CN112207848A - Automatic grabbing device of electrolyte barrel and manipulator for grabbing electrolyte barrel - Google Patents
Automatic grabbing device of electrolyte barrel and manipulator for grabbing electrolyte barrel Download PDFInfo
- Publication number
- CN112207848A CN112207848A CN201910616603.7A CN201910616603A CN112207848A CN 112207848 A CN112207848 A CN 112207848A CN 201910616603 A CN201910616603 A CN 201910616603A CN 112207848 A CN112207848 A CN 112207848A
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- electrolyte
- barrel
- electrolyte barrel
- mechanical
- lifting seat
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- 239000003792 electrolyte Substances 0.000 title claims abstract description 214
- 210000000078 claw Anatomy 0.000 claims abstract description 94
- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 230000003028 elevating effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 239000008151 electrolyte solution Substances 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000012546 transfer Methods 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 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 description 3
- 230000007306 turnover Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 229910003002 lithium salt Inorganic materials 0.000 description 1
- 159000000002 lithium salts Chemical class 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000003960 organic solvent Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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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
-
- 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
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic grabbing device for an electrolyte barrel and a manipulator for grabbing the electrolyte barrel. The automatic gripping device of the electrolyte barrel is provided with mechanical claw driving mechanisms which are in one-to-one correspondence with the mechanical claws, the lifting seat is descended until the mechanical claw extends into the upper port of the electrolyte barrel, the controller controls the mechanical claw driving mechanism to open the mechanical hand, the hook part of the mechanical claw moves to the position below the inward turning edge at the top end of the electrolyte barrel and then stops moving relative to the lifting seat, the opening degree of each mechanical claw can be inconsistent, each mechanical claw can be ensured to hook the inward turning edge, after the opening is completed, the lifting seat is lifted to ensure that the hook part of the mechanical claw is in hook fit with the inward turning edge at the top end of the electrolyte barrel, the automatic gripping device for the electrolyte barrel can adapt to electrolyte barrels in different positions, the position requirement on the electrolyte barrel is low, and the problem that the transfer cost of the electrolyte barrel is high due to the fact that the current mechanical claw cannot be suitable for electrolyte barrels in different positions and the requirement on the position precision of the electrolyte barrel is high is solved.
Description
Technical Field
The invention relates to an automatic grabbing device for an electrolyte barrel and a manipulator for grabbing the electrolyte barrel.
Background
The electrolyte of the lithium ion battery mainly comprises an organic solvent, an additive and a lithium salt, the storage and the transportation of the current electrolyte are mainly finished by a specially-made electrolyte barrel, the electrolyte is required to be carried and stacked in an automatic electrolyte filling system, the electrolyte barrel before filling is moved to a filling line from a tray through a gantry robot, the filled electrolyte barrel is moved to a transfer tray from the filling line after filling, the gantry robot comprises a visual identification system and an automatic grabbing manipulator, the position of the electrolyte barrel is obtained through the visual identification system, the automatic grabbing manipulator grabs the electrolyte barrel through hooking the inward turning edge at the top end of the electrolyte barrel and hoists the electrolyte barrel to a specified position, the size of the electrolyte barrel can be changed due to different specifications of the electrolyte barrel in the actual operation process, the precision of the visual identification system is limited, and the weight of the electrolyte barrel is heavier, the automatic grabbing mechanical arm is difficult to change the electrolyte barrel in the grabbing process to enable the electrolyte barrel to be adaptive to the mechanical arm, the automatic grabbing mechanical arm is often difficult to adapt to different sizes and smaller position deviations of the electrolyte barrel, the requirements on the size and the position accuracy of the electrolyte barrel are high, the automatic grabbing device of the electrolyte barrel needs to be additionally provided with a high-accuracy detection part, and the problem that the running cost of the whole automatic grabbing device of the electrolyte barrel is high is caused.
Disclosure of Invention
The invention aims to provide an automatic electrolyte barrel grabbing device, which aims to solve the problem that the existing automatic electrolyte barrel grabbing device is high in cost for transporting an electrolyte barrel.
