CN110434878A - A kind of cylindrical power battery monomer catching robot - Google Patents
A kind of cylindrical power battery monomer catching robot Download PDFInfo
- Publication number
- CN110434878A CN110434878A CN201810417962.5A CN201810417962A CN110434878A CN 110434878 A CN110434878 A CN 110434878A CN 201810417962 A CN201810417962 A CN 201810417962A CN 110434878 A CN110434878 A CN 110434878A
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- CN
- China
- Prior art keywords
- power battery
- battery monomer
- clamping
- column
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of cylindrical power battery monomer catching robots, including at least two groups clamping jaw, for clamping power battery monomer；Driving mechanism, for driving clamping jaw to open or closure；Jacking mechanism, for holding out against the side of power battery monomer；Mounting base, the clamping jaw, driving mechanism, jacking mechanism are mounted in mounting base.The beneficial effects of the present invention are: the catching robot to be mounted on to the mechanical arm end of robot by support plate, electric telescopic rod and the control system of robot are connected, it is flexible to control electric telescopic rod, then clamping jaw closure is driven by the transmission of push rod, first connecting rod, second connecting rod or opened, realize crawl power battery monomer.
Description
Technical field
The present invention relates to waste and old power battery recovery technology fields more particularly to a kind of cylindrical power battery monomer to grab
Manipulator.
Background technique
Power battery is the power supply in powered tools source, Duo Zhiwei electric car, electric train, electrical salf-walking
Vehicle, golf cart provide the battery of power.Existing power battery mainly by one by one it is small it is monomer series-connected form, and power
Battery cell mainly has cylindrical and two kinds of structures of cuboid.In waste and old power battery recovery processing, need one
A power battery monomer is put into waste and old power battery dismantling according to certain sequence code and mechanically carries out dismantling recovery processing, at present
This process is substantially by manually carrying out, and working efficiency is low, large labor intensity.With the development of robot technology, robot is used
It can substitute completely and manually carry out stacking work, but currently without the manipulator for being mounted on robot arm of profession.
The present invention, which provides one kind for the power battery monomer stacking work of cylindrical structure, can be mounted on grabbing on robot arm
Take manipulator.
Summary of the invention
It is an object of the invention to overcome problem above of the existing technology, a kind of cylindrical power battery monomer is provided
Catching robot, the power battery monomer for being mounted on snatching cylindrical structure on the mechanical arm of robot carry out stacking work.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme:
A kind of cylindrical power battery monomer catching robot, including
At least two groups clamping jaw, for clamping power battery monomer；
Driving mechanism, for driving clamping jaw to open or closure；
Jacking mechanism, for holding out against the side of power battery monomer；
Mounting base, the clamping jaw, driving mechanism, jacking mechanism are mounted in mounting base.
Wherein, the mounting base includes the mounting plate of one piece of cuboid, the support plate of one piece of cuboid, four root long sides
The support column of the bodily form, the mounting plate and support plate are separately mounted to the both ends of support column, and four support columns are about mounting plate
Long axis is symmetrical arranged, and the long axis both ends of the mounting plate are respectively equipped with the first hinge column of coaxial line, the mounting plate
Center be equipped with pilot hole, the driving mechanism includes electric telescopic rod, the bottom end of the electric telescopic rod be mounted on support plate with
One end center of support column connection, the top of the electric telescopic rod are equipped with push rod, and the both ends of the push rod are respectively equipped with one
Second hinge column of a coaxial line is rotatablely installed a first connecting rod and a second connecting rod on each second hinge column,
Clamping jaw described in every group include two clamping bars, two clamping bars by be disposed therein portion the first hinge hole and mounting plate one end
It is first hinged column articulated, the end of the first hinge column is bolted with the fastening nut for preventing clamping bar to be detached from the first hinge column, wherein
The end of a piece clamping bar is hinged by articulation piece and first connecting rod far from one end of the second hinge column, and the end of another clamping bar is logical
It crosses articulation piece and second connecting rod to be hinged far from one end of the second hinge column, the jacking mechanism includes withstanding tight block, guide rod, bullet
Spring, nut, the withstanding tight block are fixed on one end of guide rod, and outside guide rod, the guiding rod set is being oriented to the spring pocket
Kong Zhong, the nut are screwed on the one end of guide rod far from withstanding tight block.
Wherein, the clamping bar is divided into the driving portion three parts in the clamping portion of arc, the interconnecting piece of linear, linear, institute
It states hinge hole and is located at interconnecting piece.
Wherein, the withstanding tight block is fan annular, and one layer of non-slip mat is installed in the inside of the withstanding tight block.
