CN111715866A - Discharging manipulator of storage battery cast-weld machine - Google Patents

Abstract

The invention relates to the technical field of lead-acid storage battery manufacturing equipment, in particular to a discharging manipulator of a storage battery cast-welding machine, which comprises a rack, a grabbing device, a secondary box-feeding device and a discharging device, wherein the grabbing device is arranged on the rack; in the grabbing device, a front sliding table is arranged on the front side of the top of a frame and slides in the front-back direction under the drive of a front walking assembly; the front gripper is fixedly connected to the bottom of the front lifting frame, the front lifting frame is installed on the front sliding table and is driven by the front lifting assembly to lift along the vertical direction; in the secondary box-feeding device, the jacking mechanism is used for upwards jacking the electrode plate group, and the pressing mechanism is used for downwards jacking the box body; a rear sliding table in the discharging device is arranged on the rear side of the top of the frame and slides in the front-rear direction under the drive of the rear walking assembly; the rear lifting frame is arranged on the rear sliding table and is driven by the rear lifting assembly to lift along the vertical direction; the rear gripper is rotatably arranged on the front side of the rear lifting frame through a turnover shaft and can be turned and rotated under the driving of the turnover assembly.

Description

Discharging manipulator of storage battery cast-weld machine

Technical Field

The invention relates to the technical field of lead-acid storage battery manufacturing equipment, in particular to a discharging manipulator of a storage battery cast-welding machine.

Background

In the cast-weld process of the lead-acid storage battery, molten lead liquid is injected into a lead injection groove of a bus bar die on the multi-station disc device, plate lugs of the polar plates are inversely inserted into the lead liquid, the lead liquid is gradually cooled along with the rotation of the disc device to form solid bus bars, and the lug lugs of the polar plates are embedded into the bus bars and are connected together by the bus bars to form a polar plate group. And then taking the cast-welded lead-acid storage battery down from the disc device, finishing the secondary box feeding of the plate group, conveying the plate group out of the cast-weld machine by a conveyor belt, performing subsequent assembly work, simultaneously vacating a busbar mold on the disc device, and continuing to perform the cast-weld of the lead-acid storage battery. At present, a discharging manipulator needs to be designed to meet the production requirement of a cast-weld process.

Disclosure of Invention

The invention aims to provide a discharging manipulator of a storage battery cast-weld machine, which can take out cast-welded lead-acid storage batteries from a multi-station disc device and can complete secondary box-entering operation of a plate group.

The technical scheme of the invention is as follows:

a discharging manipulator of a storage battery cast-weld machine comprises a rack, a gripping device arranged on the front side of the rack, a secondary box-feeding device arranged in the middle of the rack, and a discharging device arranged on the rear side of the rack;

the grabbing device comprises a front sliding table, a front gripper, a front lifting frame, a front lifting assembly and a front walking assembly; the front sliding table is arranged on the front side of the top of the frame through a horizontal guide pair and slides in the front-back direction under the drive of the front walking assembly; the front gripper is fixedly connected to the bottom of the front lifting frame, the front lifting frame is installed on the front sliding table through a vertical guide pair and is driven by the front lifting assembly to lift along the vertical direction;

the secondary box-feeding device comprises a jacking mechanism arranged in the middle of the rack and a pressing mechanism arranged on the rear side of the front sliding table; the jacking mechanism is used for upwards jacking the electrode plate group of the inverted storage battery workpiece, and the pressing mechanism is used for downwards jacking the box body of the storage battery workpiece to completely press the electrode plate group to the bottom of the box;

the discharging device comprises a rear sliding table, a rear lifting frame, a rear gripper, a turnover assembly, a rear lifting assembly and a rear walking assembly; the rear sliding table is horizontally arranged on the rear side of the top of the frame through a horizontal guide pair and slides in the front-rear direction under the drive of the rear walking assembly; the rear lifting frame is arranged on the rear sliding table through a vertical guide pair and is driven by the rear lifting assembly to lift along the vertical direction; the rear gripper is rotatably arranged on the front side of the rear lifting frame through a turnover shaft and can be turned and rotated under the driving of the turnover assembly.

Furthermore, preceding, back lifting unit all includes by the lead screw of elevator motor drive to and with lead screw complex nut, preceding, back lifting unit's elevator motor is fixed respectively in the front, on the back slip table, preceding lifting unit's nut is installed in the front on crane or preceding tongs, back lifting unit's nut is installed in the back on crane.

Furthermore, the front walking assembly and the rear walking assembly respectively comprise a gear, a rack, a driving motor, a driving synchronous wheel, a driven synchronous wheel and a synchronous belt; the rack is fixed at the top of the frame along the front-back direction, the gears of the front and back walking assemblies are respectively installed on the front sliding table and the back sliding table through rotating shafts and are respectively matched with the rack, driven synchronizing wheels are fixed on the rotating shafts of the gears, driving motors of the front and back walking assemblies are respectively fixed on the front and back sliding tables, and the driving motors on the front and back sliding tables respectively drive the driven synchronizing wheels on the corresponding sliding tables to rotate through driving synchronizing wheels, synchronizing belts and pinch rollers.

