel connects the motor shaft of stepping motor, belt wheel is provided with belt, belt is fixed with crawl slide block, crawl slide block is positioned on the second guide rail and also freely can slides up and down along the second guide rail, capture slide block and connect slide bar, slide bar connects connecting panel, connecting panel connecting locating mechanism and vacuum slot, vacuum adapter to be positioned on connecting panel and to communicate with vacuum slot, vacuum adapter connects vacuum pump.
More preferably, described detent mechanism comprises rebound, and rebound connects connecting panel, and rebound connects guide pillar, and guide pillar connected positioning plate, is provided with locating taper pin on the downside of locating plate, and guide pillar outer ring is around spring.
More preferably, the top of described catching robot body is provided with limit sensors, and the mobile sensing part of limit sensors is positioned on conveying slide block.
Preferably, described silver-colored net support for rotary disc is also provided with indexing sensor, and indexing sensor is corresponding with the station of drive motor rotating shaft.
Preferably, described silver-colored net rotating disk is evenly provided with 20 silver nets and places station, and silver-colored net is positioned at silver net and places on station, and the position of white fungus inwardly.
Present invention also offers a kind of silver-colored net automatic capturing and carrying method, it is characterized in that, adopt the above-mentioned conveying of the silver net for negative plate automatic production line fetching device, concrete steps comprise:
The first step: each silver net that silver-colored net is put on silver-colored net rotating disk is placed on station and positions; Start drive motor and stepping motor, initial position got back to by catching robot and silver-colored net rotating disk, opened by vacuum pump, and now catching robot is positioned at directly over silver net;
Second step: main pipeline pallet by framed be transported to silver-colored net feed station time, signal is captured to catching robot, now stepping motor drives belt and captures slide block and moves downward along the second guide rail, when the detent mechanism be connected with slide bar and vacuum slot are moved down into predeterminated position, the relative position of silver-colored net and catching robot is reserved by locating taper pin, then vacuum slot is opened and is drawn on catching robot by whole silver-colored net, and the vacuum slot of catching robot and the silver-colored net upward movement of absorption thereof arrive upper limit position;
3rd step: manipulator belt conveyor wheel drive belt conveyor, by conveying slide block at the first slide on rails, catching robot is delivered to framed directly over position, and move downward according to predeterminated position, arrive lower position time, vacuum slot close, silver net is accurately positioned over framed in;
4th step: stepping motor drives belt and captures slide block and moves up to initial position along the second guide rail, manipulator belt conveyor wheel drives belt conveyor, by conveying slide block at the first slide on rails, catching robot is transmitted back to initial position, drive motor drives Timing Belt to rotate, and silver-colored net rotating disk turns to next silver-colored net feed station just, and indexing sensor produces signal, drive motor stop motion, prepares the conveying carrying out lower a slice silver net.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention can realize the full automaticity conveying of silver net and capture, alleviate the labour intensity of workman, avoid and manual place position inaccuracy that silver-colored net is and the problem such as randomness is large, improve negative plate Forming Quality, effective minimizing negative plate forming process workman contacts objectionable impurities when placing silver net, substantially increases the quality of production and efficiency.
Accompanying drawing explanation
Fig. 1 is silver-colored web frame schematic diagram;
Fig. 2 is the silver net conveying fetching device structural representation for negative plate automatic production line;
Fig. 3 is catching robot front view;
Fig. 4 is catching robot lateral plan;
Fig. 5 is that the present invention's silver net captures positioning correcting schematic diagram.
In figure: 1-manipulator transmits belt wheel; 2-main conveyor line pallet; 3-framed; 4-belt conveyor; 5-silver-colored net; 6-catching robot; 7-the first guide rail; 8-vacuum slot; 9-silver-colored net rotating disk; 10-Timing Belt; 11-indexing sensor; 12-drive motor; 13-support; 14-limit sensors; 15-capture slide block; 16-the second guide rail; 17-belt; 18-belt wheel; 19-slide bar; 20-belt wheel supporting seat; 21-connecting panel; 22-stepping motor; 23-conveying slide block; 24-guide pillar; 25-spring; 26-vacuum adapter; 27-locating plate; 28-rebound; 29-locating taper pin, 30-mesh skeleton, 31-white fungus.
