CN109454664A - A kind of robot device - Google Patents
A kind of robot device Download PDFInfo
- Publication number
- CN109454664A CN109454664A CN201811558481.2A CN201811558481A CN109454664A CN 109454664 A CN109454664 A CN 109454664A CN 201811558481 A CN201811558481 A CN 201811558481A CN 109454664 A CN109454664 A CN 109454664A
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- clamping
- plate
- battery
- driving
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- 230000007246 mechanism Effects 0.000 claims abstract description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 24
- 238000009987 spinning Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000587161 Gomphocarpus Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of robot device, comprising: pedestal is mounted on the driving end of external horizontal drive equipment, moves it under the drive of horizontal drive equipment along horizontal direction；Mechanism, including driving unit, support guide unit and loading plate are driven upside down, driving unit, support guide unit are mounted on pedestal lower part, and the vertical lift end of driving unit is equipped with loading plate, and loading plate is slidably connected with support guide unit；Clamping device is mounted on the loading plate for driving upside down unit, including position adjustment unit and clamping unit, position adjustment unit are mounted on loading plate；The operating member of adjustment unit is arranged in clamping unit；Controller, signal control terminal are connect with the control end signal of the control terminal of the driving unit, the control terminal of position adjustment unit and clamping unit.The beneficial effects of the present invention are: transporting battery by machinery replaces artificial conveying, to improve production efficiency, optimizes battery quality, be more advantageous to production automation.
Description
Technical field
The present invention relates to a kind of robot device more particularly to a kind of manipulators for carrying battery.
Background technique
In cell production process, chemical conversion and etc..In actual production, it usually needs battery is operated barcode scanning, conveying etc.,
Manpower transports battery on the way, is easy to scratch battery, and battery location puts inaccuracy, low efficiency.
Battery is made of ontology and airbag, tab, and airbag and battery body are usually eccentric structure, and when transporting battery, is led to
It need to often occur to act battery rotary etc. and battery pole ear is rotated to be into the same direction or symmetry direction.If clamping eccentric battery air bag structure
Battery conveying when, by battery pole ear rotate to be in the same direction or symmetric position after, left and right two batteries ontology will because rotation not exist
In one plane.
Summary of the invention
To solve the above-mentioned problems, the present invention provide it is a kind of artificial conveying is replaced by mechanical conveying battery, to improve life
Efficiency is produced, optimizes battery quality, is more advantageous to the robot device of production automation.
A kind of robot device of the present invention characterized by comprising
Pedestal is mounted on the driving end of external horizontal drive equipment, it is made to drive lower edge level side in horizontal drive equipment
To movement, mechanism is driven upside down for drive and is moved horizontally to target position；
Drive upside down mechanism, including driving unit, support guide unit and loading plate, the driving unit, support guide list
Member is mounted on pedestal lower part, and the vertical lift end of driving unit is equipped with the loading plate for installing clamping device, loading plate and branch
Support pilot unit is slidably connected, so that loading plate is axially gone up and down under the driving of driving unit along support guide unit；
Clamping device is mounted on the loading plate for driving upside down unit, including position adjustment unit and clamping unit, wherein position
Adjustment unit is mounted on loading plate；The operating member of adjustment unit is arranged in the clamping unit, is used for Automatic-clamping battery；
And controller, the control terminal of signal control terminal and the driving unit, the control terminal of position adjustment unit and
The control end signal of clamping unit connects, for control driving unit, position adjustment unit and clamping unit work normally with
Battery is carried to target position.
The support guide unit includes vertically arranged guide rod and the linear bearing for being inlaid in base bottom, and the guide rod passes through
Corresponding linear bearing is slidably connected with pedestal；The bottom end of the guide rod is fixedly mounted with horizontally disposed loading plate, and in loading plate
It is axially gone up and down under drive along its own.