Further, the jacking mechanism comprises a lower frame fixed in the middle of the rack through a supporting plate and at least one jacking assembly arranged in the lower frame; a top plate of the lower frame is provided with a positioning opening of a box body of a group of storage battery workpieces;

each jacking assembly comprises a lifting plate, a plurality of groups of thimbles, a vertical guide pair and a jacking cylinder, the lifting plate is arranged in the lower frame in a lifting mode through the vertical guide pair, the thimbles are arranged on the top surface of the lifting plate in a line, one group of thimbles are aligned to one positioning opening, the jacking cylinder is fixed at the bottom of the frame, and the ejector rods of the jacking cylinder are upwards suspended and connected with the lifting plate.

Further, the pushing mechanism comprises a pressing plate, a vertical guide pair and a pushing cylinder, the pressing plate is arranged below the front sliding table through the vertical guide pair in a liftable mode and is arranged in parallel with the top plate of the lower frame, the pushing cylinder is arranged on the front sliding table, an ejector rod of the pushing cylinder stretches downwards in an overhanging mode and is connected with the pressing plate after penetrating through the front sliding table.

Furthermore, the overturning assembly comprises a driven gear fixed on an overturning shaft of the rear gripper and a driving rack matched with the driven gear, the driving rack is driven by an overturning cylinder fixed on the rear lifting frame, and a guide pair of the driving rack is further arranged on the rear lifting frame.

Furthermore, a limiting angle block is arranged on one side of the rear hand grab, two hydraulic buffers are arranged on two sides of the rear lifting frame respectively, and the two hydraulic buffers buffer the rear hand grab through the limiting angle block in the overturning and rotating process of the rear hand grab.

Further, the front and rear grippers each comprise a gripper frame 51 and at least one clamping assembly mounted in the gripper frame 51; each clamping assembly comprises a fixed finger fixedly connected with the gripper frame 51 and two movable fingers which are symmetrically arranged on two sides of the fixed finger and are parallel to the fixed finger; the front ends of the fixed fingers and the two movable fingers extend out of the front side of the gripper frame 51, the rear ends of the two movable fingers are positioned in the gripper frame 51 in a sliding mode through the guide pair and are respectively connected with an ejector rod of a gripping cylinder, and the fingers are driven by the gripping cylinder to slide relative to the fixed fingers.

Furthermore, the two sides of the fixed finger and one side of the movable finger facing the fixed finger are respectively fixed with a cushion block for increasing friction force and buffering.

Furthermore, two sides of a gripper frame 51 of the front gripper are fixedly connected with the front lifting frame, and a nut of the front lifting assembly is installed at the top of the gripper frame 51; the rear side of the gripper frame 51 of the rear gripper is fixedly connected with the front end of the overturning shaft.

The invention has the beneficial effects that: the gripping device can clamp the cast-welded storage battery workpiece from the disc device, the storage battery workpiece is conveyed to the secondary box-in device through the movement of the front sliding table to be secondarily boxed into the electrode plate group, and then the storage battery workpiece is clamped from the secondary box-in device through the discharging device and turned over, so that the bottom of the storage battery workpiece faces downwards and can be smoothly conveyed by a subsequent conveying belt.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic front view of the present invention.

Fig. 3 is a left side view of the present invention.

Fig. 4 is a schematic top view of the present invention.

Fig. 5 is a schematic perspective view of the grasping apparatus.

Fig. 6 is a left side view of the grasping apparatus (the front traveling assembly is omitted).

Fig. 7 is a schematic perspective view of the grasping apparatus (the front walking assembly is omitted).

Fig. 8 is a left side view schematic diagram of the secondary box-entering device.

Fig. 9 is a schematic view of a half-in-box state of the electrode plate group.

Fig. 10 is a front view schematic diagram of the jacking mechanism.

Fig. 11 is a schematic perspective view of the jacking mechanism in a non-operating state.

Fig. 12 is a schematic perspective view of the jack mechanism in an operating state.

Fig. 13 is one of the schematic perspective views of the discharging device.

Fig. 14 is a second perspective view of the discharging device.

Fig. 15 is a left side view schematic diagram of the discharging device.

Fig. 16 is a bottom view of the flip assembly of fig. 15.

Fig. 17 is a schematic view of the fitting structure of the guide block and the rack in fig. 16.

Fig. 18 is a schematic view of an installation structure of the limit angle block and the hydraulic shock absorber.

Fig. 19 is a schematic view of the mounting structure of the hydraulic shock absorber.

Fig. 20 is a left side view of the front and rear hand grips.

Fig. 21 is a schematic view of the internal structure of the front and rear hand grips.

Fig. 22 is a perspective view of the front and rear grippers (a part of the gripper frame 51 is omitted).

