CN107298307A

CN107298307A - The catching robot of lead-acid accumulator

Info

Publication number: CN107298307A
Application number: CN201710615633.7A
Authority: CN
Inventors: 朱新华
Original assignee: Jiangsu Jinfan New Process Equipment Co Ltd
Current assignee: Jiangsu Jinfan New Process Equipment Co Ltd
Priority date: 2017-07-26
Filing date: 2017-07-26
Publication date: 2017-10-27
Anticipated expiration: 2037-07-26
Also published as: CN107298307B

Abstract

The catching robot of lead-acid accumulator, including frame, fixture, the three-dimensional motion for controlling clamp movement；Three-dimensional motion is arranged in frame, and fixture is arranged on the lower section of three-dimensional motion；Fixture includes fixture fixed board, fixture and moves board component and connecting plate；Fixture fixed board is fixed on one end of connecting plate, and fixture moves board component and is slidably disposed on connecting plate；Fixture, which moves board component, includes dynamic board motor and each clamping jaw of the control telescoping mechanism that opposed jaw fixed board is slided on sliding block that sliding block, some clamping jaws being connected with sliding block, control slide block drive whole fixture to move the slip of board component opposed jaw fixed board.Stable using manipulator crawl cell safety under acid environment, fixture moves plate by moving the one-time positioning of board motor, and the secondary positioning of clamping cylinder is clamped so that the clamping force of each battery is consistent, it is to avoid battery comes off during crawl.

Description

The catching robot of lead-acid accumulator

Technical field

The present invention relates to a kind of automation equipment, the machinery of battery is captured during especially a kind of chemical conversion for lead-acid accumulator Hand.

Background technology

After current lead-acid accumulator assembling acid filling, acid filling can generate heat after terminating, and need to immediately enter in tank and cool down, by first It is melted into, after chemical conversion terminates, is moved in the other end of electrolytic bath in chemical conversion water bath by manually being moved to from pipeline after cooling Pipeline delivers to later process, because acid filling terminates rear battery-heating, manually carries dangerous, so capturing electricity using manipulator Pond, manipulator includes frame, the fixture three-dimensional motion being arranged in frame, is arranged on below fixture three-dimensional motion Fixture, fixture is made up of one piece of fixed board and one block of dynamic plate, moves size adjusting position of the plate according to battery, when capturing battery, with Battery pack is that unit is captured, and because the size of battery has differences, clamping force is inconsistent, causes during crawl some Battery comes off.

The content of the invention

In order to solve the above problems, the invention provides a kind of catching robot of lead-acid accumulator, including frame, folder The three-dimensional motion of tool, control clamp movement；Three-dimensional motion is arranged in frame, and fixture is arranged on three-dimensional motion Lower section；Fixture includes fixture fixed board, fixture and moves board component and connecting plate；Fixture fixed board is fixed on one end of connecting plate, folder The dynamic board component of tool is slidably disposed on connecting plate；Fixture, which moves board component, includes sliding block, some clamping jaws being connected with sliding block, control Sliding block processed drives whole fixture to move the dynamic board motor of board component opposed jaw fixed board slip and controls each clamping jaw on sliding block The telescoping mechanism that opposed jaw fixed board is slided.

Advantage is：Dynamic board motor moves board component to fixture and carries out Primary Location, then secondary to clamping jaw fixed by telescoping mechanism Position is clamped so that the clamping force of each battery is consistent, enhances the stability of crawl, it is to avoid battery is de- during crawl Fall.

As a kind of preferred scheme, fixture, which moves board component, also includes a screw mandrel, moves board motor and controls to slide by screw mandrel The slip of block.

As a kind of preferred scheme, telescoping mechanism is and clamping jaw quantity identical clamping cylinder, each clamping cylinder control One clamping jaw of system it is flexible.

As a kind of preferred scheme, in addition to the battery blocking mechanism being arranged in frame, battery blocking mechanism passes through Stop support is connected with frame, including long cylinder, stop swing arm；Long cylinder fixing end is connected by air cylinder tailstock and stop support Connect；Stop that swing arm is hinged in stop support, one end and the connection of long cylinder piston rod, the other end set barrier plate；Stop pendulum The swing arm central axis that arm is hinged with stop support is in the direction of motion of battery conveying line.