In order to realize the purpose, the technical scheme of the automatic gripping device for the electrolyte barrel is as follows: automatic grabbing device of electrolyte barrel includes the mount pad, sets up elevating system on the mount pad, drives the manipulator that goes up and down by elevating system, and the manipulator includes:
the lifting seat is connected with the lifting mechanism and driven by the lifting mechanism to lift;
the mechanical claws are movably assembled on the lifting seat and provided with hooking parts which are used for stretching into the upper port of the electrolyte barrel and hooking inward turned edges at the top end of the electrolyte barrel;
the manipulator is provided with a withdrawing state which enables all the mechanical claws to be close to each other and separated from the electrolyte barrel and an opening state which enables all the mechanical claws to be far away from the inward turning edge of the top end of the hooked electrolyte barrel;
the mechanical claw driving mechanisms are arranged on the lifting seat and drive the mechanical claws to move on the lifting seat so as to realize the opening and the retraction of the mechanical hands, the mechanical claw driving mechanisms correspond to the mechanical claws one to one and are mutually independent, and when the mechanical hands are opened, hook parts of the mechanical claws move to the lower part of the inward turning edge at the top end of the electrolyte barrel and then stop moving relative to the lifting seat so as to adapt to electrolyte barrels at different positions;
and the controller is in control connection with the mechanical claw driving mechanism and the lifting mechanism and is used for controlling the lifting, the opening and the retraction of the mechanical arm.
The automatic gripping device for the electrolyte barrel has the beneficial effects that: the controller is used for controlling the mechanical claw driving mechanism to enable the mechanical hand to open and grab the electrolyte barrel when the mechanical claw in front of the electrolyte barrel is grabbed to a set position, controlling the mechanical claw driving mechanism to enable the mechanical hand to withdraw and loosen the electrolyte barrel when the mechanical claw in back of the electrolyte barrel is grabbed to the set position, and controlling the mechanical claw driving mechanism to enable the mechanical hand to open through the mechanical claw driving mechanisms which are in one-to-one correspondence with the mechanical claws, when the controller is used, the automatic grabbing device of the electrolyte barrel moves to the upper part of the electrolyte barrel, then the lifting seat descends until the mechanical claw extends into the upper port of the electrolyte barrel, the controller controls the mechanical claw driving mechanism to enable the mechanical hand to open, as the mechanical claw driving mechanisms are in one-to-one correspondence with the mechanical claws, when the mechanical hand is opened, the hooking part of the mechanical claw moves to the lower part of the inward turning edge at the top end of the electrolyte barrel and, after the opening is finished, the lifting seat is lifted, so that the hook part of the mechanical claw is matched with the inward-turning edge hook at the top end of the electrolyte barrel.
Furthermore, in order to improve the adaptation of the electrolyte barrel grabbing manipulator to the height of the electrolyte barrel, the electrolyte barrel grabbing manipulator further comprises a proximity switch which is arranged on the lifting seat and is in signal connection with the controller, wherein the proximity switch is used for detecting the vertical distance between the hook part and the inward turning edge at the top end of the electrolyte barrel and sending a trigger signal to the controller when the vertical distance between the hook part of the mechanical claw and the inward turning edge at the top end of the electrolyte barrel reaches a set value; the controller controls the mechanical claw driving mechanism to open the mechanical hand when receiving the trigger signal before grabbing the electrolyte barrel, and controls the mechanical claw driving mechanism to withdraw the mechanical hand when receiving the trigger signal after grabbing the electrolyte barrel. Through setting up proximity switch, when guaranteeing different electrolyte barrel height, the hook part homoenergetic of gripper all can accurate hook electrolyte barrel turn over along.
Further, the activity is equipped with the touch panel that is used for conflicting with electrolyte bucket top end face on the lift seat, the touch panel can move for the lift seat when the lift seat in-process conflicts with the electrolyte bucket, be connected with the response piece with the proximity switch adaptation on the touch panel, have in the activity stroke of the relative lift seat of touch panel and make the response piece trigger proximity switch's trigger position when the hook part of gripper reaches the setting value with electrolyte bucket top enstrophe along vertical distance, proximity switch sends trigger signal to the controller after triggering. Through the direct and electrolyte bucket contact of touch panel, can reduce the interference, the testing result is more stable.