The figure shows that: the device comprises a travelling wheel 1, a base body 2, a vertical frame 3.1, a side plate 3.2, a rear gripper 4, a supporting plate 5, a front gripper 6, a front sliding table 7, a rear sliding table 8, a lifting motor 9, a travelling motor 10, a driving synchronizing wheel 11, a driven synchronizing wheel 12, a synchronous belt 13, a pinch roller 14, a front lifting frame 15, a rear lifting frame 16, a rack 17, a guide rail 18, a supporting plate 19, a lifting mechanism 20, a bottom plate 20.1, a top plate 20.2, a thimble 20.3, a lifting plate 20.4, a lifting cylinder 20.5, a side plate 20.6, a positioning port 20.7, a barrier strip 20.8, a travel switch 21, a clearance groove 22, a front fixing plate 23, a bearing 24, a nut 25, a screw rod 26, a stop block 27, an optical axis 28, a sliding sleeve 29, a sliding block 30, a pressing cylinder 31, a mandril 31.1, a fixed support 32, a pressing mechanism 33, a pressing plate 34, a storage battery workpiece 35, a box body 35.1, a pole plate group 35.2, a pole lug 35., the device comprises a connecting block 40, a driving rack 41, a driven gear 42, a guide block 43, a pressing wheel 43.1, a guide groove 43.2, a hydraulic buffer 44, a vertical plate 45, a movable finger 46, a fixed finger 47, a grabbing cylinder 48, a cushion block 49, a limiting corner block 50 and a grabbing frame 51.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples, but the present invention is not limited to the following examples, so that the objects, solutions and advantages of the present invention can be more clearly understood by those skilled in the art.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "inside", "outside", "lateral", "vertical", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 4, the discharging manipulator of the storage battery cast-weld machine provided by the invention comprises a rack, a gripping device arranged on the front side of the rack, a secondary box-entering device arranged in the middle of the rack, and a discharging device arranged on the rear side of the rack.

The frame comprises a base body 2 and a vertical frame. The walking wheel 1 is installed to the bottom of pedestal 2, when walking wheel 1 is not locked by itself, the frame can freely walk under the exogenic action. The vertical frame comprises two vertical frames 3.1 arranged on the front side and the rear side of the seat body 2 respectively and two side plates 3.2 connected with the upper parts of the two vertical frames 3.1, supporting plates 5 horizontally extending in the front-rear direction are fixed on the left side and the right side of the tops of the two vertical frames 3.1 respectively, the supporting plates 5 on the vertical frames 3.1 on the front side extend and are fixed to the top surfaces of the side plates 3.2, and in order to avoid mutual interference between a grabbing device and a discharging device during working, the supporting plates 5 on the vertical frames 3.1 on the rear side and the supporting plates 5 on the vertical frames 3.1 on the front side have a height difference of a plurality of centimeters, and the vertical frame can be determined according to actual conditions on site.

The gripping device is used for taking off the storage battery workpieces 35 cooled after cast welding from the disc device and then sending the storage battery workpieces to the secondary box-entering device for secondary box entering.

As shown in fig. 1, 3, 5 to 7, the gripping device includes a front sliding table 7, a front gripper 6, a front lifting frame 15, a front lifting assembly, and a front walking assembly. The front sliding table 7 is arranged at the top of the vertical frame 3.1 at the front side through a horizontal guide pair and can slide back and forth under the driving of the front walking assembly. Preceding tongs 6 fixed connection is in the bottom of preceding crane 15, and preceding crane 15 is installed in the front on slip table 7 through vertical direction vice to lift along vertical direction under lifting unit's the drive in the front.

The effect of discharging device is with the secondary income box after, originally be that busbar 35.4 is the battery work piece 35 clamp down and get the back and overturn for busbar 35.4 is up, and the box bottom is down, and the conveyer belt of being convenient for is carried.

As shown in fig. 1, 13 to 15, the discharging device includes a rear sliding table 8, a rear lifting frame 16, a rear gripper 4, a turnover assembly, a rear lifting assembly, and a rear traveling assembly. The rear sliding table 8 is horizontally arranged at the top of the vertical frame 3.1 at the rear side through a horizontal guide pair and driven by the rear walking assembly to slide back and forth. The rear lifting frame 16 is arranged on the rear sliding table 8 through a vertical guide pair and is driven by the rear lifting assembly to lift along the vertical direction. The rear gripper 4 is rotatably arranged at the front side of the rear lifting frame 16 through a turnover shaft 37, and can be turned and rotated under the driving of the turnover assembly.

Preceding lifting unit, back lifting unit all include elevator motor 9, by elevator motor 9 driven lead screw 26, and with lead screw 26 complex nut 25, preceding lifting unit, back lifting unit's elevator motor 9 is fixed in the front through fixed bolster 32 respectively, back slip table 8 is last, preceding lifting unit, back lifting unit's lead screw 26 is installed in the front through bearing 24 respectively, the bottom of back slip table 8, preceding lifting unit's nut 25 is installed in the front on crane 15 or the preceding tongs 6 with preceding crane 15 fixed connection, back lifting unit's nut 25 is installed in the back on crane 16.

The front walking assembly and the rear walking assembly respectively comprise a gear 36, a rack 17, a walking motor 10, a driving synchronous wheel 11, a driven synchronous wheel 12 and a synchronous belt 13. The rack 17 is fixed on the top surface of the supporting plate 5 along the front-back direction, the gears 36 of the front and back walking assemblies are respectively installed on the front sliding table 7 and the back sliding table 8 through rotating shafts and are respectively matched with the corresponding rack 17, the driven synchronizing wheel 12 is fixed on the rotating shaft of the gear 36, the walking motors 10 of the front and back walking assemblies are respectively fixed on the front sliding table 7 and the back sliding table 8, and the walking motors 10 on the front sliding table 7 and the back sliding table 8 respectively drive the driven synchronizing wheel 12 on the corresponding sliding table to rotate through the driving synchronizing wheel 11, the synchronous belt 13 and the pinch roller 14.

