CN107298307B - Grabbing manipulator of lead-acid storage battery - Google Patents
Grabbing manipulator of lead-acid storage battery Download PDFInfo
- Publication number
- CN107298307B CN107298307B CN201710615633.7A CN201710615633A CN107298307B CN 107298307 B CN107298307 B CN 107298307B CN 201710615633 A CN201710615633 A CN 201710615633A CN 107298307 B CN107298307 B CN 107298307B
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- clamp
- battery
- cylinder
- blocking
- swing arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Secondary Cells (AREA)
Abstract
The grabbing manipulator of the lead-acid storage battery comprises a rack, a clamp and a three-way movement mechanism for controlling the clamp to move; the three-way movement mechanism is arranged on the rack, and the clamp is arranged below the three-way movement mechanism; the clamp comprises a clamp fixed plate, a clamp movable plate assembly and a connecting plate; the clamp fixed plate is fixed at one end of the connecting plate, and the clamp movable plate assembly is arranged on the connecting plate in a sliding manner; the clamp movable plate assembly comprises a sliding block, a plurality of clamping jaws connected with the sliding block, a movable plate motor for controlling the sliding block to drive the whole clamp movable plate assembly to slide relative to the clamp fixed plate, and a telescopic mechanism for controlling each clamping jaw to slide on the sliding block relative to the clamp fixed plate. Under the acid environment, adopt this manipulator to snatch battery safety and stability, the anchor clamps movable plate passes through the primary location of movable plate motor to and the secondary location of die clamping cylinder presss from both sides tightly, makes the clamp force of every battery unanimous, has avoided droing at the in-process battery of snatching.
Description
Technical Field
The invention relates to automation equipment, in particular to a manipulator for grabbing batteries during formation of lead-acid storage batteries.
Background
After the conventional lead-acid storage battery is assembled and filled with acid, the lead-acid storage battery can generate heat after the acid filling is finished, the lead-acid storage battery immediately enters a water tank for cooling, the lead-acid storage battery is moved to a formation water bath tank from a conveying line by manpower after primary cooling to be formed, after the formation is finished, the other end of the formation tank is moved to the conveying line to be conveyed to a next procedure, and the battery generates heat after the acid filling is finished.
Disclosure of Invention
In order to solve the problems, the invention provides a grabbing manipulator of a lead-acid storage battery, which comprises a rack, a clamp and a three-way movement mechanism for controlling the clamp to move; the three-way movement mechanism is arranged on the rack, and the clamp is arranged below the three-way movement mechanism; the clamp comprises a clamp fixed plate, a clamp movable plate assembly and a connecting plate; the clamp fixed plate is fixed at one end of the connecting plate, and the clamp movable plate assembly is arranged on the connecting plate in a sliding manner; the clamp movable plate assembly comprises a sliding block, a plurality of clamping jaws connected with the sliding block, a movable plate motor for controlling the sliding block to drive the whole clamp movable plate assembly to slide relative to the clamp fixed plate, and a telescopic mechanism for controlling each clamping jaw to slide on the sliding block relative to the clamp fixed plate.
The advantages are that: the movable plate motor carries out preliminary location to the anchor clamps movable plate subassembly, and rethread telescopic mechanism is tight to the clamping jaw secondary positioning clamp for the clamp force of every battery is unanimous, has strengthened the stability of snatching, has avoided droing of grabbing in-process battery.
Preferably, the clamp moving plate assembly further includes a screw, and the moving plate motor controls the sliding of the slider through the screw.
As a preferable scheme, the telescopic mechanisms are clamping cylinders with the same number as the clamping jaws, and each clamping cylinder controls the telescopic action of one clamping jaw.
As a preferred scheme, the device also comprises a battery blocking mechanism arranged on the rack, wherein the battery blocking mechanism is connected with the rack through a blocking bracket and comprises a long cylinder and a blocking swing arm; the fixed end of the long cylinder is connected with the blocking bracket through a cylinder tail seat; the blocking swing arm is hinged on the blocking bracket, one end of the blocking swing arm is connected with the long cylinder piston rod, and the other end of the blocking swing arm is provided with a blocking plate; the swing arm central shaft for blocking the swing arm and the swing arm hinged with the blocking support is perpendicular to the moving direction of the battery conveying line.