As a kind of preferred scheme, cylinder of losing heart is set, and cylinder one end of losing heart is arranged on gas between air cylinder tailstock and long cylinder On cylinder tailstock, the cylinder other end of losing heart is connected with long cylinder fixing end.

Advantage is, the blocking mechanism in the present invention shrinks and lifted with long cylinder in off working state, in a high position, no Battery on influence pipeline is fed forward, in working condition, and long cylinder stretches out, and stops that swing arm, to lower swing, is put positioned at stopping Barrier plate on arm can stop battery, and stop the motion of axle that swing arm is hinged with stop support perpendicular to battery conveying line Direction so that stop and more stablize；Cylinder of losing heart is set in the top of long cylinder, when fixture drives battery pack to rise, due to electricity Pool side edge has thrust, and cylinder of losing heart shrinks so that stop that swing arm is swung slightly, it is to avoid scratching battery；

As a kind of preferred scheme, battery pitch control mechanism is set, battery pitch control mechanism includes setting on fixture Put the first Pivot axle on fixture；It is fixedly installed to set between a pair of swing rods, two swing rods in first Pivot axle and visits Rod；Sensing arm is also fixedly installed in first Pivot axle, probe is touched after battery, swing rod drives the first Pivot axle to turn Dynamic, the first Pivot axle dynamic answers the proximity switch that detection sensing arm swing is also set up on arm swing, fixture.

Advantage is：Battery pitch control mechanism is the mechanism for controlling battery pack to put spacing, if proximity switch is sensed Arm swing is answered, illustrates that fixture touches previous Battery pack put down battery pack, under acid environment, is sentenced by mechanical movement conversion Breaking, it is more reliable by optoelectronic induction whether to touch previous Battery pack ratio；

As a kind of preferred scheme, battery neutral gear testing agency is also set up on fixture, battery neutral gear testing agency includes The second Pivot axle and telescopic cylinder on fixture；A support arm and one are fixedly installed in second Pivot axle To pumping arm action, support arm is connected with telescopic cylinder；The base of fixture fixed board and two sides set detecting obstacles plate；Detecting obstacles Two sides of plate are respectively provided with the pin up and down that connection pumping arm action is set in long lumbar hole and lower long lumbar hole, upper long lumbar hole, lower long waist Guide finger is set in hole, and pin drives pumping arm action up and down in upper long lumbar hole up and down；Battery neutral gear testing agency also includes It is arranged on the inductive switch that detecting obstacles plate displacement is detected on fixture.

Advantage is that the region in water bath between two adjacent groups battery pack is referred to as battery neutral area, battery neutral gear detection machine Structure is in off working state, and telescopic cylinder stretches out, and telescopic cylinder drives support arm to show, and support arm drives the second Pivot axle Rotate, the second Pivot axle drives pumping arm action to be swung up, and detecting obstacles plate is moved up with pumping arm action；Battery neutral gear is detected Mechanism is in working condition, and telescopic cylinder shrinks, and telescopic cylinder drives support arm to swing back, and support arm drives the second Pivot axle Rotate, the second Pivot axle drives pumping arm action to lower swing, and detecting obstacles plate is moved down with pumping arm action；Decline in fixture and press from both sides During power taking pond, if inductive switch senses detecting obstacles, plate is moved up, and illustrates that obstacle detection plate is pressed onto battery, i.e. fixture and determined Plate is not in battery pack neutral area.Under acid environment, judge whether to encounter barrier ratio by light inductance by mechanical movement conversion Should be more reliable；

The manipulator of the present invention, under acid environment, captures cell safety reliably by fixture, can position different model Battery, this manipulator is additionally included in the blocking mechanism that off working state does not influence battery to convey, and control battery in water bath In put spacing mechanism and detection fixture fixed board whether two Battery pack neutral gear regions mechanism, automaticity is high.