In addition, a walking motor 10 of the front walking assembly and a lifting motor 9 of the front lifting assembly are respectively installed on the top surface of the front sliding table 7 through a bracket. The walking motor 10 of the rear walking assembly and the lifting motor 9 of the rear lifting assembly are both arranged on the top surface of the rear sliding table 8 through a bracket.

The front gripper 6 and the rear gripper 4 can purchase the existing mechanical gripper with multiple clamping positions, and the clamping positions and the number of the mechanical grippers are only required to be adjusted to be consistent with those of the storage battery workpieces 35. In the present invention, as shown in fig. 20 to 22, each of the front hand grip 6 and the rear hand grip 4 includes a rectangular hand grip frame 51, and at least one gripping assembly (in the drawings, two gripping assemblies are provided for each of the front hand grip 6 and the rear hand grip 4) installed in the hand grip frame 51. Each gripping assembly comprises a fixed finger 47 fixedly connected with the gripper frame 51 and two movable fingers 46 symmetrically arranged on both sides of the fixed finger 47 and parallel to the fixed finger 47. In the present invention, the fixed finger 47 and the movable finger 46 are each in the form of a flat plate having a plate surface in the vertical direction and protruding from the front side of the grip frame 51. Both sides of the fixed finger 47 and the side of the movable finger 46 facing the fixed finger 47 are fixed with pads 49 for increasing friction and cushioning. The rear ends of the two movable fingers 46 are positioned in the gripper frame 51 in a sliding manner through a guide pair in the left-right direction, and are respectively connected with a top rod of a gripping air cylinder 48, and the movable fingers slide relative to the fixed fingers 47 under the driving of the gripping air cylinder 48. The cylinder body of the grabbing cylinder 48 is fixed on the fixed finger 47 or the grabbing frame 51, and the mandrils of the grabbing cylinders 48 of the two movable fingers 46 are reversely arranged.

As shown in fig. 7, both sides of the gripper frame 51 of the front gripper 6 are fixedly connected with the front crane 15, and the top of the gripper frame 51 is provided with a nut 25 of the front lifting assembly.

The overturning assembly comprises an overturning shaft 37 arranged at the lower part of the rear lifting frame 16 through a vertical plate 45, a driven gear 42 positioned on the overturning shaft 37, a driving rack 41 arranged on the rear lifting frame 16 and matched with the driven gear 42, and an overturning air cylinder 39 driving the driving rack 41 to reciprocate. The front end of the turning shaft 37 is fixedly connected with the rear side plate of the gripper frame 51 of the rear gripper 4, and the driving rack 41 drives the driven gear 42 to act on the turning shaft 37 under the driving of the turning cylinder 39, so that the turning shaft 37 drives the rear gripper 4 to complete 180-degree turning. It should be understood that the active rack 41 could be replaced by the gear 36 and the tilt cylinder 39 replaced by a motor to achieve the same result of the rack 17 cooperating with the gear 36. Because the driven gear 42 is circular, the driving rack 41 can be installed vertically, horizontally or in other states, and the driven gear 42 can be driven to rotate only by ensuring the meshing of the other driven gears 42.

In order to guide the linear movement of the active rack 41, the tipping assembly further comprises a guide pair and a guide block 43. As shown in fig. 16 to 17, the guide block 43 is fixed on the vertical plate 45 or the rear crane 16, the guide block 43 is provided with a guide groove 43.2, the guide groove 43.2 is in sliding fit with the driving rack 41, the bottom of the guide groove 43.2 is provided with at least one pressing wheel 43.1, and the pressing wheel 43.1 abuts against the back of the driving rack 41, so that the driving rack 41 is tightly matched with the driven gear 42.

As shown in fig. 18 and 19, in order to buffer the end of the stroke of the turning and rotation of the rear hand grip 4, a limit corner block 50 is provided on the left or right side of the rear side plate of the hand grip frame 51, one hydraulic buffer 44 is provided on each of the left and right sides of the rear crane 16, and the two hydraulic buffers 44 buffer the rear hand grip 4 through the limit corner blocks 50 during the turning and rotation of the rear hand grip 4.

As shown in fig. 9, for cast-welding, the plate group 35.2 needs to extend a distance from the box body 35.1, so that when the tabs 35.3 of the plate group 35.2 are inserted into the molten lead, the box body 35.1 can avoid the molten lead and the high-temperature components, which results in a distance between the plate group 35.2 and the box bottom. In the invention, the secondary box-entering device is used for completely entering the half-box-entered pole plate group 35.2.

The secondary box-entering device comprises a jacking mechanism 20 arranged in the middle of the vertical frame 3.1 and a pressing mechanism 33 arranged on the rear side of the front sliding table 7.