Totally two sets of the position adjustment unit, it is symmetrically mounted on the bottom for driving upside down the loading plate of unit, including horizontal drive
The mounting portion of unit, rotary drive unit and off-center adjustment apparatus, horizontal driving units is mounted on loading plate, horizontal drive
The horizontal balance portion of unit is located in same horizontal line, and the horizontal balance portion of two sets of horizontal driving units is kept to transport horizontally towards each other
Dynamic or horizontal inverted running, for adjusting the centre distance between the clamping unit that two are oppositely arranged；Rotary drive unit installation
In the horizontal balance portion of horizontal driving units, and keep the spinning movement portion of rotary drive unit can be around the central axis of vertical direction
It swings；The off-center adjustment apparatus is mounted on the spinning movement portion of rotary drive unit, and keeps the dynamic of off-center adjustment apparatus
Make portion to be located in same level to keep the body central face of battery in the same plane；The clamping unit is mounted on institute
The motion end of off-center adjustment apparatus is stated, the two is slidably connected, for clamping in battery transfer to the fixture or pallet of target position.
The off-center adjustment apparatus include off-center adjustment apparatus include intermediate die plate, pneumatic clamper mounting plate, adjusting screw fixed plate,
The spinning movement portion of adjusting screw, pin and scale plate, intermediate die plate and rotary drive unit connects, and adjusting screw is fixed
Plate is fixed on the first side of intermediate die plate, and is equipped with the card slot for being caught in pin；Pneumatic clamper mounting plate is installed on intermediate die plate
Second side, the two is slidably connected, and the glide direction of pneumatic clamper mounting plate and the glide direction of clamping unit are consistent；Pin
It is fixed on pneumatic clamper mounting plate, and pin is caught in adjusting screw fixed plate end along the part that pneumatic clamper mounting plate moving direction stretches out
In the card slot in portion, for adjusting the relative position of pneumatic clamper mounting plate and intermediate die plate；Scale plate is set on intermediate die plate,
For measuring the eccentric moving distance of pneumatic clamper mounting plate.
The clamping unit includes driven for opening and closing unit and a pair of set of jaws being made of two clamping jaws, driven for opening and closing unit
It is mounted on intermediate die plate bottom, and is slidably connected with intermediate die plate, and the driven for opening and closing unit is set for controlling
The operating member of set of jaws closure or openness, wherein the operating member of driven for opening and closing unit is horizontally towards each other or horizontal opposite direction moves；
The signal output end signal connection corresponding with the controller of the control terminal of driven for opening and closing unit, the movement of driven for opening and closing unit
Portion is each to be equipped with a Pneumatic clamping jaw towards battery, forms a pair of set of jaws for being used to clamp battery, passes through and control driven for opening and closing
The operating member of unit is to control the opening or closure of two clamping jaws.
The bottom of the driven for opening and closing unit is provided with an anti-battery and swings backplate, and two pieces of anti-batteries swing backplates are positioned opposite
Form a pair of anti-battery swing backplate group for being clipped in battery surface to prevent battery from shaking during transportation, anti-battery pendulum
Dynamic backplate group is opened under the control of two driven for opening and closing units or closure.
The rotary drive unit is oscillating cylinder.
Driven for opening and closing unit is pneumatic clamper.
The beneficial effects of the present invention are: transporting battery by machinery replaces artificial conveying, so that production efficiency is improved, optimization electricity
Pond quality, is more advantageous to production automation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot device of the present invention.
Fig. 2 is clamping device schematic diagram in the present invention.
Fig. 3 is eccentric adjuster schematic diagram in clamping device of the present invention.
Fig. 4 is eccentric adjuster main view of the invention.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawing.