Brief description of the drawings

Fig. 1, lead-acid accumulator catching robot stereogram

Fig. 2, lead-acid accumulator catching robot partial enlarged drawing

Fig. 3, fixture stereogram

Fig. 4, fixture front view

Fig. 5, fixture move plate side view

Fig. 6, blocking mechanism stereogram

Fig. 7, blocking mechanism side view

Fig. 8, battery pitch control mechanism stereogram

Fig. 9, battery pitch control mechanism front view

Figure 10, battery pitch control mechanism side view

Figure 11, battery neutral gear testing agency stereogram

Figure 12, battery neutral gear testing agency front view

Figure 13, battery neutral gear testing agency side view

1. the ball wire of motor 7. above and below the fixture of 5. installing plate of walking crossbeam 3. pipeline, 4. water bath of frame 2. 6. The blocking mechanism of 8. fixture of bar, 9. battery pitch control mechanism, 10. 11. fixture translation motor of battery neutral gear testing agency 12. 13. the connecting plate 17. of 14. rotary shaft of walking roller, 15. movable motor 16. moves the sliding block of 18. fixture fixed board of board motor 19. The cylinder 20. air cylinder tailstock 26. of 24. stop support of dynamic board component 21. screw mandrel, 22. clamping cylinder, 23. clamping jaw of fixture 25. is losed heart 27. the long swing arm central shaft 29. of cylinder 28. stops the sensing arm of 32. Pivot axle of swing arm 30. barrier plate, 31. bearing 33. 34. the pumping arm action of 39. support arm of proximity switch 35. swing rod, 36. probe, 37. telescopic cylinder, 38. detecting obstacles plate 40. 41. on 42. times long lumbar holes of long lumbar hole clamping jaw support of 44. guide finger of pin, 45. inductive switch 46. about 43.

Embodiment

The manipulator that control battery puts spacing includes frame 1, the three-dimensional motion being arranged in frame, fixture three-dimensional Motion includes fixture X-axis motion, fixture Y-axis motion, fixture Z axis motion.

Fixture X-axis motion is two pairs of walking rollers 13 being arranged on housiung separator 2, and each pair walking roller 13 passes through Axle is connected, and movable motor 15 is set on axle；

Fixture Y-axis motion includes the installing plate 5 being arranged in frame 1, is arranged on the fixture translation of the lower section of installing plate 5 Motor 11, it is arranged on the bottom of installing plate 5 and fixture and translates the rack that electric phase 11 is engaged；

Fixture Z axis motion is arranged on motor 6 above and below the fixture on installing plate 5, one end and the phase of motor above and below fixture 6 Even, the ball screw 7 that the other end is connected with fixture；

The battery pitch control mechanism 9 being arranged on fixture 8 and battery neutral gear testing agency 10, it is arranged in frame 1 Blocking mechanism 12；

Fixture 8 includes fixture fixed board 18 and fixture moves board component 20, in addition to jockey fixed board 18 moves plate group with fixture The connecting plate 16 of part 20, connecting plate is connected with screw mandrel 7, and dynamic board motor 17 is set on connecting plate 16, and fixture fixed board 18 and fixture are dynamic Leading screw is set between board component, the control leading screw of board motor 17 is moved and rotates, leading screw drives fixture to move board component 20 under connecting plate 16 Side is slided, and fixture, which moves board component 20, includes the sliding block 19 being connected with connecting plate, several clamping jaws 23 being slidably connected with sliding block 19, And several control the clamping cylinder 22 that each clamping jaw 23 is slided respectively, clamping cylinder 22, which shrinks, drives clamping jaw to slide, clamping jaw 23 outsides set clamping jaw support 4, to support clamping cylinder 22 and clamping jaw 23.

Blocking mechanism 12 includes stop support 24, the air cylinder tailstock 25 being arranged in stop support 24 and air cylinder tailstock 25 Connection cylinder 26 of losing heart, be arranged on the long cylinder 27 for the lower end of cylinder 26 of losing heart, stop support 24 be hinged on by swing arm central shaft 28 The stop swing arm 29 of bottom, stops that one end of swing arm is connected with the long piston rod of cylinder 27, the other end sets barrier plate 30；

Battery pitch control mechanism 9 includes being arranged on the first bearing in fixture fixed board 18, first through the first bearing Pivot axle, the sensing arm 33 being fixedly installed in the first Pivot axle, the proximity switch 34 being arranged on connecting plate 16, A pair of swing rods 35 of the first pivot shaft end are fixedly installed on, include the probe 36 of two swing rods 35 of connection.