The jacking mechanism 20 is used for jacking the electrode plate group 35.2 of the inverted storage battery workpieces upwards, as shown in fig. 1, 3 and 8, the jacking mechanism 20 comprises a lower frame fixed in the middle of the stand 3.1 through a supporting plate 19, and at least one jacking assembly arranged in the lower frame, the number of the jacking assemblies is determined according to the number of the storage battery workpieces 35 during discharging, and two jacking assemblies are arranged in fig. 10 to 12.

As shown in fig. 10, the lower frame is composed of a bottom plate 20.1 arranged horizontally, a top plate 20.2 arranged in parallel above the bottom plate 20.1, and a side plate 20.6 connected between the bottom plate 20.1 and the top plate 20.2. The top plate 20.2 of the lower frame is provided with at least one positioning opening 20.7 of the box body 35.1 of the storage battery workpieces 35, the number of the positioning openings 20.7 is determined according to the number of the storage battery workpieces 35 during discharging, and four positioning openings 20.7 are arranged in fig. 11 and 12. The size and the shape of the positioning opening 20.7 are adapted to the box body 35.1 of the storage battery workpiece 35, the bottom of the inner wall of the positioning opening 20.7 is provided with a baffle 20.8 which extends inwards and is used for supporting the box body 35.1 formed by the storage battery in half, and it should be noted that the baffle 20.8 does not support the plate group 35.2 and the busbar 35.4 inside the box body 35.1.

As shown in fig. 10 to 12, each jacking assembly includes a lifting plate 20.4, at least one set of ejector pins 20.3, a vertical guide pair, and a jacking cylinder 20.5, the lifting plate 20.4 is liftably mounted in the lower frame through the vertical guide pair, the ejector pins 20.3 are arranged in rows on the top surface of the lifting plate 20.4 and aligned with the positioning holes 20.7 (in fig. 10 to 12, two rows of ejector pins 20.3 are arranged on the top of each lifting plate 20.4), and the jacking cylinder 20.5 is fixed on the bottom plate 20.1 of the lower frame, and the ejector pins thereof are cantilevered upward and connected with the lifting plate 20.4. The ejector pin 20.3 is used for pushing the electrode plate group 35.2 upwards, the position of the ejector pin is staggered with the position of a bus bar 35.4 of the storage battery workpiece 35, the ejector pin is generally square or columnar, and the top of the ejector pin is flat.

The pressing mechanism 33 is used for pressing the box body 35.1 of the storage battery workpiece 35 downwards to completely press the plate group 35.2 to the bottom of the box. As shown in fig. 1 and 8, the pressing mechanism 33 includes a pressing plate 34, a vertical guide pair, and a pressing cylinder 31, the pressing plate 34 is disposed below the front sliding table 7 in a liftable manner through the vertical guide pair and is arranged in parallel with the top plate 20.2 of the lower frame, the pressing cylinder 31 is mounted on the front sliding table 7, an ejector rod 31.1 of the pressing cylinder is downwardly suspended, and the pressing cylinder 34 is connected after passing through the front sliding table 7.

The guide pair in the present invention generally refers to the cooperation of the guide rail 18 and the slide block 30, or the cooperation of the optical axis 28 and the sliding sleeve 29, or other guide mechanisms with the same function. In each of the different components of the present invention, it is selected according to the actual installation requirements.

Specifically, as shown in fig. 1 to 5 and 13 to 15, the guide pair of the gripping device and the discharging device adopts the matching of the guide rail 18 and the slide block 30. The guide rail 18 is fixed on the pallet 5 and extends parallel to the rack 17 of the front and rear running assemblies. The slide block 30 is fixed on the bottom surface of the front sliding table 7 or the rear sliding table 8, and the two ends of the guide rail 18 are generally provided with a travel switch 21 and a stop 27 for limiting the travel of the slide block 30.

The guide pair in the front lifting component and the rear lifting component adopts the matching of the guide rail 18 and the sliding block 30. As shown in fig. 7, in the front lifting assembly, a front fixing plate 23 is suspended and fixed at the bottom of the front sliding table 7, a sliding block 30 is fixed on the front fixing plate 23, and a guide rail 18 is vertically fixed on the front lifting frame 15 and matched with the sliding block 30. As shown in fig. 13 to 15, in the rear lift assembly, a rear fixing plate 38 is suspended and fixed at the bottom of the rear slide table 8, the slider 30 is fixed on the rear fixing plate 38, and the guide rail 18 is vertically fixed on the rear lift frame 16 and is engaged with the slider 30. Because the front lifting frame 15 and the rear lifting frame 16 need to be lifted, the front sliding table 7 and the rear sliding table 8 are provided with spacing avoiding grooves 22.

As shown in fig. 15 to 19, the guide pair of the turning assembly adopts the matching of the guide rail 18 and the sliding block 30, the guide rail 18 is vertically fixed on the rear lifting frame 16 and is arranged in parallel with the driving rack 41, the sliding block 30 is matched with the guide rail 18, the sliding block 30 is fixed with the connecting block 40, and the connecting block 40 is fixedly connected with the ejector rod of the turning cylinder 39 and the driving rack 41.

