CN108555942B - Bottom supporting device of lead-acid storage battery grabbing manipulator - Google Patents
Bottom supporting device of lead-acid storage battery grabbing manipulator Download PDFInfo
- Publication number
- CN108555942B CN108555942B CN201810208558.7A CN201810208558A CN108555942B CN 108555942 B CN108555942 B CN 108555942B CN 201810208558 A CN201810208558 A CN 201810208558A CN 108555942 B CN108555942 B CN 108555942B
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- China
- Prior art keywords
- rotating shaft
- bottom supporting
- swing
- fixed plate
- cylinder
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- 239000002253 acid Substances 0.000 title claims abstract description 26
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000008398 formation water Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000001816 cooling Methods 0.000 description 1
Classifications
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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
- B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/06—Lead-acid accumulators
- H01M10/12—Construction or manufacture
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The bottom supporting device of the lead-acid storage battery grabbing manipulator comprises a clamp fixed plate body, wherein at least two hollow bodies with rectangular cross sections are arranged on the clamp fixed plate body, and the opening direction of each hollow body is consistent with the thickness direction of the clamp fixed plate body; a rotating shaft is arranged in each hollow body, penetrates through the clamp fixed plate body and extends out, and the lower part of the rotating shaft is fixedly connected with the swing support plate; the rotating shaft is eccentrically connected with the swing support plate; a bottom supporting rod is arranged above the swing supporting plate, an arc-shaped groove matched with the rotating shaft is formed in the bottom supporting rod, a groove matched with the swing supporting plate is further formed in the bottom of the bottom supporting rod, and the swing supporting plate is connected with the bottom supporting rod through a first connecting pin; an up-down cylinder for controlling the up-down movement of the rotating shaft and a swinging cylinder for controlling the rotation of the rotating shaft are arranged on the clamp fixed plate body; the device greatly reduces the probability of falling off and damaging the battery, ensures the stability of grabbing and conveying, improves the production efficiency, and provides convenience for operators, economy and practicability; simple structure and convenient use.
Description
Technical Field
The invention relates to automatic equipment, in particular to a bottom supporting device for preventing batteries from falling when lead-acid batteries enter and exit a formation water tank.
Background
At present, after acid filling is performed on the lead-acid storage battery, the lead-acid storage battery can generate heat after the acid filling is finished, the lead-acid storage battery needs to be immediately cooled in a water tank, after primary cooling, the lead-acid storage battery is manually moved from a conveying line to a formation water bath tank for formation, after formation is finished, the conveying line is moved to the other end of the formation tank for conveying to a subsequent process, and as the battery generates heat after the acid filling is finished, the manual conveying is unsafe, a manipulator is adopted to grasp the battery, the manipulator comprises a clamp for clamping the battery, the clamp consists of a fixed plate and a movable plate, a clamping jaw is arranged on the movable plate, a power device is arranged on the movable plate, and the power device adjusts the position of the movable plate according to the size of the battery; when grabbing the battery, snatch with the group battery as the unit, because at the manipulator in the in-process of walking, because the clamping force needs to overcome the frictional force between anchor clamps and the battery, if there is not hard up between fixed plate and the movable plate, the battery drops easily, causes the damage.
Disclosure of Invention
In order to solve the problems, the invention provides a bottom supporting device of a lead-acid storage battery grabbing manipulator, which comprises a clamp fixed plate body, wherein at least two hollow bodies with rectangular cross sections are arranged on the clamp fixed plate body, and the opening direction of each hollow body is consistent with the thickness direction of the clamp fixed plate body; a rotating shaft is arranged in each hollow body, penetrates through the clamp fixed plate body and extends out, and the lower part of the rotating shaft is fixedly connected with the swing support plate; the rotating shaft is eccentrically connected with the swing support plate; a bottom supporting rod is arranged above the swing supporting plate, an arc-shaped groove matched with the rotating shaft is formed in the bottom supporting rod, a groove matched with the swing supporting plate is further formed in the bottom of the bottom supporting rod, and the swing supporting plate is connected with the bottom supporting rod through a fixing pin; the fixture fixed plate body is provided with an up-down cylinder for controlling the up-down motion of the rotating shaft and a swinging cylinder for controlling the rotation of the rotating shaft.
Preferably, the fixture fixed plate body is provided with an upper crosspiece and a lower crosspiece, the upper crosspiece and the lower crosspiece penetrate through the rotating shaft and are fixedly connected with the rotating shaft, and piston rods of the upper cylinder and the lower cylinder are connected with the upper crosspiece and the lower crosspiece through upper cylinder bottom installation seats and lower cylinder bottom installation seats.
Preferably, the number of the upper cylinder and the lower cylinder is two.