Battery neutral gear testing agency 10 includes being arranged on the second bearing in fixture fixed board 18, second through the second bearing Pivot axle, the detecting obstacles plate 38 for being coated on the periphery of fixture fixed board 18, the telescopic cylinder 37, one being arranged on connecting plate 16 End is fixedly installed on the support arm 39 of second Pivot axle other end connection telescopic cylinder 37, one end and is fixedly installed on the second rotation Turning the central shaft other end, even slip connects a pair of pumping arm action 40 of detecting obstacles plate 38, is arranged on connecting plate 16 and detecting obstacles It is provided with the relative inductive switch 45 of plate 38, detecting obstacles plate 38 in long lumbar hole 41 and lower long lumbar hole 42, upper long lumbar hole 41 Set and guide finger 44 is set in pin 43 up and down of connection pumping arm action 40, lower long lumbar hole 42.

First bearing and the second bearing can be the bearing 31 in same bearing, such as the present embodiment accompanying drawing；In first rotation Heart axle and the second Pivot axle can be the Pivot axle 32 in same central shaft, such as the present embodiment accompanying drawing.

Battery pack includes six batteries in the present embodiment, and battery pack is conveyed by belt conveyor line 3, due to the size of battery Have differences, therefore fixture moves board component 20 and is made up of six pieces of clamping jaws 23, the quantity of clamping jaw is identical with the quantity of battery, each folder Pawl is connected with clamping cylinder 22 respectively, and the quantity of clamping jaw is identical with the quantity of clamping cylinder 22, can so ensure each battery On clamping force be consistent, fixture is an entirety when moving board component positioning, clamping cylinder single movement, enhancing fixture gripping The stability of battery, it is to avoid during using one block of dynamic plate, due to the difference in size of battery, and causes during crawl some Battery comes off.

Crawl battery enters the process of water bath：

(1) movable motor 15 is started so that walking roller 13 is in rotary moving on walking crossbeam 2, drives fixture to move to water The position of bath 4, walking braking；

(2) blocking mechanism is in off working state, and long cylinder 27 shrinks, and stops that swing arm 29 is lifted up with long cylinder 27； When blocking mechanism works, long cylinder 27 stretches out, and stops swing arm 29 to lower swing, barrier plate 30 is touched after battery, above and below fixture Motor 6 starts, and passes through ball leading screw driving mode so that fixture 8 declines, and now fixture, which moves board component 20 and is positioned at, larger opens shelves Position, it is to avoid the battery in scratching to pipeline 3；

(3) after fixture 8 declines in place, fixture translation motor 11 causes fixture 8 to translate by rack pinion mode, folder Tool fixed board 18 translates close to and contacts battery, and dynamic board motor 17 causes fixture to move board component 20 close to electricity by screw rod transmission mode Pond, fixture moves board component 20 and reserved 30mm of the distance between battery or so, and now clamping cylinder 22 stretches out, and fixture moves board component 20 continue close and clamp to battery, and the stroke of clamping cylinder 22 is 40mm；

(4) complete after pinching action, fixture 8 rises, and fixture 8 is moved to water bath 4, reach the place holder 8 of water bath 4 Drop to water-bath groove height, fixture 8 continues to translate forward, if probe 36 drives the swing backward of central shaft 32, be fixed on central shaft Sensing arm 33 on 32 is swung forward, then proximity switch 34 senses that sensing arm 33 is moved, and illustrates that probe 36 encounters previous row's electricity Pond group, now clamping cylinder 22 unclamp, dynamic board motor 17 drive fixture move board component 20 navigate to it is larger open file location, put down electricity Pond, fixture 8 rises and moves to the position of pipeline 3, starts subsequent cycle.

Crawl battery goes out the process of water bath：

(1) movable motor 15 is started so that walking roller 13 rotates on walking crossbeam 2, drives fixture to move to water bath Position, walking braking, battery in place after, motor 6 starts above and below fixture, passes through ball leading screw driving mode so that under fixture 8 Drop, now fixture move board component 20 be positioned at it is larger open file location, reduction of speed when fixture 8 drops to cell height is high less than battery Recover normal speed after degree；

(2) battery neutral gear testing agency 10 is in off working state, and telescopic cylinder 37 stretches out, and the first swing arm 39 is with flexible gas Cylinder 37 is outwards shown, and the second swing arm 40 moves up to the top of the upper long lumbar hole 41 of detecting obstacles plate 38, and pin 43 is blocked up and down Detecting obstacles plate 38；In working condition, telescopic cylinder 37 is shunk, and the first swing arm 39 is withdrawn with telescopic cylinder 37 is synchronous, and second Swing arm 40 is moved down, and detecting obstacles plate 38 is synchronous to be declined, if detecting obstacles plate 38 encounters battery, and detecting obstacles plate 38 is to moving up Dynamic, inductive switch 45 senses the displacement of detecting obstacles plate 38, illustrates to encounter obstacle during decline in fixture 8, that is, detects Go out fixture fixed board 18 not in two Battery pack neutral areas, the at this moment stopping of fixture 8 declines；