As shown in fig. 21 and 22, the front hand grip 6 and the rear hand grip 4 are also matched by the guide pair of the guide rail 18 and the slide block 30, the guide rail 18 is horizontally fixed in the hand grip frame 51 in the left-right direction, and the slide block 30 is fixedly connected with the rear end of the movable finger 46.

As shown in fig. 10 to 12, the guiding pair of the jacking mechanism 20 and the pressing mechanism 33 adopts the matching of the optical axis 28 and the sliding sleeve 29. In the jacking mechanism 20, a sliding sleeve 29 is fixed on a lifting plate 20.4, an optical axis 28 is vertically fixed on a bottom plate 20.1, and the optical axis 28 is matched with the sliding sleeve 29. In the pressing mechanism 33, the sliding sleeve 29 is fixed on the front pressing plate 34, the optical axis 28 is fixed on the pressing plate 34, and the optical axis 28 vertically upwards passes through the sliding sleeve 29.

In order to improve the production efficiency, the storage battery workpieces 35 are generally subjected to feeding, cast-welding and discharging operations in groups of a plurality, in the present invention, the discharging operation is described by taking four as an example, but in the practical application process, the number of the storage battery workpieces 35 in a group, for example, a group of six, eight, etc., can be adjusted as required, and the front gripper 6, the secondary boxing device and the rear gripper 4 are correspondingly adjusted. For the front gripper 6 and the rear gripper 4, the battery workpieces 35 with the size within the stroke range can be gripped by setting the stroke of the gripping cylinder 48, and for the battery workpieces 35 beyond the stroke range, the front gripper 6 and the rear gripper 4 which meet the stroke range are replaced to grip.

The working principle of the invention is as follows: the cast-welded storage battery workpieces 35 are in a half-in-box state with the box bottom facing upwards and the bus bar 35.4 facing downwards, the storage battery workpieces 35 are taken down from the disc device by the discharging manipulator provided by the invention, then secondary box-in operation is carried out, the storage battery workpieces 35 are subjected to posture adjustment to enable the box bottom to face downwards, and then the storage battery workpieces are placed on a conveying belt to be sent out. The specific action process is as follows:

(1) grabbing storage battery workpieces 35;

the lifting motor 9 of the front lifting assembly is started to drive the screw rod 26 to rotate, and the front lifting frame 15 and the front gripper 6 are lowered to a set position under the cooperation of the nut 25 and the guide of the guide rail 18; it should be noted that if the initial setting position of the front gripper 6 is right behind the battery workpiece 35 on the discharge station of the disc device, this step can be omitted;

the traveling motor 10 of the front traveling assembly is started, the gear 36 of the front traveling assembly is driven to rotate through the synchronous wheel and the synchronous belt 13, and the front sliding table 7 slides forwards to a set position under the cooperation of the rack 17 and the guide of the guide rail 18, so that the moving fingers and the fixed fingers 47 of the front gripper 6 are inserted into gaps between the storage battery workpieces 35;

the grabbing cylinder 48 of the front hand grip 6 is started to drive the movable finger 46 to approach the fixed finger 47, and in the process, the movable finger 46 clamps the storage battery workpiece 35 towards the fixed finger 47;

the lifting motor 9 of the front lifting assembly is started reversely, and the front lifting frame 15 and the front gripper 6 are lifted to a set position; the traveling motor 10 of the front traveling assembly is reversely started to drive the front sliding table 7 to slide backwards to a set position, the storage battery workpieces 35 are just above the jacking mechanism 20 at the moment, then the lifting frame 16 and the front gripper 6 descend again to place the storage battery workpieces 35 on the lower frame, one storage battery workpiece 35 is placed in each positioning opening 20.7 of the lower frame, an opening of a box body 35.1 of each storage battery workpiece is supported by a barrier strip 20.8, and the bus bar 35.4 faces downwards and is located in the positioning opening 20.7;

the movable finger 46 releases the storage battery workpiece 35, and the front gripper 6 rises to a set position; since the hold-down mechanism 33 is now behind the jack mechanism 20, the front slide table 7 needs to slide forward a certain distance until the hold-down mechanism 33 is aligned with the jack mechanism 20 and the battery workpiece 35.

(2) Putting the electrode plate group 35.2 into a box for the second time;

since the secondary box entering of the electrode plate group 35.2 is to press the electrode plate group 35.2 into the box body 35.1 until the electrode plate group 35.2 reaches the bottom of the inner cavity of the box body 35.1, in the process, the box body 35.1 needs to be pressed, otherwise, the box entering action cannot be completed, and therefore, the action of the pressing mechanism 33 is generally earlier than that of the jacking mechanism 20;

the pressing plate 34 is driven by the pressing cylinder 31 to descend until the bottom surface of the box body 35.1 is pressed, the lifting cylinder 20.5 drives the lifting plate 20.4 to slide upwards, so that the ejector pin 20.3 gradually approaches to the electrode plate group 35.2, the ejector pin 20.3 contacts the electrode plate group 35.2 and then exerts an upward thrust on the electrode plate group 35.2, and the electrode plate group 35.2 moves upwards due to the fact that the box body 35.1 is pressed until the electrode plate group is completely contacted with the bottom of the inner cavity of the box body 35.1;

the pressing cylinder 31 drives the pressing plate 34 to reset, the jacking cylinder 20.5 drives the lifting plate 20.4 to reset, and the storage battery workpiece 35 is released; at the moment, the front sliding table 7 is reset forwards to wait for grabbing the storage battery workpiece 35 next time;