As an optimal scheme, a short cylinder is arranged between a cylinder tailstock and a long cylinder, one end of the short cylinder is arranged on the cylinder tailstock, and the other end of the short cylinder is connected with the fixed end of the long cylinder.
The battery stopping mechanism has the advantages that the stopping mechanism is lifted along with the contraction of the long cylinder in a non-working state and is in a high position, the forward conveying of the battery on the conveying line is not influenced, the long cylinder extends out in a working state, the stopping swing arm swings downwards, the stopping plate on the stopping swing arm can stop the battery, and a shaft of the stopping swing arm, which is hinged with the stopping support, is perpendicular to the movement direction of the battery conveying line, so that the stopping is more stable; the short cylinder is arranged above the long cylinder, and when the clamp drives the battery pack to ascend, the short cylinder contracts due to the fact that the protrusion is arranged on the edge of the battery, so that the swing arm is blocked to slightly swing, and the battery is prevented from being scraped and touched;
as a preferable scheme, a battery spacing control mechanism is arranged on the clamp, and the battery spacing control mechanism comprises a first rotating central shaft arranged on the clamp; a pair of swing rods is fixedly arranged on the first rotating central shaft, and a probe is arranged between the two swing rods; the first rotating central shaft is further fixedly provided with an induction arm, after the probe rod contacts the battery, the oscillating bar drives the first rotating central shaft to rotate, the first rotating central shaft drives the induction arm to swing, and the clamp is further provided with a proximity switch for detecting the swing of the induction arm.
The advantages are that: the battery spacing control mechanism is a mechanism for controlling the arrangement spacing of the battery pack, if the proximity switch senses the swinging of the induction arm, the clamp contacts the previous group of batteries when the battery pack is put down, and whether the previous group of batteries is contacted or not is judged to be more reliable than photoelectric induction through mechanical motion conversion in an acid environment;
as a preferred scheme, a battery neutral position detection mechanism is further arranged on the clamp, and the battery neutral position detection mechanism comprises a second rotating central shaft and a telescopic cylinder which are arranged on the clamp; a support arm and a pair of upper and lower swing arms are fixedly arranged on the second rotating central shaft, and the support arm is connected with the telescopic cylinder; the bottom edge and two side edges of the fixture fixed plate are provided with detection barrier plates; an upper long waist hole and a lower long waist hole are formed in two side edges of the detection barrier plate, an upper pin and a lower pin which are connected with the upper swing arm and the lower swing arm are arranged in the upper long waist hole, a guide pin is arranged in the lower long waist hole, and the upper pin and the lower pin drive the upper swing arm and the lower swing arm to move up and down in the upper long waist hole; the battery neutral position detection mechanism further comprises an inductive switch arranged on the clamp and used for detecting and detecting the displacement of the barrier plate.
The device has the advantages that the area between two adjacent groups of battery packs in the water bath is called as a battery neutral area, when the battery neutral detection mechanism is in a non-working state, the telescopic cylinder extends out, the telescopic cylinder drives the supporting arm to swing out, the supporting arm drives the second rotating central shaft to rotate, the second rotating central shaft drives the upper swing arm and the lower swing arm to swing upwards, and the detection barrier plate moves upwards along with the upper swing arm and the lower swing arm; when the battery neutral position detection mechanism is in a working state, the telescopic cylinder contracts and drives the supporting arm to swing back, the supporting arm drives the second rotating central shaft to rotate, the second rotating central shaft drives the upper swing arm and the lower swing arm to swing downwards, and the detection barrier plate moves downwards along with the upper swing arm and the lower swing arm; in the process that the clamp descends to clamp the battery, if the inductive switch senses that the detection barrier plate moves upwards, the detection barrier plate presses the battery, namely the fixed plate of the clamp is not in the battery pack neutral area. In an acid environment, whether the obstacle is touched is judged more reliably through mechanical motion conversion than through photoelectric induction;
the manipulator provided by the invention can safely and reliably grasp the batteries through the clamp in an acid environment, can position the batteries with different types, and also comprises a blocking mechanism which does not influence the battery transportation in a non-working state, a mechanism for controlling the placing distance of the batteries in a water bath and a mechanism for detecting whether the clamp fixed plate is in the neutral position area of two groups of batteries, so that the automation degree is high.