Preferably, the end part of the rotating shaft is provided with a swing arm, the fixed end of the swing arm is connected with the end part of the rotating shaft, the movable end is connected with a connecting rod, and the movable end and the connecting rod can relatively rotate; one end of the swing cylinder is arranged on the connecting rod through a swing cylinder tail fixing seat, and the other end of the swing cylinder is arranged on the upper crosspiece and the lower crosspiece through an end mounting seat.
Preferably, the number of the hollow bodies with the rectangular cross sections is six, and the outer side of the rotating shaft is provided with a positioning sleeve.
Preferably, the swing support plate is an elliptic cylinder.
Preferably, the rotating shaft and the swing support plate are connected through a second connecting pin.
Preferably, the first connecting pin is connected with the swing support plate through a third connecting pin.
Preferably, the second connecting pin is connected with the swing support plate through a fourth connecting pin.
The invention has the advantages that: according to the invention, the bottom supporting device is arranged on the fixture fixed plate, so that an automatic bottom supporting function is realized, after the fixture grabs a battery, a piston rod of an upper cylinder and a lower cylinder stretches to drive an upper crosspiece to move downwards, a rotating shaft moves downwards, when a locating sleeve of the rotating shaft descends to the bottom of a hollow body, a swinging cylinder stretches to drive a connecting rod to move left, the connecting rod drives a swinging arm to rotate 90 degrees leftwards, the swinging arm drives the rotating shaft to rotate 90 degrees rightwards, and the rotating shaft drives a swinging support plate to rotate 90 degrees rightwards.
When the battery is unloaded, the swing cylinder acts reversely, the swing support plate rotates reversely by 90 degrees, which is equivalent to the retraction of the bottom supporting rod, then the upper cylinder acts reversely, the lower cylinder acts reversely, and the rotating shaft moves upwards, so that the bottom supporting rod is lifted to the position near the clamp fixed plate body.
The device greatly reduces the probability of falling off and damaging the battery, ensures the grabbing and conveying stability, improves the production efficiency, and provides convenience for operators, economy and practicability; and the structure is simple, and the use is convenient.
Drawings
Fig. 1 is a perspective view showing the working state of a bottom supporting device of a lead-acid storage battery grabbing manipulator
Fig. 2 is a perspective view of a bottom supporting device of a lead-acid battery grabbing manipulator when the bottom supporting device is retracted
Fig. 3 is a front view of the lead-acid battery gripping manipulator with the bottom supporting device retracted
Fig. 4 is a side view of the lead-acid battery gripping manipulator with the bottom supporting device retracted
FIG. 5, enlarged schematic view of the joint of the bottom supporting rod and the swing supporting plate
1. The fixture fixed plate body 2, the hollow body 3, the rotary shaft 4, the swing support plate 5, the bottom supporting rod 6, the upper and lower cylinders 7, the swing cylinder 8, the upper and lower crosspieces 9, the swing arm 10, the connecting rod 11, the positioning sleeve 12, the first connecting pin 3, the second connecting pin 13, the third connecting pin 14 and the fourth connecting pin
Detailed Description
The bottom supporting device of the lead-acid storage battery grabbing manipulator comprises a clamp fixed plate body, wherein at least two hollow bodies 2 with rectangular cross sections are arranged on the clamp fixed plate body 1, and the opening direction of the hollow bodies 2 is consistent with the thickness direction of the clamp fixed plate body 1; a rotating shaft 3 is arranged in each hollow body 2, the rotating shaft 3 penetrates through the fixture fixed plate body 1 and extends out, and the lower part of the rotating shaft 3 is fixedly connected with a swinging support plate 4; the rotating shaft 3 is eccentrically connected with the swing support plate 4; a bottom supporting rod 5 is arranged above the swing supporting plate 4, an arc-shaped groove matched with the rotating shaft 3 is formed in the bottom supporting rod 5, a groove matched with the swing supporting plate is further formed in the bottom of the bottom supporting rod, and the swing supporting plate 4 is connected with the bottom supporting rod 5 through a first connecting pin 12; the fixture fixed plate body 1 is provided with an up-and-down cylinder 6 for controlling the up-and-down movement of the rotating shaft 3 and a swinging cylinder 7 for controlling the rotation of the rotating shaft 3.
The fixture fixed plate body 1 is provided with an upper crosspiece 8 and a lower crosspiece 8, the upper crosspiece 8 penetrates through the rotating shaft 3 and is fixedly connected with the rotating shaft 3, and a piston rod of the upper cylinder 6 and the lower cylinder are connected with the upper crosspiece 8 through upper cylinder bottom installation seats and lower cylinder bottom installation seats.
The number of the upper cylinder 6 and the lower cylinder 6 is two.