Detailed description of the invention
Below in conjunction with specific embodiment, set forth the present invention further.These embodiments are only not used in for illustration of the present invention and limit the scope of the invention.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after the content of having read the present invention's instruction.
Embodiment 1
As shown in Figure 1, for silver-colored web frame schematic diagram, described silver-colored net comprises mesh skeleton 30 and white fungus 31, as shown in Figure 2, for the silver net conveying fetching device structural representation for negative plate automatic production line, the described conveying of the silver net for negative plate automatic production line fetching device transmits belt wheel 1 primarily of manipulator, main conveyor line pallet 2, belt conveyor 4, catching robot 6, guide rail 7, vacuum slot 8, silver net rotating disk 9, Timing Belt 10, indexing sensor 11, drive motor 12 and support 13 form, described Timing Belt 10 connects drive motor 12 and change speed gear box respectively, the rotating shaft of change speed gear box connects silver-colored net rotating disk 9, drive motor 12 is fixed on support 13, support 13 is positioned on silver-colored net support for rotary disc, silver net rotating disk 9 is provided with multiple silver net and places station, main conveyor line pallet 2 is located on negative plate main pipeline, negative plate main pipeline is provided with transmission support, transmission support is provided with manipulator and transmits belt wheel 1 and the first guide rail 7, belt conveyor 4 transmits belt wheel 1 by motor drive machinery hand and drives, belt conveyor 4 is fixedly connected with catching robot 6, catching robot 6 can be placed between station along the silver-colored net feed station of the first guide rail 7 on negative plate main pipeline and the silver net on silver-colored net rotating disk 9 and move around under the drive of belt conveyor 4, catching robot 6 lower end is provided with vacuum slot 8.Described silver-colored net support for rotary disc is also provided with indexing sensor 11, and indexing sensor 11 is corresponding with the station of drive motor 12 rotating shaft.Described silver-colored net rotating disk 9 is evenly provided with 20 silver nets and places station, and silver-colored net 5 is positioned on each station of silver-colored net rotating disk 9, and the position of white fungus inwardly.20 silver nets that silver net 5 is positioned over silver-colored net rotating disk 9 are in advance placed on station, silver net rotating disk 9 carries out 20 calibration by indexing sensor 11, namely a slice silver net 5 is carried, rotate 30 °, next one silver net is placed station and forwards transfer position to, when silver-colored net rotating disk 9 turns to feed station, catching robot 6 vertical downward movement, now to be positioned with the knock hole of silver-colored net 5 by locating taper pin 29 and coordinate, determine the relative position of silver-colored net 5 and catching robot 6, now complete the location of silver net conveying, then white fungus 31 is adsorbed by the vacuum slot 8 on catching robot 6, full wafer silver net 5 is adsorbed on catching robot 6, complete grasping movement.
As shown in Figure 3, described catching robot 6 comprises catching robot body, catching robot body is fixedly connected with conveying slide block 23, conveying slide block 23 to be located on the first guide rail 7 and can be placed between station along the silver net in the silver-colored net feed station of the first guide rail 7 on negative plate main pipeline and silver-colored net rotating disk 9 and moves around, the two ends up and down of catching robot body are respectively provided with a belt wheel supporting seat, belt wheel supporting seat is provided with belt wheel 18, as shown in Figure 4, one of them belt wheel 18 connects the motor shaft of stepping motor 22, belt wheel 18 is provided with belt 17, belt 17 is fixed with and captures slide block 15, crawl slide block 15 is positioned on the second guide rail 16 and also freely can slides up and down along the second guide rail 16, capture slide block 15 and connect slide bar 19, slide bar 19 is fixedly connected with connecting panel 21, connecting panel 21 connecting locating mechanism and vacuum slot 8, vacuum adapter 26 to be positioned on connecting panel 21 and to communicate with vacuum slot 8, vacuum adapter 26 connects vacuum pump.Described detent mechanism comprises rebound 28, rebound 28 connects connecting panel 21, rebound 28 connects guide pillar 24, guide pillar 24 connected positioning plate 27, locating taper pin 29 is provided with on the downside of locating plate 27, guide pillar 24 outer ring is around spring 25, and the top of described catching robot body is provided with limit sensors 14, and the mobile sensing part of limit sensors 14 is positioned on conveying slide block 15.