Referring to attached drawing:
A kind of robot device of the present invention of embodiment 1, comprising:
Pedestal 100 is mounted on the driving end of external horizontal drive equipment, it is made to drive lower edge horizontal in horizontal drive equipment
Direction is mobile, drives upside down mechanism for drive and is moved horizontally to target position；
Drive upside down mechanism 200, including driving unit 210, support guide unit and loading plate 230, the driving unit
210, support guide unit is mounted on 100 lower part of pedestal, and the vertical lift end of driving unit 210 is equipped with for installing clamping device
Loading plate 230, loading plate 230 is slidably connected with support guide unit, so that driving of the loading plate 230 in driving unit 210
It is lower axially to be gone up and down along support guide unit；
Clamping device 300, is mounted on the loading plate for driving upside down unit, including position adjustment unit 301 and clamping unit
302, wherein position adjustment unit 301 is mounted on loading plate 230；The clamping unit 302 is arranged in position adjustment unit
301 operating member is used for Automatic-clamping battery；
And controller, the control terminal of signal control terminal and the driving unit, the control terminal of position adjustment unit and
The control end signal of clamping unit connects, for control driving unit, position adjustment unit and clamping unit work normally with
Battery is carried to target position.
The support guide unit includes vertically arranged guide rod 221 and the linear bearing 222 for being inlaid in base bottom, described to lead
Bar 221 is connect by corresponding linear bearing 222 with 100 vertical sliding motion of pedestal；The bottom end of the guide rod 221 is fixedly mounted with level and sets
The loading plate 230 set, and axially gone up and down under the drive of loading plate 230 along its own.
Totally two sets of the position adjustment unit 301, it is symmetrically mounted on the bottom for driving upside down the loading plate of unit 200, including water
Flat driving unit 310, rotary drive unit 320 and off-center adjustment apparatus 330, the mounting portion installation of horizontal driving units 310
On loading plate 230, the horizontal balance portion of horizontal driving units 310 is located in same horizontal line, and keeps two sets of horizontal drives
The horizontal balance portion of unit 310 moves horizontally towards each other or horizontal inverted running, for adjust clamping unit that two are oppositely arranged it
Between centre distance；Rotary drive unit 320 is mounted on the horizontal balance portion of horizontal driving units, and keeps rotary drive unit
320 spinning movement portion can adjust the angle of off-center adjustment apparatus around the center axis rotation of vertical direction；The eccentric tune
Engagement positions 330 are mounted on the spinning movement portion of rotary drive unit 320, and the operating member of off-center adjustment apparatus 330 is kept to be located at
To keep the body central face of battery in the same plane in same level；The clamping unit 302 is mounted on described inclined
The heart adjusts the operating member of device 330, and the two is slidably connected, for clamping in battery transfer to the fixture or pallet of target position.
The off-center adjustment apparatus 330 includes intermediate die plate 331, pneumatic clamper mounting plate 332, adjusting screw fixed plate 333, adjusts
Screw 334, pin 336 and scale plate 335, intermediate die plate 331 are connect with the spinning movement portion of rotary drive unit 320,
Adjusting screw fixed plate 333 is fixed on 331 first side of intermediate die plate, and is equipped with the card slot for being caught in adjusting screw 334；
Pneumatic clamper mounting plate 332 is installed on second side of intermediate die plate 331, and the two is slidably connected, and the sliding side of pneumatic clamper mounting plate 332
It is consistent to the glide direction with clamping unit 302；Adjusting screw 334 is fixed on pneumatic clamper mounting plate, and adjusting screw
334 are caught in the card slot of 333 end of adjusting screw fixed plate along the part that pneumatic clamper mounting plate moving direction stretches out, for adjusting gas
The relative position of pawl mounting plate and intermediate die plate；Scale plate is set on intermediate die plate, for measuring pneumatic clamper mounting plate
Eccentric moving distance；The tail portion of the pin is horizontally arranged at pneumatic clamper mounting plate towards on an end face of intermediate die plate, and sells
Nail head is located above intermediate die plate, for limiting the limit shift position of pneumatic clamper mounting plate；Driven for opening and closing unit is fixed
In pneumatic clamper mounting plate.When mobile pneumatic clamper mounting plate, driven for opening and closing unit is moved together.