Furthermore, the mechanical claw driving mechanism is a driving air cylinder or a driving hydraulic cylinder, when the mechanical hand is opened, the hook part of the mechanical claw moves to the lower part of the inner turning edge at the upper end and stops moving relative to the lifting seat after being abutted against the inner wall of the electrolyte barrel. Compare and set up motor drive, motor drive damages easily after overloading, need set up the sensor during motor drive and detect the relative position of gripper and electrolyte bucket, and the extension can be stopped to drive actuating cylinder or drive actuating cylinder after top gripper and electrolyte bucket are supported, simplified structure.
Furthermore, the mechanical claw is assembled on the lifting seat in a guiding and sliding mode along the direction perpendicular to the lifting direction of the lifting seat, and the mechanical claw is simple in structure and convenient to install.
Furthermore, a guide rod is arranged on the upper side of the lifting seat, the upper end of the mechanical claw penetrates through the lifting seat to be assembled on the guide rod in a guiding mode, and the mechanical claw driving mechanism is arranged on the lower side of the lifting seat. The space of the upper side and the lower side of the lifting seat is fully utilized, and the structure is compact.
Furthermore, the lifting seat is in up-and-down guiding sliding fit with the mounting seat. After the electrolyte barrel is grabbed, the stability of the lifting seat can be ensured.
In order to achieve the purpose, the technical scheme of the manipulator for grabbing the electrolyte barrel comprises the following steps: snatch electrolyte barrel manipulator includes:
the lifting seat is connected with the lifting mechanism and driven by the lifting mechanism to lift;
the mechanical claws are movably assembled on the lifting seat and provided with hooking parts which are used for stretching into the upper port of the electrolyte barrel and hooking inward turned edges at the top end of the electrolyte barrel;
the manipulator is provided with a withdrawing state which enables all the mechanical claws to be close to each other and separated from the electrolyte barrel and an opening state which enables all the mechanical claws to be far away from the inward turning edge of the top end of the hooked electrolyte barrel;
and when the manipulator is opened, the hook part of the mechanical claw moves to the top end of the electrolyte barrel and then stops moving relative to the lifting seat to adapt to electrolyte barrels at different positions after moving to the lower part of the inward turning edge of the top end of the electrolyte barrel.
The automatic gripping device for the electrolyte barrel has the beneficial effects that: by arranging the mechanical claw driving mechanisms which correspond to the mechanical claws one by one, when in use, the automatic gripping device of the electrolyte barrel moves to the upper part of the electrolyte barrel, then the lifting seat descends until the mechanical claws extend into the upper port of the electrolyte barrel, the mechanical claw driving mechanisms open the mechanical hands, and as each mechanical claw driving mechanism corresponds to the mechanical claw one by one, when the mechanical hands open, the hooking parts of the mechanical claws move to the lower part of the inward turning edge at the top end of the electrolyte barrel and then stop moving relative to the lifting seat, the opening degree of each mechanical claw can be inconsistent, so as to ensure that each mechanical claw can hook the inward turning edge, after the opening is finished, the lifting seat is lifted, so that the hooking parts of the mechanical claws are matched with the inward turning edge at the top end of the electrolyte barrel, compared with the prior mechanical hands, the mechanical hand for gripping the electrolyte barrel can adapt to the electrolyte barrels at different positions, thereby realizing the automatic alignment of the electrolyte barrel, the position requirement on the electrolyte barrel is low, and the problem that the transfer cost of the electrolyte barrel is high due to the fact that the current mechanical claw cannot be suitable for electrolyte barrels in different positions and the requirement on the position precision of the electrolyte barrel is high is solved.
Furthermore, the manipulator for grabbing the electrolyte barrel further comprises a proximity switch which is arranged on the lifting seat and is in signal connection with the controller, wherein the proximity switch is used for detecting the vertical distance between the hook part and the inward turning edge at the top end of the electrolyte barrel, and sending a trigger signal to the controller to enable the manipulator to be retracted or opened when the vertical distance between the hook part of the mechanical claw and the inward turning edge at the top end of the electrolyte barrel reaches a set value. Through setting up proximity switch, when guaranteeing different electrolyte barrel height, the hook part homoenergetic of gripper all can accurate hook electrolyte barrel turn over along.