The end part of the rotating shaft 3 is provided with a swing arm 9, the fixed end of the swing arm 9 is connected to the end part of the rotating shaft 3, the movable end is connected with a connecting rod 10, and the movable end and the connecting rod 10 can relatively rotate; one end of the swinging cylinder 7 is arranged on the connecting rod 10 through a swinging cylinder tail fixing seat, and the other end of the swinging cylinder is arranged on the upper crosspiece 8 through an end mounting seat.
The number of the hollow bodies 2 with rectangular cross sections is six, and the outer side of the rotating shaft 3 is provided with a positioning sleeve 11.
The swing support plate 4 is an elliptic cylinder.
The rotating shaft 3 and the swing support plate 4 are connected through a second connecting pin 13.
The first connecting pin 12 is connected with the swing bracket 4 through a third connecting pin 14.
The second connecting pin 13 is connected with the swing support plate 4 through a fourth connecting pin 15.
The working process of the bottom supporting device of the lead-acid storage battery grabbing manipulator comprises the following steps:
1. adjusting the bottom supporting device to reach the initial position
The upper cylinder 6 and the lower cylinder shrink to drive the upper crosspiece 8 to move to the upper position, and the rotating shaft 3, the swinging support plate 4 and the bottom supporting rod 5 synchronously reach the upper position; the swing cylinder 6 contracts to drive the connecting rod 10 to move right, the swing arm 9 swings 90 degrees to the right, the swing support plate 4 is driven to turn 90 degrees to the left through the rotating shaft 3, the bottom supporting rod 5 is received at a position close to the clamp fixed plate body, and therefore the bottom supporting rod 5 is prevented from touching the battery when the clamp grabs the battery.
2. Bottom supporting step
The clamp descends to the clamp fixed plate body 1 and the bottom surface of the battery for grabbing the battery at a certain distance, the clamp ascends to a certain height, the upper and lower cylinders 6 extend out, the upper and lower crosspieces 8 descend, and the rotating shaft 3, the swing support plate and the bottom supporting rod 5 are driven to descend synchronously. The swinging cylinder 6 stretches out to drive the connecting rod to move left, the swinging arm 9 swings 90 degrees to the left, the swinging support plate 4 is driven to rotate 90 degrees to the right through the rotating shaft 3, the bottom supporting rod 5 rotates outwards along with the swinging support plate 4, and the bottom supporting rod 5 stretches out to prevent the battery from falling.
3. The bottom supporting device is retracted
The clamp moves to a position where a battery needs to be placed, descends to a position where the bottom supporting rod 5 is ionized to a height of about 10mm on the plane of the water tank conveying line, the swinging cylinder 6 contracts to drive the connecting rod to move right, the swinging arm 9 swings right by 90 degrees, the swinging support plate 4 is driven to rotate left by 90 degrees through the rotating shaft, and the bottom supporting rod 5 rotates inwards to a position close to the clamp fixed plate body 1; then the upper cylinder 6 and the lower cylinder are contracted, the rotating shaft 3 drives the bottom supporting rod 5 to rise to the initial position, and meanwhile, the clamp is loosened to put down the battery.
The above-mentioned terms of up, down, left, right and the like are defined in terms of the orientation of the lead-acid battery gripping manipulator when the bottom supporting device is normally used.
While the preferred embodiments and examples of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the above embodiments and examples, and various changes may be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (7)
1. The bottom supporting device of the lead-acid storage battery grabbing manipulator comprises a clamp fixed plate body and is characterized in that at least two hollow bodies (2) with rectangular cross sections are arranged on the clamp fixed plate body (1), and the opening direction of the hollow bodies (2) is consistent with the thickness direction of the clamp fixed plate body (1); a rotating shaft (3) is arranged in each hollow body (2), the rotating shaft (3) penetrates through the clamp fixed plate body (1) and stretches out, and the lower part of the rotating shaft (3) is fixedly connected with a swinging support plate (4); the rotating shaft (3) is eccentrically connected with the swing support plate (4); a bottom supporting rod (5) is arranged above the swing supporting plate (4), an arc-shaped groove matched with the rotating shaft (3) is formed in the bottom supporting rod (5), a groove matched with the swing supporting plate is further formed in the bottom of the bottom supporting rod, and the swing supporting plate (4) is connected with the bottom supporting rod (5) through a first connecting pin (12); an up-down cylinder (6) for controlling the up-down movement of the rotating shaft (3) and a swinging cylinder (7) for controlling the rotation of the rotating shaft (3) are arranged on the clamp fixed plate body (1);
an upper crosspiece (8) and a lower crosspiece (8) are arranged on the clamp fixed plate body (1), the upper crosspiece (8) penetrates through the rotating shaft (3) and is connected with the rotating shaft (3), and a piston rod of the upper and lower air cylinders (6) is connected with the upper crosspiece (8) through upper and lower air cylinder bottom mounting seats;
the end part of the rotating shaft (3) is provided with a swing arm (9), the fixed end of the swing arm (9) is connected with the end part of the rotating shaft (3), the movable end is connected with a connecting rod (10), and the movable end and the connecting rod (10) can rotate relatively; one end of the swing cylinder (7) is arranged on the connecting rod (10) through a swing cylinder tail fixing seat, and the other end of the swing cylinder is arranged on the upper crosspiece (8) through an end mounting seat.