The clamping unit 302 includes driven for opening and closing unit 340 and a pair of set of jaws being made of two clamping jaws 350, is opened
It closes driving unit and is mounted on 310 bottom of intermediate die plate, and be slidably connected with intermediate die plate 310, and the opening and closing is driven
Moving cell 340 sets the operating member for controlling set of jaws closure or openness, wherein the horizontal phase of the operating member of driven for opening and closing unit 340
To or horizontal opposite direction move；The control terminal of driven for opening and closing unit 340 signal output end letter corresponding with the controller
Number connection, the operating member of driven for opening and closing unit 340 is each to be equipped with a clamping jaw towards battery, is formed a pair of for clamping battery
Set of jaws, by controlling the operating member of driven for opening and closing unit to control the opening or closure of two clamping jaws 350.
The bottom of the clamping jaw 350 is provided with an anti-battery and swings backplate, and two pieces of anti-batteries swing backplate (361,362) relatively
Arrangement forms a pair of anti-battery swing backplate group for being clipped in battery surface to prevent battery from shaking during transportation, anti-electric
Pond swings backplate group and opens or be closed under the control of two driven for opening and closing units.
The rotary drive unit is oscillating cylinder.
Driven for opening and closing unit is pneumatic clamper.
A kind of robot device of the present invention of embodiment 2, including pedestal 100, drive upside down mechanism 200 and two sets clamping
Mechanism 300, the pedestal 100 are the installation pedestal of manipulator, and the mechanism 200 that drives upside down includes driving unit 210, support
Pilot unit and loading plate 230, the loading plate 230 are set to the output end of driving unit 210, and described drives upside down
Mechanism 200 is installed on pedestal 100 and the loading plate 230 and the clamping device 300 is driven to move up and down, two sets of clampings
Mechanism 300 is set on the loading plate 230, including horizontal driving units 310, rotary drive unit 320, eccentric adjustment
Device 330, driven for opening and closing unit 340, anti-battery swing backplate (361,362) and two clamping jaws 350, the horizontal drive
Unit 310 is set to the loading plate, and the rotary drive unit 320 is connected in the horizontal driving units 310, institute
The off-center adjustment apparatus 330 stated is connect with the rotary drive unit 320, the driven for opening and closing unit 320 and described
Off-center adjustment apparatus 330 connects and anti-battery is driven to swing backplate (361,362) and two clamping jaws 350 opening or closure.
Robot device provided by the invention clamps battery airbag by clamping jaw 350, and it is close that anti-battery swings backplate (361,362)
Battery body prevents battery during conveying from swinging.Driving upside down unit 200 drives two sets of clamping devices to synchronize and move up and down,
Pedestal 100 horizontally is arranged at other horizontal drive mechanisms, so that battery is easily moved to target position.The present invention passes through
Robot device carries battery and replaces manpower transport, improves production efficiency, optimization battery quality, is conducive to production automation.
The clamping jaw 350 is connected to 340 output end of driven for opening and closing unit, and the anti-battery swings backplate (361,362) even
It is connected to the clamping jaw 350, the driven for opening and closing unit 340 is connected to eccentric adjuster 330, to facilitate adjusting driven for opening and closing
Cell position.
The intermediate die plate 331 is connect with 320 output end of rotary drive unit, the adjusting screw fixed plate
333 are fixed on intermediate die plate 331, and the pneumatic clamper mounting plate 332 is connect with the intermediate die plate 331, and described opens
It closes driving unit 340 and is fixed on intermediate die plate 331.The adjusting screw 334 is set to intermediate die plate 331, Ling Yiduan
It is connect with pneumatic clamper mounting plate 332, to drive pneumatic clamper mounting plate 332 and driven for opening and closing unit 340 together when adjusting adjusting screw
It is mobile, the center of two clamping jaws 350 is also had adjusted, when guaranteeing clamping battery airbag, the center of two clamping jaws 350 is located at
The center of battery airbag.The driven for opening and closing unit 340 is pneumatic clamper.
The scale plate 335 is set to intermediate die plate 331.When adjusting 332 position of pneumatic clamper mounting plate, adjusting is conveniently seen
Distance.