Further, the activity is equipped with the touch panel that is used for conflicting with electrolyte bucket top end face on the lift seat, the touch panel can move for the lift seat when the lift seat in-process conflicts with the electrolyte bucket, be connected with the response piece with the proximity switch adaptation on the touch panel, have in the activity stroke of the relative lift seat of touch panel and make the response piece trigger proximity switch's trigger position when the hook part of gripper reaches the setting value with electrolyte bucket top enstrophe along vertical distance, proximity switch sends trigger signal to the controller after triggering. Through the direct and electrolyte bucket contact of touch panel, can reduce the interference, the testing result is more stable.
As the optimization of the mechanical claw driving mechanism, the mechanical claw driving mechanism is a driving air cylinder or a driving hydraulic cylinder, when the mechanical arm is opened, the hook part of the mechanical claw moves to the lower part of the inward-turning edge at the upper end and stops moving relative to the lifting seat after being abutted against the inner wall of the electrolyte barrel. Compare and set up motor drive, motor drive damages easily after overloading, need set up the sensor during motor drive and detect the relative position of gripper and electrolyte bucket, and the extension can be stopped to drive actuating cylinder or drive actuating cylinder after top gripper and electrolyte bucket are supported, simplified structure.
Drawings
FIG. 1 is a schematic structural view of an automatic electrolytic bath bucket gripping device in an embodiment of the automatic electrolytic bath bucket gripping device according to the present invention;
FIG. 2 is a schematic structural view of another perspective of the automatic electrolytic bath bucket gripping device in the embodiment of the automatic electrolytic bath bucket gripping device according to the present invention;
FIG. 3 is a schematic view of an assembly structure of the manipulator and the guide sleeve in FIG. 1;
FIG. 4 is a schematic view of the gripper of FIG. 1;
FIG. 5 is a view of the assembled structure of the four gripper arms and the actuating cylinder of FIG. 1;
FIG. 6 is a schematic view of a prior art electrolytic solution tank;
FIG. 7 is a diagram showing a state in which the automatic electrolytic bath bucket gripping device grips an electrolytic bath bucket in the embodiment of the automatic electrolytic bath bucket gripping device according to the present invention;
FIG. 8 is a cross-sectional view of FIG. 7;
in the figure: 1. a mounting seat; 11. a base body; 12. a lifting mechanism housing; 13. a guide sleeve; 14. a lifting cylinder; 141. a piston rod; 2. a manipulator; 21. a lifting seat; 211. a long hole; 212. a guide bar; 213. a fixed seat; 22. a guide bar; 23. a gripper; 231. a support bar; 232. a bushing; 2321. a fixed flange; 233. hooking; 2331. fixing the bump; 24. a driving cylinder; 241. a cylinder body; 242. a piston rod; 25. a distance sensing mechanism; 251. a touch panel; 252. a proximity switch; 253. a sensing member; 254. a proximity switch mounting base; 255. a touch plate guide bar; 3. an electrolyte tank; 31. a barrel body; 32. a barrel cover; 33. a protrusion; 34. and turning the edges inwards.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 and 2, the automatic electrolyte gripping device of the present invention includes a mounting base 1, a lifting mechanism disposed on the mounting base 1, and a manipulator 2 driven by the lifting mechanism to lift, as shown in fig. 7 and 8, the lifting mechanism is a lifting cylinder 14, the mounting base 1 includes a base 11 and a lifting mechanism housing 12 fixed on the base 11, the lifting cylinder 14 is disposed in the lifting mechanism housing 12, a cylinder body of the lifting cylinder 14 is disposed on the lifting mechanism housing 12, and a piston rod 141 of the lifting cylinder 14 and the manipulator 2 are connected to drive the manipulator 2 to lift. The base body 11 is a quadrilateral plate, and the lifting mechanism is arranged at the center of the base body 11. In other embodiments, the lifting mechanism may also adopt a driving mode in which a motor drives a lead screw and nut mechanism.