Drawings
FIG. 1 is a perspective view of a grabbing manipulator of a lead-acid storage battery
FIG. 2 is a partial enlarged view of a grabbing manipulator of a lead-acid storage battery
FIG. 3 is a perspective view of the clamp
FIG. 4, front view of the clamp
FIG. 5 is a side view of the clamp moving plate
FIG. 6 is a perspective view of the blocking mechanism
FIG. 7, side view of the blocking mechanism
FIG. 8 is a perspective view of a battery pitch control mechanism
FIG. 9 is a front view of a battery pitch control mechanism
FIG. 10 is a side view of a battery pitch control mechanism
FIG. 11 is a perspective view of a battery neutral position detection mechanism
FIG. 12 is a front view of a battery neutral detection mechanism
FIG. 13 is a side view of the battery neutral position detection mechanism
1. The automatic clamp device comprises a rack 2, a walking beam 3, a conveying line 4, a water bath 5, an installation plate 6, a clamp up-down motor 7, a ball screw 8, a clamp 9, a battery interval control mechanism 10, a battery neutral position detection mechanism 11, a clamp translation motor 12, a blocking mechanism 13, a walking roller 14, a rotating shaft 15, a walking motor 16, a connecting plate 17, a movable plate motor 18, a clamp fixed plate 19, a sliding block 20, a clamp movable plate assembly 21, a screw 22, a clamping cylinder 23, a clamping jaw 24, a blocking support 25, a cylinder tailstock 26, a short cylinder 27, a long cylinder 28, a swing arm central shaft 29, a blocking swing arm 30, a blocking plate 31, a support 32, a rotating central shaft 33, an induction arm 34, an approach switch 35, a clamping jaw 36, a detection rod 37, a telescopic cylinder 38, a detection obstacle plate 39, a support arm 40, an upper swing arm 41, a lower long waist hole 42, a lower long waist hole 43, an upper pin 44, a lower pin 45, a guide pin 45, an induction switch 46 and a support bracket support
Detailed Description
The manipulator for controlling the placement distance of the batteries comprises a rack 1 and a three-way movement mechanism arranged on the rack, wherein the fixture three-way movement mechanism comprises a fixture X-axis movement mechanism, a fixture Y-axis movement mechanism and a fixture Z-axis movement mechanism.
The X-axis movement mechanism of the clamp is two pairs of walking rollers 13 arranged on the frame beam 2, each pair of walking rollers 13 is connected through a shaft, and a walking motor 15 is arranged on the shaft;
the clamp Y-axis movement mechanism comprises a mounting plate 5 arranged on the rack 1, a clamp translation motor 11 arranged below the mounting plate 5 and a rack arranged at the bottom of the mounting plate 5 and meshed with the clamp translation motor 11;
a clamp Z-axis movement mechanism is arranged on a clamp up-down motor 6 on the mounting plate 5, and a ball screw 7 is connected with the clamp up-down motor 6 at one end and the clamp at the other end;
a battery spacing control mechanism 9 and a battery neutral position detection mechanism 10 which are arranged on the clamp 8, and a blocking mechanism 12 which is arranged on the machine frame 1;
The blocking mechanism 12 comprises a blocking bracket 24, a cylinder tailstock 25 arranged on the blocking bracket 24, a short cylinder 26 connected with the cylinder tailstock 25, a long cylinder 27 arranged at the lower end of the short cylinder 26, and a blocking swing arm 29 hinged at the bottom of the blocking bracket 24 through a swing arm central shaft 28, wherein one end of the blocking swing arm is connected with a piston rod of the long cylinder 27, and the other end of the blocking swing arm is provided with a blocking plate 30;
the battery spacing control mechanism 9 includes a first support disposed on the fixture fixed plate 18, a first rotating central shaft passing through the first support, an inductive arm 33 fixedly disposed on the first rotating central shaft, a proximity switch 34 disposed on the connecting plate 16, a pair of swing rods 35 fixedly disposed on the end of the first rotating central shaft, and a probe 36 connecting the two swing rods 35.