(3) fixture 8 rises to about 20mm in cell height, and fixture 8 translates about 10mm to the direction of pipeline 3, then declines, such as Fruit still detect obstacle, then fixture 8 rises, alarm, the previous row's battery pack of artificial treatment to keep the spacing of two Battery pack groups, Then fixture 8 drops to water-bath groove height, and the action of detecting obstacles is repeatable 1 to 3 time, to reduce manual intervention probability；

(4) fixture 8 moves board motor 17 and is driven by screw mandrel 21 so that fixture moves board component after battery pack neutral gear region 20 navigate to position corresponding with battery length, and clamping cylinder 22 is acted, and clamp battery pack, fixture 8 rises, and moves to conveying The position of line 3, fixture 8 drops to the height of pipeline 3, and clamping cylinder 22 unclamps, and puts down battery, and dynamic board motor, which is positioned at, larger opens shelves Position, while fixture 8 is translated, makes fixture fixed board 18 apart from battery edge about 20mm, fixture 8 rises, and moves to water bath 46 Position, starts subsequent cycle.

Claims

1. the catching robot of lead-acid accumulator, including frame, fixture, the three-dimensional motion for controlling clamp movement；Three-dimensional is transported Motivation structure is arranged in frame, and fixture is arranged on the lower section of three-dimensional motion；Characterized in that, described fixture includes fixture Fixed board, fixture move board component and connecting plate；Fixture fixed board is fixed on one end of connecting plate, and it is slidable that fixture moves board component It is arranged on connecting plate；The fixture, which moves board component, includes sliding block, some clamping jaws being connected with sliding block, control slide block drive entirely Fixture moves dynamic board motor and each clamping jaw of control the opposed jaw fixed board cunning on sliding block that board component opposed jaw fixed board is slided Dynamic telescoping mechanism.

2. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that the fixture moves board component also The slip for passing through screw mandrel control slide block including a screw mandrel, the dynamic board motor.

3. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that the telescoping mechanism is and folder Pawl quantity identical clamping cylinder, each clamping cylinder controls the flexible of clamping jaw.

4. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that also including being arranged in frame Battery blocking mechanism, the battery blocking mechanism is connected by stop support with frame, including long cylinder, stops swing arm；It is long Cylinder fixing end is connected by air cylinder tailstock with stop support；Stop that swing arm is hinged in stop support, one end is lived with long cylinder The connection of stopper rod, the other end sets barrier plate；The swing arm central axis that the stop swing arm is hinged with stop support is in battery The direction of motion of pipeline.

5. lead-acid accumulator according to claim 4 stops manipulator, it is characterised in that described air cylinder tailstock and long gas Cylinder of losing heart is set between cylinder, and cylinder one end of losing heart is arranged on air cylinder tailstock, and the cylinder other end of losing heart is connected with long cylinder fixing end.

6. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that electricity is set on described fixture Pond pitch control mechanism, described battery pitch control mechanism includes the first Pivot axle being arranged on fixture；Described It is fixedly installed in first Pivot axle between a pair of swing rods, two swing rods and probe is set；In the first described Pivot axle also Sensing arm is fixedly installed, probe is touched after battery, swing rod drives the first Pivot axle to rotate, the first Pivot axle drives Sense the proximity switch that detection sensing arm swing is also set up on arm swing, described fixture.

7. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that also set up on described fixture Battery neutral gear testing agency, battery neutral gear testing agency includes the second Pivot axle and the telescopic cylinder being arranged on fixture； A support arm and a pair of pumping arm action are fixedly installed in the second described Pivot axle, support arm is connected with telescopic cylinder； The base of the fixture fixed board and two sides set detecting obstacles plate；Two sides of the detecting obstacles plate are respectively provided with long lumbar hole With lower long lumbar hole, interior set of upper long lumbar hole sets guide finger, sells drive up and down in the pin up and down for connecting pumping arm action, lower long lumbar hole Pumping arm action is up and down in upper long lumbar hole；Described battery neutral gear testing agency also includes being arranged on fixture detecting detection The inductive switch of balk board displacement.