Wherein, the push rod is in cuboid, and four support columns are symmetrically intermediate two-by-two to form sliding slot, the push rod position
It is slid back and forth in sliding slot and in sliding slot.
Wherein, Bolt dismantling connection is all made of between the support column and support plate, mounting plate.
The beneficial effects of the present invention are: the catching robot to be mounted on to the mechanical arm end of robot by support plate
End connects electric telescopic rod and the control system of robot, and control electric telescopic rod is flexible, is then connected by push rod, first
The transmission driving clamping jaw closure or opening of bar, second connecting rod, realize crawl power battery monomer.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of mounting base in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of driving mechanism in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of clamping jaw in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of jacking mechanism in the embodiment of the present invention.
Specific embodiment
It is below with reference to the accompanying drawings and in conjunction with the embodiments, next that the present invention will be described in detail.
As shown in Fig. 1 to 5, a kind of cylindrical power battery monomer catching robot, including two groups of clamping jaws 300, for pressing from both sides
Take power battery monomer；Driving mechanism 200, for driving clamping jaw 300 to open or closure；Jacking mechanism 400, for holding out against power
The side of battery cell；Mounting base 100, clamping jaw 300, driving mechanism 200, jacking mechanism 400 are mounted in mounting base 100.
Mounting base 100 includes the support plate 110 of 130, one pieces of cuboids of mounting plate of one piece of cuboid, four root long sides
The support column 120 of the bodily form, mounting plate 130 and support plate 110 are separately mounted to the both ends of support column 120, and four support columns 120 close
It is symmetrical arranged in the long axis of mounting plate 130, the long axis both ends of mounting plate 130 are respectively equipped with the first hinge column of coaxial line
131, the center of mounting plate 130 is equipped with pilot hole 132, and driving mechanism 200 includes electric telescopic rod 210, electric telescopic rod 210
Bottom end is mounted on one end center that support plate 110 is connect with support column 120, and the top of electric telescopic rod 210 is equipped with push rod
220, the both ends of push rod 220 are respectively equipped with second hinge column 221 of a coaxial line, turn on each second hinge column 221
A piece first connecting rod 230 of dynamic installation and a second connecting rod 240, every group of clamping jaw 300 include two clamping bars 310, two clamping bars 310
By hinged, the first hinge column that is disposed therein first hinge hole 314 in portion and first hinge column 131 of 131 one end of mounting plate
131 end is bolted with the fastening nut 320 for preventing clamping bar to be detached from the first hinge column, wherein the end of a clamping bar 310 passes through
Articulation piece 250 and first connecting rod 230 are hinged far from one end of the second hinge column 221, and the end of another clamping bar passes through articulation piece
250 are hinged with second connecting rod 240 far from one end of the second hinge column 221, and jacking mechanism 400 includes withstanding tight block 410, guide rod
420, spring 430, nut 440, withstanding tight block 410 are fixed on one end of guide rod 420, and 430 sets of spring outside guide rod 420, are led
To 420 sets of bar in pilot hole 132, nut 440 is screwed on the one end of guide rod 420 far from withstanding tight block 410.
A bar shaped mounting groove 315 is equipped among the end of clamping bar 310, the end of clamping bar 310 is equipped with circular hole up and down
316, first connecting rod 230 and second connecting rod 240 are placed in bar shaped mounting groove 315 far from one end of the second hinge column 221, and first connects
Bar 230 and second connecting rod 240 are equipped with circular hole up and down far from one end of the second hinge column 221, the circle on first connecting rod 230
Hole is connect with the circular hole 316 of 310 end of clamping bar by articulation piece 250, the circular hole on second connecting rod 240 and 310 end of clamping bar
Circular hole 316 is connected by articulation piece 250, and articulation piece 250 is made of the nut that a screw and one are screwed.
Clamping bar 310 divides 313 three parts of driving portion in the clamping portion 311 for arc, the interconnecting piece 312 of linear, linear,
Hinge hole 314 is located at interconnecting piece 312, and three parts are made into integration.
Withstanding tight block 410 is fan annular, can be fitted with the side wall of cylindrical power battery monomer, withstanding tight block 410
One layer of non-slip mat is installed in inside, and non-slip mat increases the frictional force with power battery monomer side.
Push rod 220 is in cuboid, and symmetrical intermediate formation sliding slot, push rod 220 are located in sliding slot four support columns 120 two-by-two
And slid back and forth in sliding slot, the left and right offset in the process of moving of push rod 220 is avoided, the abrasion of electric telescopic rod 210 is reduced.