The battery neutral position detection mechanism 10 comprises a second support arranged on a clamp fixed plate 18, a second rotating central shaft penetrating through the second support, a detection barrier plate 38 coated on the periphery of the clamp fixed plate 18, a telescopic cylinder 37 arranged on a connecting plate 16, a supporting arm 39 with one end fixedly arranged on the second rotating central shaft and the other end connected with the telescopic cylinder 37, a pair of upper and lower swing arms 40 with one ends fixedly arranged on the second rotating central shaft and the other end connected with the detection barrier plate 38 in a sliding manner, and an inductive switch 45 arranged on the connecting plate 16 and opposite to the detection barrier plate 38, wherein an upper long waist hole 41 and a lower long waist hole 42 are arranged on the detection barrier plate 38, an upper pin 43 connected with the upper and lower swing arms 40 is arranged in the upper long waist hole 41, and a guide pin 44 is arranged in the lower long waist hole 42.
The first support and the second support may be the same support, such as the support 31 in the drawings of the present embodiment; the first rotation center shaft and the second rotation center shaft may be the same center shaft, such as the rotation center shaft 32 in the drawing of the present embodiment.
The group battery includes six batteries in this embodiment, the group battery passes through belt conveyor line 3 and carries, because there is the difference in the size of battery, consequently anchor clamps movable plate subassembly 20 comprises six clamping jaws 23, the quantity of clamping jaw is the same with the quantity of battery, every clamping jaw links to each other with die clamping cylinder 22 respectively, the quantity of clamping jaw is the same with die clamping cylinder 22's quantity, the clamp force that can guarantee on every battery like this is unanimous, be a whole when anchor clamps movable plate subassembly location, die clamping cylinder moves alone, the stability of battery is got to reinforcing anchor clamps clamp, when having avoided using a movable plate, because the size difference of battery, and lead to that certain battery drops at the in-process of snatching.
The process of grabbing the battery water inlet bath tank comprises the following steps:
(1) Starting a walking motor 15 to enable a walking roller 13 to rotate and move on the walking beam 2 to drive the clamp to move to the position of the water bath 4, and walking and braking;
(2) When the blocking mechanism is in a non-working state, the long air cylinder 27 contracts, and the blocking swing arm 29 is lifted upwards along with the long air cylinder 27; when the blocking mechanism works, the long cylinder 27 extends out to block the swing arm 29 from swinging downwards, after the blocking plate 30 contacts the battery, the clamp up-and-down motor 6 is started, the clamp 8 descends in a ball screw transmission mode, and the clamp movable plate assembly 20 is positioned at a large opening position to avoid scraping the battery on the conveying line 3;
(3) After the clamp 8 descends to a proper position, the clamp translation motor 11 translates the clamp 8 in a gear rack transmission mode, the clamp fixed plate 18 translates to be close to and contact with the battery, the clamp movable plate assembly 20 is close to the battery in a screw rod transmission mode through the movable plate motor 17, the distance between the clamp movable plate assembly 20 and the battery is reserved to be about 30mm, the clamping cylinder 22 extends out at the moment, the clamp movable plate assembly 20 continues to approach the battery and clamp the battery, and the stroke of the clamping cylinder 22 is 40mm;
(4) After the clamping action is finished, the clamp 8 is lifted, the clamp 8 moves towards the water bath 4, the clamp 8 descends to the height of the water bath when reaching the position of the water bath 4, the clamp 8 continues to translate forwards, if the probe 36 drives the central shaft 32 to swing backwards, and the induction arm 33 fixed on the central shaft 32 swings forwards, the proximity switch 34 senses that the induction arm 33 moves, the probe 36 touches the front row of battery packs, at the moment, the clamping cylinder 22 is loosened, the movable plate motor 17 drives the clamp movable plate assembly 20 to be positioned at the large opening position, the battery is put down, the clamp 8 lifts and translates to the position of the conveying line 3, and the next cycle is started.