(3) discharging the storage battery workpiece 35;

after a group of storage battery workpieces 35 are placed into the box for the second time, the lifting motor 9 of the rear lifting assembly is started to drive the screw rod 26 to rotate, the rear lifting frame 16 and the rear hand grip 4 are lifted to a set height under the cooperation of the nut 25 and the guide of the guide rail 18, and the rear hand grip 4 reaches the position right behind the storage battery workpieces 35 on the jacking mechanism 20; it should be noted that if the initial setting position of the rear gripper 4 is right behind the secondary boxed battery workpiece 35, this step may be omitted;

the traveling motor 10 of the rear traveling assembly is started, the gear 36 of the rear traveling assembly is driven to rotate through the synchronous wheel and the synchronous belt 13, the rear sliding table 8 slides forwards to a set position under the cooperation of the rack 17 and the guide of the guide rail 18, and the moving fingers and the fixed fingers 47 of the rear hand grip 4 are inserted into gaps between the storage battery workpieces 35;

the grabbing cylinder 48 of the rear hand grip 4 is started to drive the movable finger 46 to approach the fixed finger 47, and in the process, the movable finger 46 clamps the storage battery workpiece 35 towards the fixed finger 47;

since the pressing mechanism 33 is reset at this time, the storage battery workpiece 35 has a rising space, and the rear lifting frame 16 rises together with the rear gripper 4, so that the storage battery workpiece 35 is separated from the jacking mechanism 20;

a walking motor 10 of the rear walking assembly is started reversely to drive the rear sliding table 8 to retreat to a set position; the overturning cylinder 39 acts, the driving rack 41 forces the overturning shaft 37 to rotate 180 degrees through the driven gear 42, the rear hand grip 4 fixed at the front end of the overturning shaft 37 and the storage battery workpiece 35 also rotate 180 degrees, and the storage battery workpiece 35 is changed into a box bottom downward from a bus bar 35.4 downward;

at the moment, the storage battery workpiece 35 is positioned above the conveyor belt, the lifting cylinder ejects the storage battery workpiece, the rear lifting frame 16 and the rear gripper 4 descend under the guidance of the guide rail 18, and the storage battery workpiece 35 is placed on the conveyor belt;

the movable finger 46 releases the storage battery workpiece 35, and the rear lifting frame 16 and the rear gripper 4 are lifted to a set position (at the moment, the conveyor belt is not blocked by the lifting frame and the rear gripper 4, so that the storage battery workpiece 35 can be sent out); the overturning cylinder 39 drives the overturning shaft 37 to rotate for 180 degrees, the rear gripper 4 resets, and the next discharging of the storage battery workpiece 35 is waited;

and at this moment, one-time discharging action of the discharging manipulator is finished.

It should be noted that the conveyor belt below the discharge device is omitted in the drawings of the present invention. In the present invention, each cylinder, motor, travel switch 21, etc. are controlled by a control module (e.g. PLC module), which is a conventional technology in the industry and will not be described in detail herein.

The specific embodiments described in this specification are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. The utility model provides a storage battery cast joint machine's ejection of compact manipulator which characterized in that: the device comprises a rack, a gripping device arranged on the front side of the rack, a secondary box-feeding device arranged in the middle of the rack, and a discharging device arranged on the rear side of the rack;

the grabbing device comprises a front sliding table (7), a front grab handle (6), a front lifting frame (15), a front lifting assembly and a front walking assembly; the front sliding table (7) is arranged on the front side of the top of the frame through a horizontal guide pair and slides along the front-back direction under the drive of the front walking assembly; the front gripper (6) is fixedly connected to the bottom of the front lifting frame (15), the front lifting frame (15) is installed on the front sliding table (7) through a vertical guide pair and is driven by the front lifting assembly to lift along the vertical direction;

the secondary box-entering device comprises a jacking mechanism (20) arranged in the middle of the rack and a pressing mechanism (33) arranged on the rear side of the front sliding table (7); the jacking mechanism (20) is used for upwards jacking and pressing the electrode plate group (35.2) of the inverted storage battery workpiece (35), the pressing mechanism (33) is used for downwards jacking and pressing the box body (35.1) of the storage battery workpiece (35) and completely pressing the electrode plate group (35.2) to the bottom of the box;

the discharging device comprises a rear sliding table (8), a rear lifting frame (16), a rear gripper (4), a turnover assembly, a rear lifting assembly and a rear walking assembly; the rear sliding table (8) is horizontally arranged on the rear side of the top of the frame through a horizontal guide pair and slides along the front-rear direction under the driving of the rear walking assembly; the rear lifting frame (16) is arranged on the rear sliding table (8) through a vertical guide pair and is driven by the rear lifting assembly to lift along the vertical direction; the rear gripper (4) is rotatably arranged at the front side of the rear lifting frame (16) through a turnover shaft (37) and can be turned and rotated under the driving of the turnover assembly.