Adopt the above-mentioned conveying of the silver net for negative plate automatic production line fetching device to carry out silver-colored net automatic capturing and carrying method, concrete steps are:
The first step: warming-up exercise before silver net captures and carries: before starting the crawl of silver net and conveying, first Switching Power Supply is opened, vacuum pump switch is opened, is put into silver-colored net 5 on each silver net placement station on silver-colored net rotating disk 9 and positions; Start drive motor 12 and stepping motor 22, initial position got back to by catching robot 6 and silver-colored net rotating disk 9, opened by vacuum pump, and now catching robot 6 is positioned at directly over silver-colored net 5;
Second step: treat that silver net captures the front warming-up exercise of conveying and completes, after main pipeline provides silver net conveying signal, start silver-colored net grasping movement, it is specific as follows: when main pipeline pallet 2 is transported to silver-colored net feed station by framed 3, signal is captured to catching robot 6, now stepping motor 22 drives belt 17 and captures slide block 15 and moves downward along the second guide rail 16, when the detent mechanism be connected with slide bar 19 and vacuum slot 8 are moved down into predeterminated position, silver-colored net 5 is reserved with the relative position of catching robot 6 by locating taper pin 29, then vacuum slot 8 is opened and is drawn on catching robot 6 by whole silver-colored net 5, as shown in Figure 5, the vacuum slot 8 of catching robot 6 and silver-colored net 5 upward movement of absorption thereof, when arriving upper limit position, whole catching robot completes silver-colored net grasping movement.
3rd step: after completing silver-colored net grasping movement, then conveying and the placement of silver net is carried out, specific as follows: manipulator transmits belt wheel 1 and drives belt conveyor 4, slided on the first guide rail 7 by conveying slide block 23, position directly over catching robot 6 is delivered to framed 3, stepping motor 22 drives belt 17 and captures slide block 15 and moves downward along the second guide rail 16, when arriving lower position, vacuum slot 8 is closed, and is accurately positioned in framed 3 by silver-colored net 5;
4th step: complete the conveying of silver net and place after action, return initial position immediately, carry out next silver net and capture circulation, silver net dial rotation, next is placed the station rotary of silver net to transfer position, specific as follows: stepping motor 22 drives belt 17 and captures slide block 15 and moves up to initial position along the second guide rail 16, manipulator transmits belt wheel 1 and drives belt conveyor 4, slided on the first guide rail 7 by conveying slide block 23, catching robot 6 is transmitted back to initial position, drive motor 12 drives Timing Belt 10 to rotate, drive motor 12 rotates a circle, silver net rotating disk 9 rotates 30 ° just to next silver-colored net feed station, indexing sensor 11 produces signal, drive motor 12 stop motion, treat main pipeline next one conveying signal, prepare the conveying carrying out lower a slice silver net.

Claims (7)

1. the conveying of the silver net for a negative plate automatic production line fetching device, it is characterized in that, comprise manipulator and transmit belt wheel (1), main conveyor line pallet (2), belt conveyor (4), catching robot (6), first guide rail (7), vacuum slot (8), silver net rotating disk (9), Timing Belt (10), indexing sensor (11), drive motor (12) and support (13), Timing Belt (10) connects drive motor (12) and change speed gear box respectively, the rotating shaft of change speed gear box connects silver-colored net rotating disk (9), drive motor (12) is fixed on support (13), support (13) is positioned on silver-colored net support for rotary disc, silver net rotating disk (9) is provided with multiple silver net and places station, main conveyor line pallet (2) is located on negative plate main pipeline, negative plate main pipeline is provided with transmission support, transmission support is provided with manipulator and transmits belt wheel (1) and the first guide rail (7), belt conveyor (4) transmits belt wheel (1) by motor drive machinery hand and drives, belt conveyor (4) is fixedly connected with catching robot (6), catching robot (6) can be placed between station along the silver-colored net feed station of the first guide rail (7) on negative plate main pipeline and the silver net on silver-colored net rotating disk (9) and move around under the drive of belt conveyor (4), catching robot (6) lower end is provided with vacuum slot (8).