The process of grabbing the battery water outlet bath tank comprises the following steps:
(1) Starting a walking motor 15 to enable a walking roller 13 to rotate on a walking beam 2 to drive the clamp to move to a water bath position, walking and braking, starting a clamp up-and-down motor 6 after the battery is in place, enabling the clamp 8 to descend in a ball screw transmission mode, positioning a clamp movable plate assembly 20 at a large opening position, decelerating when the clamp 8 descends to the height of the battery, and recovering the normal speed after the clamp 8 is lower than the height of the battery;
(2) When the battery neutral position detection mechanism 10 is in a non-working state, the telescopic cylinder 37 extends out, the first swing arm 39 swings outwards along with the telescopic cylinder 37, the second swing arm 40 moves upwards to the top of the upper long waist hole 41 of the detection barrier plate 38, and the upper pin 43 and the lower pin 43 clamp the detection barrier plate 38; in the working state, the telescopic cylinder 37 contracts, the first swing arm 39 retracts synchronously along with the telescopic cylinder 37, the second swing arm 40 moves downwards, the detection barrier plate 38 descends synchronously, if the detection barrier plate 38 touches the batteries, the detection barrier plate 38 moves upwards, the inductive switch 45 senses the displacement of the detection barrier plate 38, which indicates that the clamp 8 touches the barriers in the descending process, namely the clamp fixed plate 18 is detected not to be in the neutral area of the two groups of batteries, and then the clamp 8 stops descending;
(3) The clamp 8 rises to about 20mm above the height of the battery, the clamp 8 translates about 10mm towards the direction of the conveying line 3 and then descends, if an obstacle is detected, the clamp 8 rises, an alarm is given, the previous row of battery packs is manually processed to keep the distance between the two groups of battery packs, then the clamp 8 descends to the height of the water bath, and the action of detecting the obstacle can be repeated for 1 to 3 times to reduce the probability of manual intervention;
(4) After the clamp 8 is in the neutral area of the battery pack, the movable plate motor 17 enables the clamp movable plate assembly 20 to be positioned at the position corresponding to the length of the battery through transmission of the lead screw 21, the clamping cylinder 22 acts to clamp the battery pack, the clamp 8 rises and translates to the position of the conveying line 3, the clamp 8 descends to the height of the conveying line 3, the clamping cylinder 22 is loosened, the battery is put down, the movable plate motor is positioned at the large opening position, the clamp 8 translates at the same time, the clamp fixed plate 18 is enabled to be about 20mm away from the edge of the battery, the clamp 8 rises and translates to the position of the water bath 46, and the next cycle is started.
Claims (5)
1. The grabbing manipulator of the lead-acid storage battery comprises a rack, a clamp and a three-way movement mechanism for controlling the clamp to move; the three-way movement mechanism is arranged on the rack, and the clamp is arranged below the three-way movement mechanism; the fixture is characterized by comprising a fixture fixed plate, a fixture movable plate assembly and a connecting plate; the clamp fixed plate is fixed at one end of the connecting plate, and the clamp movable plate assembly is arranged on the connecting plate in a sliding manner; the clamp movable plate assembly comprises a sliding block, a plurality of clamping jaws connected with the sliding block, a movable plate motor for controlling the sliding block to drive the whole clamp movable plate assembly to slide relative to the clamp fixed plate, and a telescopic mechanism for controlling each clamping jaw to slide on the sliding block relative to the clamp fixed plate;
the telescopic mechanisms are clamping cylinders with the same number as the clamping jaws, and each clamping cylinder controls the telescopic movement of one clamping jaw;
the clamp is provided with a battery spacing control mechanism, and the battery spacing control mechanism comprises a first rotating central shaft arranged on the clamp; a pair of swing rods is fixedly arranged on the first rotating central shaft, and a probe is arranged between the two swing rods; the first rotating central shaft is fixedly provided with an induction arm, after the probe rod contacts the battery, the oscillating bar drives the first rotating central shaft to rotate, the first rotating central shaft drives the induction arm to swing, and the clamp is further provided with a proximity switch for detecting the swing of the induction arm.
2. The grasping manipulator for lead-acid storage batteries according to claim 1, wherein the clamp moving plate assembly further comprises a lead screw, and the moving plate motor controls the sliding of the sliding block through the lead screw.
3. The grasping manipulator for the lead-acid storage battery according to claim 1, further comprising a battery blocking mechanism arranged on the frame, wherein the battery blocking mechanism is connected with the frame through a blocking bracket and comprises a long cylinder and a blocking swing arm; the fixed end of the long cylinder is connected with the blocking bracket through a cylinder tail seat; the blocking swing arm is hinged on the blocking bracket, one end of the blocking swing arm is connected with the long cylinder piston rod, and the other end of the blocking swing arm is provided with a blocking plate; and the central shaft of the swing arm for blocking the swing arm and the swing arm hinged with the blocking support is vertical to the movement direction of the battery conveying line.
4. The lead-acid storage battery grabbing manipulator of claim 3, wherein a short cylinder is arranged between the cylinder tailstock and the long cylinder, one end of the short cylinder is arranged on the cylinder tailstock, and the other end of the short cylinder is connected with the fixed end of the long cylinder.