The pin 336 is fixed on pneumatic clamper mounting plate 332 and extension length, when adjusting 332 position of pneumatic clamper mounting plate,
The adjusting screw end connected between pneumatic clamper mounting plate 332 and middle connecting plate 331 is furnished with fixture nut, needs to adjust pneumatic clamper peace
It when 332 position of loading board, needs to unscrew fixture nut manually, to adjusting pneumatic clamper mounting plate to suitable position；Pin 336 stretches out
Part is hung on intermediate die plate, when pneumatic clamper mounting plate being facilitated to adjust mobile, keeps horizontality.The off-center adjustment apparatus
330 connect with the rotary drive unit 320, and left and right two rotary drive units, 320 self contained function is not interfere with each other, thus is revolved
When turning the rotation of driving unit 320, off-center adjustment apparatus 330 controls the body central of two batteries also with rotating together after rotation
Face in one plane, facilitates battery to be packed into fixture or pallet etc..
Rotation drive device 320 is oscillating cylinder.
The horizontal driving units 310 are set to the loading plate 230, and the rotary drive unit 320 is in the water
Flat driving unit 310 connects.Two 310 self-movements of horizontal driving units in left and right adjust left and right clamping device to facilitate
Spacing adapts to fixture or pallet spacing dimension.
Guide rod 221 is arranged in 210 two sides of driving unit, and one end of guide rod 221 is connect with loading plate 230, the driving list
First 210 output ends are connect with the loading plate 230, so that clamping device 300 is more steady when moving up and down.
The linear bearing 222 and driving unit 210 of all guide rods 221 are fixed on pedestal 100.100 level of pedestal is set
Other driving mechanisms are placed in, can pedestal be moved horizontally.
The robot device of the present invention of embodiment 3 includes pedestal 100, drives upside down mechanism 200 and clamping device 300.
Horizontal being installed in other driving mechanisms of pedestal 100 moves horizontally；Mechanism 200 is driven upside down to be installed on pedestal 100；Clamping
Mechanism 300 is installed on the output end for driving upside down mechanism 200, and slides up and down under the driving for driving upside down mechanism 200.
More specifically, driving upside down mechanism 200 includes driving unit 210, guide rod 221, linear bearing 222 and loading plate
230.It drives upside down unit 210 and linear bearing 222 is fixed on pedestal 100, and drive upside down 210 side of moving of unit
To with guide rod keeping parallelism, 221 quantity at least two of guide rod, loading plate 230 is set to the output end of driving unit 210, guide rod
221 one end is connect with loading plate 230.
In conjunction with shown in Fig. 2-Fig. 3, clamping device 300 is two sets, including horizontal driving units 310, rotary drive unit
320, off-center adjustment apparatus 330, driven for opening and closing unit 340, anti-battery swing backplate 361, anti-battery swing backplate 362 and
Two clamping jaws 350, the horizontal displacement driving unit 310 are set to the loading plate 230, the rotary unit 320 with
The horizontal displacement driving unit 310 connects, and the off-center adjustment apparatus 330 and the rotary drive unit 320 connect
It connects, the driven for opening and closing unit 340 connect with the off-center adjustment apparatus 330 and anti-battery is driven to swing backplate 361, prevent
Battery swings backplate 362 and two clamping jaws 350 open or closure.
Further, the horizontal sliding of horizontal driving units 310 drives rotary drive unit 320, off-center adjustment apparatus 330, opens
It closes driving unit 340, anti-battery swing backplate 361, anti-battery swing backplate 362 and two clamping jaws 350 to slide together, to control
Make the centers of two clamping jaws 350 away from, facilitate the center of adjustment clamping battery away from.
Two clamping jaws 350 clamp battery airbag and carry, and anti-battery swings backplate 361 and anti-battery swings backplate 362 and protects
Battery body prevents battery during transporting from swinging.