For convenience of understanding, the structure of the electrolyte barrel is described below, and as shown in fig. 6, the electrolyte barrel 3 includes a barrel body 31 and a barrel cover 32, the barrel cover 32 is disposed in a sinking manner, a convex protrusion 33 is disposed at the center of the barrel cover 32, an inward-turned edge 34 is formed at the upper port of the barrel body for hooking the hanging piece, and during the transportation process, three or four electrolyte barrels are usually disposed on the transportation tray.
The manipulator 2 includes the lift seat 21 of being connected with the piston rod 141 of lift cylinder 14, and the lift seat 21 upside is equipped with guide bar 22, is equipped with on the pedestal 11 with guide bar 22 direction sliding fit's uide bushing 13, and in this embodiment, uide bushing 13 sets up in four angles departments of pedestal 11, and uide bushing 13 passes through flange to be fixed at the last side of pedestal 11, and guide bar 22 and uide bushing 13 one-to-one. When the central axis of the electrolyte barrel is not coincident with the axis of the lifting mechanism, the guide rod 22 and the guide sleeve 13 can ensure that the electrolyte barrel is not deflected. Of course, in other embodiments, the electrolyte tank may be prevented from deflecting by the lifting mechanism itself, for example, a plurality of cylinders extending up and down are provided to drive the lifting seat to lift. In other embodiments, the guide sleeve may be disposed on the lifting seat, and the guide rod may be disposed on the seat body, but the guide rod may need to pass through the lifting seat. Of course, in other embodiments, the lifting seat may also be in other guiding forms, for example, a guiding slot extending up and down is provided on the seat body, and a guiding block is provided on the lifting seat.
Go up along perpendicular to lift seat 21 lift direction slip on the lift seat 21 and be equipped with gripper 23, gripper 23 slides along the horizontal direction and assembles on lift seat 21 promptly, gripper 23 vertical extension, lift seat 21 is passed to the upper end, be equipped with on the lift seat 21 with the slot hole 211 that supplies gripper 23 to pass, lift seat 21 upside is equipped with the guide arm 212 with gripper 23 direction sliding fit, the both ends of slot hole 211 are equipped with the fixing base 213 of fixed guide arm 212, the guide arm 212 both ends are fixed on fixing base 213. In other embodiments, the top end of the mechanical claw can be guided and slidably assembled on the lower side of the lifting seat. In this embodiment, the guide rods 212 and the long holes 211 are disposed at positions between the adjacent guide rods 22, so that the layout on the lifting base 21 is more compact and the volume is reduced.
As shown in fig. 3 and 4, the upper end of the gripper 23 is slidably mounted on the guide rod 212, the gripper 23 includes a support rod 231 extending up and down, a bushing 232 fixed to the upper end of the support rod 231, and a hook 233 fixed to the lower end of the support rod 231, the upper end of the support rod 231 is provided with a bushing 232 mounting hole into which the bushing 232 is inserted, one end of the bushing 232 is provided with a fixing flange 2321, and the bushing 232 is fixed to the upper end of the support rod 231 through the fixing flange 2321. Bushing 232 fits over guide rod 212 for guiding sliding engagement with guide rod 212. The lower end of the support rod 231 is provided with a fixing groove, the hook 233 is provided with a fixing projection 2331 matched with the fixing groove, the bottom of the fixing groove is provided with a fixing hole for fixing the hook 233, and the hook 233 is fixed on the support rod 231 by a bolt. The hook 233 constitutes a hook part of the gripper 23 for extending into the upper port of the electrolyte tank to hook the turned-over edge of the top end of the electrolyte tank. In the embodiment, the hook and the support rod are arranged in a split mode, the processing is convenient, and in other embodiments, the hook and the support rod can be arranged integrally.