5. The grasping manipulator for the lead-acid storage battery according to claim 1, characterized in that a battery neutral position detection mechanism is further arranged on the clamp, and the battery neutral position detection mechanism comprises a second rotating central shaft and a telescopic cylinder which are arranged on the clamp; a support arm and a pair of upper and lower swing arms are fixedly arranged on the second rotating central shaft, and the support arm is connected with a telescopic cylinder; the bottom edge and two side edges of the fixture fixed plate are provided with detection barrier plates; the two side edges of the detection obstacle plate are provided with an upper long waist hole and a lower long waist hole, an upper pin and a lower pin which are connected with the upper swing arm and the lower swing arm are arranged in the upper long waist hole, a guide pin is arranged in the lower long waist hole, and the upper pin and the lower pin drive the upper swing arm and the lower swing arm to move up and down in the upper long waist hole; the battery neutral position detection mechanism further comprises an inductive switch arranged on the clamp and used for detecting and detecting the displacement of the barrier plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710615633.7A CN107298307B (en) | 2017-07-26 | 2017-07-26 | Grabbing manipulator of lead-acid storage battery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710615633.7A CN107298307B (en) | 2017-07-26 | 2017-07-26 | Grabbing manipulator of lead-acid storage battery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107298307A CN107298307A (en) | 2017-10-27 |
| CN107298307B true CN107298307B (en) | 2022-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710615633.7A Active CN107298307B (en) | 2017-07-26 | 2017-07-26 | Grabbing manipulator of lead-acid storage battery |
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| CN (1) | CN107298307B (en) |
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| CN108910467B (en) * | 2018-07-25 | 2020-08-25 | 新昌县捷庭科技有限公司 | High-automation lithium battery sorting equipment |
| CN109436776B (en) * | 2018-09-05 | 2024-01-05 | 华南理工大学 | Material transfer mechanism, transfer method and transfer robot |
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| CN111037536B (en) * | 2019-12-14 | 2023-03-03 | 元创实业(郑州)有限公司 | Material grabbing device and material grabbing method for tail door outer plate and sheet discharging robot |
| CN112249690B (en) * | 2020-12-18 | 2021-04-02 | 杭州景业智能科技股份有限公司 | Remote control's lead acid battery transport truss robot |
| CN114834887B (en) * | 2022-04-26 | 2023-08-22 | 李泉辉 | Battery clamping manipulator, fork part of stacker and stacker |
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| CN103434839A (en) * | 2013-08-29 | 2013-12-11 | 江苏三环实业股份有限公司 | Lead-acid storage battery grid automatic conveying device |
| CN103693417A (en) * | 2013-12-16 | 2014-04-02 | 武汉人天包装技术有限公司 | Carton-grabbing fast steering engine |
| CN205272015U (en) * | 2015-08-25 | 2016-06-01 | 硅密（常州）电子设备有限公司 | General specification cleaning equipment's general machinery hand |
| CN207158304U (en) * | 2017-07-26 | 2018-03-30 | 江苏金帆新程装备有限公司 | The catching robot of lead-acid accumulator |
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2017
- 2017-07-26 CN CN201710615633.7A patent/CN107298307B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2894965Y (en) * | 2006-04-05 | 2007-05-02 | 上海发那科机器人有限公司 | Staking-carrying servo tongs |
| CN201410662Y (en) * | 2009-06-12 | 2010-02-24 | 北京物资学院 | Flexible grabbing system for case |
| CN103419207A (en) * | 2013-08-08 | 2013-12-04 | 上海星路机械设备有限公司 | Robot self-adaptation hand grab for stacking box piece |
| CN103434839A (en) * | 2013-08-29 | 2013-12-11 | 江苏三环实业股份有限公司 | Lead-acid storage battery grid automatic conveying device |
| CN103693417A (en) * | 2013-12-16 | 2014-04-02 | 武汉人天包装技术有限公司 | Carton-grabbing fast steering engine |
| CN205272015U (en) * | 2015-08-25 | 2016-06-01 | 硅密（常州）电子设备有限公司 | General specification cleaning equipment's general machinery hand |
| CN207158304U (en) * | 2017-07-26 | 2018-03-30 | 江苏金帆新程装备有限公司 | The catching robot of lead-acid accumulator |
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| Publication number | Publication date |
|---|---|
| CN107298307A (en) | 2017-10-27 |
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