It is all made of 140 dismantling connection of bolt between support column 120 and support plate 110, mounting plate 130, facilitates installing and dismounting.
The catching robot is mounted on to the mechanical arm end of robot by support plate 110, by electric telescopic rod 210
It is connect with the control system of robot, control electric telescopic rod 210 is flexible, then passes through push rod 220, first connecting rod 230, second
Transmission driving clamping jaw 300 closure of connecting rod 240 is opened, and realizes crawl power battery monomer.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.
Claims (6)
1. a kind of cylindrical power battery monomer catching robot, it is characterised in that: including
At least two groups clamping jaw, for clamping power battery monomer；
Driving mechanism, for driving clamping jaw to open or closure；
Jacking mechanism, for holding out against the side of power battery monomer；
Mounting base, the clamping jaw, driving mechanism, jacking mechanism are mounted in mounting base.
2. cylindrical power battery monomer catching robot according to claim 1, it is characterised in that: the mounting base packet
Include the support column of the mounting plate of one piece of cuboid, the support plate of one piece of cuboid, four root long cube shapes, the mounting plate and
Support plate is separately mounted to the both ends of support column, and four support columns are symmetrical arranged about the long axis of mounting plate, the mounting plate
Long axis both ends are respectively equipped with the first hinge column of coaxial line, and the center of the mounting plate is equipped with pilot hole, the driving machine
Structure includes electric telescopic rod, and the bottom end of the electric telescopic rod is mounted on one end center that support plate is connect with support column, described
The top of electric telescopic rod is equipped with push rod, and the both ends of the push rod are respectively equipped with second hinge column of a coaxial line,
A first connecting rod and a second connecting rod are rotatablely installed on each second hinge column, clamping jaw described in every group includes two clamping bars,
Two clamping bars are hinged column articulated by be disposed therein first hinge hole in portion and mounting plate one end first, and first is hinged
The end of column be bolted with prevent clamping bar be detached from the first hinge column fastening nut, wherein the end of a clamping bar by articulation piece with
First connecting rod is hinged far from one end of the second hinge column, and the end of another clamping bar is by articulation piece and second connecting rod far from second
One end of hinge column is hinged, and the jacking mechanism includes withstanding tight block, guide rod, spring, nut, and the withstanding tight block is fixed on guiding
One end of bar, the spring pocket is outside guide rod, and for the guiding rod set in pilot hole, it is separate that the nut is screwed on guide rod
One end of withstanding tight block.
3. cylindrical power battery monomer catching robot according to claim 2, it is characterised in that: the clamping bar is divided into
The clamping portion of arc, the interconnecting piece of linear, linear driving portion three parts, the hinge hole is located at interconnecting piece.
4. cylindrical power battery monomer catching robot according to claim 2, it is characterised in that: the withstanding tight block is
The inside of fan annular, the withstanding tight block is installed by one layer of non-slip mat.
5. cylindrical power battery monomer catching robot according to claim 2, it is characterised in that: the push rod is in length
Cube shape, four support columns are symmetrically intermediate two-by-two to form sliding slot, and the push rod is located in sliding slot and front and back is sliding in sliding slot
It is dynamic.
6. cylindrical power battery monomer catching robot according to claim 2, it is characterised in that: the support column with
Bolt dismantling connection is all made of between support plate, mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810417962.5A CN110434878A (en) | 2018-05-04 | 2018-05-04 | A kind of cylindrical power battery monomer catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810417962.5A CN110434878A (en) | 2018-05-04 | 2018-05-04 | A kind of cylindrical power battery monomer catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110434878A true CN110434878A (en) | 2019-11-12 |
Family
ID=68427810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810417962.5A Pending CN110434878A (en) | 2018-05-04 | 2018-05-04 | A kind of cylindrical power battery monomer catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110434878A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112045707A (en) * | 2020-07-24 | 2020-12-08 | 国网山东省电力公司青岛市黄岛区供电公司 | Spring type submarine cable lifting mechanical gripper with variable hooke coefficient |
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
-
2018
- 2018-05-04 CN CN201810417962.5A patent/CN110434878A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112045707A (en) * | 2020-07-24 | 2020-12-08 | 国网山东省电力公司青岛市黄岛区供电公司 | Spring type submarine cable lifting mechanical gripper with variable hooke coefficient |
| CN112045707B (en) * | 2020-07-24 | 2021-09-14 | 国网山东省电力公司青岛市黄岛区供电公司 | Spring type submarine cable lifting mechanical gripper with variable hooke coefficient |
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
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