As shown in fig. 3 and 5, four mechanical claws 23 are provided in the embodiment, the four mechanical claws 23 are uniformly arranged in the circumferential direction of the center of the lifting seat 21, the lifting seat 21 in the embodiment is quadrilateral, wherein the diagonal line of the lifting seat 21 is perpendicular to the two opposite sides of the base, the mechanical claws 23 slide along the extension direction of the diagonal line of the lifting seat 21 in a guiding manner, and the hooks 233 of the two mechanical claws 23 arranged along the diagonal line of the lifting seat 21 in the four mechanical claws 23 are arranged back to ensure that the hooks hook the turned-in edge at the top end of the electrolyte barrel. In other embodiments, the number of the mechanical claws can be adjusted according to the requirement, for example, the number can be any number of more than two.
The manipulator 2 has a retracted state in which the gripper arms 23 are brought close to each other and separated from the electrolytic bath barrel, and an open state in which the gripper arms 23 are held away from each other and hooked with the tip inside-out edge of the electrolytic bath barrel.
In this embodiment, the lower side of the lifting seat 21 is provided with a driving cylinder 24 for driving the gripper 23 to slide in a guiding manner, the driving cylinder 24 comprises a cylinder body 241 fixed on the lower side of the lifting seat 21 in a hoisting manner and a piston rod 242 fixed in the middle of a support rod 231 of the gripper 23, the driving cylinders 24 are provided with four driving cylinders and are in one-to-one correspondence with the gripper 23, and the driving cylinders 24 are independent from each other. The drive cylinders 24 are provided in pairs, and the axes of the two drive cylinders 24 in a pair coincide.
When the manipulator 2 is opened, the hook 233 of the gripper 23 moves to a position below the inward-turned edge of the top end of the electrolyte barrel and then stops moving relative to the lifting seat to adapt to electrolyte barrels in different positions; when the mechanical claws 23 are driven by one driving cylinder 24, the moving distance of each mechanical claw 23 can be different, and the extending distance of the piston rod 242 of the driving cylinder 24 can be different, after the driving cylinder 24 drives the mechanical claws 23 to contact with the inner wall of the electrolyte barrel, the driving force of the driving cylinder 24 is not enough to push the electrolyte barrel, the piston rod 242 does not extend any more, and each mechanical claw 23 does not move relative to the lifting seat 21 after the electrolyte barrel is contacted. The driving cylinder 24 forms a mechanical claw driving mechanism arranged on the lifting seat 21, in other embodiments, the mechanical claw driving mechanism can also use a hydraulic cylinder, or use a lead screw nut mechanism, the lead screw nut mechanism is driven by a motor, in order to prevent the motor from being overloaded and damaged, a detector should be arranged on the hook, after the hook is triggered by contacting with the electrolyte barrel in the horizontal direction, the motor stops, and the mechanical claw moves in place. In other embodiments, the gripper may also be mounted on the lifting seat in a swinging manner, in a manner similar to the above-described translation manner, and at this time, one end of the driving cylinder for driving the gripper is hinged to the lifting seat, and the other end is hinged to the gripper.
The driving cylinder 24 is controlled by a controller, in this embodiment, the controller is a PLC controller, the controller is in control connection with the driving cylinder 24 and the lifting mechanism, controls the lifting of the manipulator 2, and controls the opening and the retraction of the manipulator 2, wherein the actions of the driving cylinder 24 and the lifting cylinder 14 of the lifting mechanism are realized by controlling the electromagnetic valve. Be equipped with on the lift seat 21 with controller signal connection's apart from induction mechanism 25, utilize apart from induction mechanism 25 and couple 233 vertical height difference, detect couple 233 and the distance of electrolyte barrel top enstrophe edge, in this embodiment, apart from induction mechanism 25 including be used for with the touch panel 251 of electrolyte barrel top end face conflict and with the response piece 253 of touch panel 251 connection, touch panel 251 can lead for lift seat 21 about the slip when the lift seat 21 goes up and down the in-process and contradicts with the electrolyte barrel.
As shown in fig. 7, the distance sensing mechanism 25 further includes a proximity switch mounting seat 254 fixed on the lifting seat 21 and a proximity switch 252 disposed on the proximity switch mounting seat 254 and connected to the controller through a signal, the proximity switch 252 is adapted to the sensing member 253, and the proximity switch 252 is triggered when the distance between the proximity switch 252 and the sensing member 253 reaches a set value. Specifically, the proximity switch 252 in this embodiment is an eddy current type proximity switch, the touch pad 251 is assembled on the proximity switch mounting seat 254 in a vertically guiding and sliding manner through the touch pad guide rod 255, and the sensing part 253 is a conductive block adapted to the eddy current type proximity switch.