2. The bottom supporting device of the lead-acid storage battery grabbing manipulator according to claim 1, wherein the number of the upper air cylinder and the lower air cylinder (6) is two.
3. The bottom supporting device of the lead-acid storage battery grabbing manipulator according to claim 2 is characterized in that six hollow bodies (2) with rectangular cross sections are arranged, and a positioning sleeve (11) is arranged on the outer side of the rotating shaft (3).
4. The bottom supporting device of the lead-acid storage battery grabbing manipulator according to claim 1, wherein the swinging support plate (4) is an elliptic cylinder.
5. The bottom supporting device of the lead-acid storage battery grabbing manipulator according to claim 4, wherein the rotating shaft (3) and the swinging support plate (4) are connected through a second connecting pin (13).
6. The bottom supporting device of the lead-acid storage battery grabbing manipulator according to claim 5, wherein the first connecting pin (12) is connected with the swinging support plate (4) through a third connecting pin (14).
7. The bottom supporting device of the lead-acid storage battery grabbing manipulator according to claim 6, wherein the second connecting pin (13) is connected with the swinging support plate (4) through a fourth connecting pin (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810208558.7A CN108555942B (en) | 2018-03-14 | 2018-03-14 | Bottom supporting device of lead-acid storage battery grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810208558.7A CN108555942B (en) | 2018-03-14 | 2018-03-14 | Bottom supporting device of lead-acid storage battery grabbing manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108555942A CN108555942A (en) | 2018-09-21 |
| CN108555942B true CN108555942B (en) | 2024-01-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810208558.7A Active CN108555942B (en) | 2018-03-14 | 2018-03-14 | Bottom supporting device of lead-acid storage battery grabbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108555942B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247338B (en) * | 2020-10-09 | 2021-10-08 | 天能集团（河南）能源科技有限公司 | Welding equipment for lead-acid storage battery and using method of welding equipment |
| CN113745633A (en) * | 2021-09-13 | 2021-12-03 | 北京京东乾石科技有限公司 | Blade battery clamping device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009125868A (en) * | 2007-11-26 | 2009-06-11 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| CN102825607A (en) * | 2012-07-13 | 2012-12-19 | 杭州大清智能技术开发有限公司 | Clamp device for assembling and disassembling battery based on dual-stage cylinder |
| CN203063008U (en) * | 2013-01-24 | 2013-07-17 | 福建华橡自控技术股份有限公司 | Tire shaper vulcanizer mechanical gripper |
| CN103287842A (en) * | 2013-05-31 | 2013-09-11 | 江苏三环实业股份有限公司 | Grid transferring mechanism on lead-acid storage battery production line |
| CN203293201U (en) * | 2013-05-20 | 2013-11-20 | 浙江瓿达科技有限公司 | Suction holding type clamp device |
| CN205734993U (en) * | 2016-07-14 | 2016-11-30 | 济南中润自控设备有限公司 | A kind of band rotates the mechanical hand of supporting plate |
| CN208179562U (en) * | 2018-03-14 | 2018-12-04 | 江苏金帆新程装备有限公司 | The backing device of lead-acid accumulator catching robot |
-
2018
- 2018-03-14 CN CN201810208558.7A patent/CN108555942B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009125868A (en) * | 2007-11-26 | 2009-06-11 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| CN102825607A (en) * | 2012-07-13 | 2012-12-19 | 杭州大清智能技术开发有限公司 | Clamp device for assembling and disassembling battery based on dual-stage cylinder |
| CN203063008U (en) * | 2013-01-24 | 2013-07-17 | 福建华橡自控技术股份有限公司 | Tire shaper vulcanizer mechanical gripper |
| CN203293201U (en) * | 2013-05-20 | 2013-11-20 | 浙江瓿达科技有限公司 | Suction holding type clamp device |
| CN103287842A (en) * | 2013-05-31 | 2013-09-11 | 江苏三环实业股份有限公司 | Grid transferring mechanism on lead-acid storage battery production line |
| CN205734993U (en) * | 2016-07-14 | 2016-11-30 | 济南中润自控设备有限公司 | A kind of band rotates the mechanical hand of supporting plate |
| CN208179562U (en) * | 2018-03-14 | 2018-12-04 | 江苏金帆新程装备有限公司 | The backing device of lead-acid accumulator catching robot |
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| Publication number | Publication date |
|---|---|
| CN108555942A (en) | 2018-09-21 |
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