Off-center adjustment apparatus 330 is connect with the rotary drive unit 320, and two rotary drive units of left and right independently move
Make, does not interfere with each other, thus when rotary drive unit rotation 320, off-center adjustment apparatus 330 facilitates adjusting also with rotating together
The direction of battery, and the body central face of two batteries of left and right can control in one plane after rotation, and battery is facilitated to be packed into folder
Tool or pallet etc..
As shown in connection with fig. 3, off-center adjustment apparatus 330 is solid including intermediate die plate 331, pneumatic clamper mounting plate 332, adjusting screw
Fixed board 333, adjusting screw 334, pin 336, scale plate 335.Intermediate die plate 331 and 320 output end of rotary drive unit connect
It connects, scale plate 335 is set to intermediate die plate 331, and adjusting screw fixed plate 333 is fixed on intermediate die plate 331, pneumatic clamper peace
Loading board 332 is connect with intermediate die plate 331, and pin 336 is fixed on pneumatic clamper mounting plate 332 and extension length, and opening and closing is driven
Moving cell 340 is fixed on intermediate die plate 331.
Robot device provided by the invention clamps battery airbag by clamping jaw 350, drives upside down the driving clamping of mechanism 200
Mechanism 300 moves up and down, and pedestal 100 may connect to other horizontal drive mechanisms, so that battery is easily transported target position.
The present invention improves production efficiency, optimization battery quality, is more advantageous to production certainly by the substitution manpower conveying of Manipulator Transportation battery
Dynamicization.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection scope of the present invention
It should not be construed as being limited to the specific forms stated in the embodiments, protection scope of the present invention also includes those skilled in the art
According to the present invention design it is conceivable that equivalent technologies mean.
Claims (7)
1. a kind of robot device characterized by comprising
Pedestal is mounted on the driving end of external horizontal drive equipment, it is made to drive lower edge level side in horizontal drive equipment
To movement, mechanism is driven upside down for drive and is moved horizontally to target position；
Drive upside down mechanism, including driving unit, support guide unit and loading plate, the driving unit, support guide list
Member is mounted on pedestal lower part, and the vertical lift end of driving unit is equipped with the loading plate for installing clamping device, loading plate and branch
Support pilot unit is slidably connected, so that loading plate is axially gone up and down under the driving of driving unit along support guide unit；
Clamping device is mounted on the loading plate for driving upside down unit, including position adjustment unit and clamping unit, wherein position
Adjustment unit is mounted on loading plate；The operating member of adjustment unit is arranged in the clamping unit, is used for Automatic-clamping battery；
And controller, the control terminal of signal control terminal and the driving unit, the control terminal of position adjustment unit and
The control end signal of clamping unit connects, for control driving unit, position adjustment unit and clamping unit work normally with
Battery is carried to target position.
2. a kind of robot device as described in claim 1, it is characterised in that: the support guide unit includes being arranged vertically
Guide rod and be inlaid in the linear bearing of base bottom, the guide rod is slidably connected by corresponding linear bearing with pedestal；Institute
The bottom end for stating guide rod is fixedly mounted with horizontally disposed loading plate, and axially goes up and down under the drive of loading plate along its own.
3. a kind of robot device as described in claim 1, it is characterised in that: totally two sets of the position adjustment unit, symmetrically
It is mounted on the bottom for driving upside down the loading plate of unit, including horizontal driving units, rotary drive unit and eccentric adjustment dress
It sets, the mounting portion of horizontal driving units is mounted on loading plate, and the horizontal balance portion of horizontal driving units is located at same horizontal line
On, and the horizontal balance portion of two sets of horizontal driving units of holding moves horizontally towards each other or horizontal inverted running, for adjusting two-phase
To the centre distance between the clamping unit of setting；Rotary drive unit is mounted on the horizontal balance portion of horizontal driving units, and
Keep the spinning movement portion of rotary drive unit can be around the center axis rotation of vertical direction；The off-center adjustment apparatus is mounted on
The spinning movement portion of rotary drive unit, and the operating member of off-center adjustment apparatus is kept to be located in same level to keep battery
Body central face it is in the same plane；The clamping unit is mounted on the motion end of the off-center adjustment apparatus, and the two is sliding
Dynamic connection, for clamping in battery transfer to the fixture or pallet of target position.