2. as claimed in claim 1 for the silver net conveying fetching device of negative plate automatic production line, it is characterized in that, described catching robot (6) comprises catching robot body, catching robot body is fixedly connected with conveying slide block (23), conveying slide block (23) is located at upper also can the placement between station along the silver net in the silver-colored net feed station of the first guide rail (7) on negative plate main pipeline and silver-colored net rotating disk (9) of the first guide rail (7) and is moved around, the two ends up and down of catching robot body are respectively provided with a belt wheel supporting seat, belt wheel supporting seat is provided with belt wheel (18), one of them belt wheel (18) connects the motor shaft of stepping motor (22), belt wheel (18) is provided with belt (17), belt (17) is fixed with and captures slide block (15), crawl slide block (15) is positioned at the second guide rail (16) and above also freely can slides up and down along the second guide rail (16), capture slide block (15) and connect slide bar (19), slide bar (19) connects connecting panel (21), connecting panel (21) connecting locating mechanism and vacuum slot (8), vacuum adapter (26) is positioned at connecting panel (21) and goes up and communicate with vacuum slot (8), vacuum adapter (26) connects vacuum pump.
3. as claimed in claim 2 for the silver net conveying fetching device of negative plate automatic production line, it is characterized in that, described detent mechanism comprises rebound (28), rebound (28) connects connecting panel (21), rebound (28) connects guide pillar (24), guide pillar (24) connected positioning plate (27), locating plate (27) downside is provided with locating taper pin (29), and guide pillar (24) outer ring is around spring (25).
4. as claimed in claim 2 for the silver net conveying fetching device of negative plate automatic production line, it is characterized in that, the top of described catching robot body is provided with limit sensors (14), and the mobile sensing part of limit sensors (14) is positioned in conveying slide block (15).
5. as claimed in claim 1 for the silver net conveying fetching device of negative plate automatic production line, it is characterized in that, described silver-colored net support for rotary disc is also provided with indexing sensor (11), and indexing sensor (11) is corresponding with the station of drive motor (12) rotating shaft.
6. as claimed in claim 1 for the silver net conveying fetching device of negative plate automatic production line, it is characterized in that, described silver-colored net rotating disk (9) is evenly provided with 20 silver nets and places station, and silver-colored net (5) is positioned at silver net and places on station, and the position of white fungus inwardly.
7. silver-colored net automatic capturing and a carrying method, is characterized in that, adopt the conveying of the silver net for the negative plate automatic production line fetching device according to any one of claim 1-6, concrete steps comprise:
The first step: each silver net that silver-colored net (5) is put on silver-colored net rotating disk (9) is placed on station and positions; Start drive motor (12) and stepping motor (22), initial position got back to by catching robot (6) and silver-colored net rotating disk (9), opened by vacuum pump, and now catching robot (6) is positioned at directly over silver-colored net (5);
Second step: when framed (3) are transported to silver-colored net feed station by main pipeline pallet (2), signal is captured to catching robot (6), now stepping motor (22) drives belt (17) and captures slide block (15) and moves downward along the second guide rail (16), when the detent mechanism be connected with slide bar (19) and vacuum slot (8) are moved down into predeterminated position, the relative position of silver-colored net (5) with catching robot (6) is reserved by locating taper pin (29), then vacuum slot (8) is opened and is drawn on catching robot (6) by whole silver-colored net (5), the vacuum slot (8) of catching robot (6) and silver-colored net (5) upward movement of absorption thereof arrive upper limit position,
3rd step: manipulator transmits belt wheel (1) and drives belt conveyor (4), by conveying slide block (23) in the upper slip of the first guide rail (7), catching robot (6) is delivered to position directly over framed (3), and move downward according to predeterminated position, when arriving lower position, vacuum slot (8) is closed, and is accurately positioned over by silver-colored net (5) in framed (3);
4th step: stepping motor (22) drives belt (17) and captures slide block (15) and moves up to initial position along the second guide rail (16), manipulator transmits belt wheel (1) and drives belt conveyor (4), by conveying slide block (23) in the upper slip of the first guide rail (7), catching robot (6) is transmitted back to initial position, drive motor (12) drives Timing Belt (10) to rotate, silver net rotating disk (9) turns to next silver-colored net feed station just, indexing sensor (11) produces signal, drive motor (12) stop motion, prepare the conveying carrying out lower a slice silver net.
CN201410250778.8A 2014-06-06 2014-06-06 Silver net conveying for negative plate automatic production line picks and places method and device Expired - Fee Related CN104003192B (en)

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