2. The discharging manipulator of the storage battery cast-weld machine as claimed in claim 1, characterized in that: preceding, back lifting unit all include by lift motor (9) driven lead screw (26) to and with lead screw (26) complex nut (25), preceding, back lifting unit's lift motor (9) are fixed respectively in the front, on the back slip table, preceding lifting unit's nut (25) are installed in the front crane (15) or preceding tongs (6), and back lifting unit's nut (25) are installed in the back crane (16).

3. The discharging manipulator of the storage battery cast-weld machine as claimed in claim 1, characterized in that: the front walking assembly and the rear walking assembly respectively comprise a gear (35), a rack (17), a walking motor (10), a driving synchronous wheel (11), a driven synchronous wheel (12) and a synchronous belt (13); rack (17) are fixed at the frame top along the fore-and-aft direction, preceding, back walking assembly's gear (35) are installed respectively in the front through the pivot slip table (7), back slip table (8), and respectively with rack (17) cooperation, be fixed with driven synchronizing wheel (12) in the pivot of gear (35), it is preceding, back walking assembly's walking motor (10) are fixed respectively in the front, back slip table is last, it is preceding, walking motor (10) on the back slip table are respectively through initiative synchronizing wheel (11), hold-in range (13) and pinch roller (14), driven synchronizing wheel (12) on the drive corresponding slip table rotate.

4. The discharging manipulator of the storage battery cast-weld machine as claimed in claim 1, characterized in that: the jacking mechanism (20) comprises a lower frame fixed in the middle of the rack through a supporting plate (19), and at least one jacking assembly arranged in the lower frame; a top plate (20.2) of the lower frame is provided with a positioning opening (20.7) of a box body (35.1) of a group of storage battery workpieces (35);

each jacking assembly comprises a lifting plate (20.4), a plurality of groups of ejector pins (20.3), a vertical guide pair and a jacking cylinder (20.5), the lifting plate (20.4) is arranged in the lower frame in a liftable mode through the vertical guide pair, the ejector pins (20.3) are arranged on the top surface of the lifting plate (20.4) in rows, one group of ejector pins (20.3) is aligned to one positioning hole (20.7), the jacking cylinder (20.5) is fixed at the bottom of the frame, and the ejector pins of the jacking assembly are upwards suspended and connected with the lifting plate (20.4).

5. The discharging manipulator of the storage battery cast-weld machine as claimed in claim 4, characterized in that: the pressing mechanism (33) comprises a pressing plate (34), a vertical guide pair and a pressing cylinder (31), the pressing plate (34) is arranged below the front sliding table (7) through the vertical guide pair in a liftable mode and is arranged in parallel with a top plate (20.2) of the lower frame, the pressing cylinder (31) is installed on the front sliding table (7), an ejector rod (31.1) of the pressing cylinder is overhung downwards, and the pressing plate (34) is connected after penetrating through the front sliding table (7).

6. The discharging manipulator of the storage battery cast-weld machine as claimed in claim 1, characterized in that: the overturning assembly comprises a driven gear (42) fixed on an overturning shaft (37) of the rear hand grip (4) and an active rack (41) matched with the driven gear (42), the active rack (41) is driven by an overturning cylinder (39) fixed on the rear lifting frame (16), and a guide pair of the active rack (41) is further arranged on the rear lifting frame (16).

7. The discharging manipulator of the storage battery cast-weld machine as claimed in claim 1, characterized in that: and a limiting angle block (50) is arranged on one side of the rear gripper (4), two hydraulic buffers (44) are respectively arranged on two sides of the rear lifting frame (16), and the two hydraulic buffers (44) buffer the rear gripper (4) through the limiting angle block (50) in the overturning and rotating process of the rear gripper (4).

8. The discharging manipulator of the storage battery cast-welding machine as claimed in any one of claims 1 to 7, characterized in that: the front gripper and the rear gripper (4) respectively comprise a gripper frame (51) and at least one clamping assembly arranged in the gripper frame (51); each clamping assembly comprises a fixed finger (47) fixedly connected with the gripper frame (51) and two movable fingers (46) which are symmetrically arranged on two sides of the fixed finger (47) and are parallel to the fixed finger (47); the front ends of the fixed fingers (47) and the two movable fingers (46) extend out of the front side of the gripper frame (51), the rear ends of the two movable fingers (46) are positioned in the gripper frame (51) in a sliding mode through the guide pair and are respectively connected with a top rod of a grabbing cylinder (48), and the fixed fingers (47) slide relative to the fixed fingers under the driving of the grabbing cylinder (48).

9. The discharging manipulator of the storage battery cast-weld machine as claimed in claim 8, characterized in that: and cushion blocks for increasing friction force and buffering are fixed on two sides of the fixed finger (47) and one side of the movable finger (46) facing the fixed finger (47).

10. The discharging manipulator of the storage battery cast-weld machine as claimed in claim 8, characterized in that: both sides of a gripper frame (51) of the front gripper (6) are fixedly connected with the front lifting frame (15), and a nut (25) of the front lifting assembly is installed at the top of the gripper frame (51); the rear side of the gripper frame (51) of the rear gripper (4) is fixedly connected with the front end of the overturning shaft (37).

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