4. a kind of robot device as claimed in claim 3, it is characterised in that: the off-center adjustment apparatus includes eccentric adjustment
Device includes intermediate die plate, pneumatic clamper mounting plate, adjusting screw fixed plate, adjusting screw, pin and scale plate, centre installation
The connection of the spinning movement portion of plate and rotary drive unit, adjusting screw fixed plate is fixed on the first side of intermediate die plate, and is equipped with
For being caught in the card slot of pin；Pneumatic clamper mounting plate is installed on second side of intermediate die plate, and the two is slidably connected, and pneumatic clamper is installed
The glide direction of plate and the glide direction of clamping unit are consistent；Pin is fixed on pneumatic clamper mounting plate, and pin is along gas
Pawl mounting plate moving direction stretch out part be caught in the card slot of adjusting screw fixed plate end, for adjust pneumatic clamper mounting plate with
The relative position of intermediate die plate；Scale plate is set on intermediate die plate, the bias for measuring pneumatic clamper mounting plate it is mobile away from
From.
5. a kind of robot device as claimed in claim 3, it is characterised in that: the clamping unit includes driven for opening and closing list
Member and a pair of set of jaws being made of two clamping jaws, driven for opening and closing unit is mounted on intermediate die plate bottom, and pacifies with centre
Loading board is slidably connected, and the driven for opening and closing unit sets the operating member for controlling set of jaws closure or openness, wherein opening
It closes the operating member of driving unit horizontally towards each other or horizontal opposite direction moves；The control terminal of driven for opening and closing unit and the control
The corresponding signal output end signal connection of device, the operating member of driven for opening and closing unit is each to be equipped with a Pneumatic clamping jaw towards battery,
Formed it is a pair of for clamping the set of jaws of battery, by controlling the operating member of driven for opening and closing unit with control two clamping jaws opening or
Closure.
6. a kind of robot device as claimed in claim 5, it is characterised in that: the bottom of the driven for opening and closing unit is provided with
One anti-battery swings backplate, and two pieces of anti-batteries swing backplate formation a pair positioned opposite for being clipped in battery surface to prevent electricity
The anti-battery that pond is shaken during transportation swings backplate group, and anti-battery swings backplate group and opens under the control of two driven for opening and closing units
It opens or is closed.
7. a kind of robot device as claimed in claim 4, it is characterised in that: the rotary drive unit is oscillating cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811558481.2A CN109454664B (en) | 2018-12-19 | 2018-12-19 | Manipulator device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811558481.2A CN109454664B (en) | 2018-12-19 | 2018-12-19 | Manipulator device |
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| Publication Number | Publication Date |
|---|---|
| CN109454664A true CN109454664A (en) | 2019-03-12 |
| CN109454664B CN109454664B (en) | 2024-04-02 |
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| CN201811558481.2A Active CN109454664B (en) | 2018-12-19 | 2018-12-19 | Manipulator device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110143433A (en) * | 2019-04-15 | 2019-08-20 | 泉州市德化县丰弘机械有限公司 | A kind of transfer robot arm for transhipment gypsum mold between parallel conveyer |
| CN110815276A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel carrying manipulator |
| CN112207848A (en) * | 2019-07-09 | 2021-01-12 | 郑州领航机器人有限公司 | Automatic grabbing device of electrolyte barrel and manipulator for grabbing electrolyte barrel |
| CN112830232A (en) * | 2020-12-30 | 2021-05-25 | 苏州三德精密机械有限公司 | Automatic feeding clamping structure |
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| CN114348637A (en) * | 2021-12-31 | 2022-04-15 | 盈合(深圳)机器人与自动化科技有限公司 | Substrate conveying device and method |
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