The movable stroke of the touch plate 251 relative to the lifting seat 21 has a trigger position which enables the sensing piece 253 to trigger the proximity switch 252 when the vertical distance between the hooking part of the mechanical claw 23 and the top end of the electrolyte barrel is inwards turned to reach a set value, in the embodiment, when the sensing piece 253 moves upwards to the same height with the proximity switch 252, the proximity switch 252 is triggered to generate a trigger signal, and the proximity switch 252 is in signal connection with the controller to send the generated trigger signal to the controller. In other embodiments, the proximity switch may be another type of proximity switch, such as a photoelectric proximity switch, a capacitive proximity switch, or the like, and when the proximity switch is configured as a photoelectric proximity switch, the sensing element may not be needed, for example, the sensing element may directly sense the top end surface of the electrolyte tank. In other embodiments, the touch panel can be arranged on the lifting seat in a swinging mode, and the swinging angle of the touch panel is increased along with the descending of the lifting seat until the sensing piece on the touch panel is close to the proximity switch to trigger the proximity switch.
In order to ensure the stability of the contact 251 abutting against the electrolyte tank, in this embodiment, a spring (not shown in the figure) for applying an elastic force to the contact 251 to press the contact 251 against the electrolyte tank is disposed on the lifting base 21, and after the contact 251 is separated from the electrolyte tank, the contact 251 moves downward to be reset under the action of the spring. In other embodiments, the touch plate may also be held in tension by gravity against the electrolytic bath barrel and reset by gravity after separation of the electrolytic bath barrel.
When the distance sensing mechanism 25 is in contact with the end face of the top end of the electrolyte barrel, the vertical distance between the hook 233 and the inward turning edge of the top end of the electrolyte barrel is the optimal distance for the hook 233 to hook the inward turning edge, and the proximity switch 252 sends a trigger signal; the controller controls the driving cylinder 24 to open the manipulator 2 when receiving a trigger signal before grabbing the electrolyte barrel, and controls the driving cylinder 24 to retract the manipulator 2 when receiving the trigger signal after grabbing the electrolyte barrel. In this embodiment, after the piston rod of the driving cylinder 24 is retracted to the proper position, the manipulator 2 is in the retracted state. In other embodiments, the contact plate may have other structures, such as a square plate or a cross bar that is engaged with a protrusion on the middle of the electrolyte tank.
In order to facilitate the arrangement of the electrolyte barrel, the automatic gripping device for the electrolyte barrel in other embodiments can be further provided with a visual identification system for identifying the position of the electrolyte barrel, of course, in other embodiments, the visual identification system can be arranged on a tray and a conveying line for bearing the electrolyte barrel, and in other embodiments, a sensor can be arranged for sensing the position of the electrolyte barrel; under the condition that the position of the electrolyte barrel is not changed greatly, for example, the electrolyte barrel is transferred between two points, the electrolyte barrel can be preset at a set point, a visual identification system is not needed, the automatic gripping device of the electrolyte barrel descends through a lifting mechanism after reaching the position above the set point through a track, and automatic gripping can be completed through a distance sensing mechanism; when the electrolyte barrel is uniform in specification and does not deform, the distance sensing mechanism can be omitted, the lifting distance of the lifting mechanism can be preset at the moment, according to a set program, the lifting mechanism descends to the point that the vertical distance between the hook and the inner turning edge at the top end of the electrolyte barrel is the optimal distance for the hook to hook the inner turning edge, the controller controls the driving cylinder 24 to open the manipulator 2 when receiving a trigger signal before grabbing the electrolyte barrel, controls the driving cylinder 24 to withdraw the manipulator when receiving the trigger signal after grabbing the electrolyte barrel, namely the stroke of the automatic grabbing device is set in advance, controls the action sequence of the driving cylinder 24, the lifting mechanism and other parts at the moment, does not need the distance sensing mechanism and a visual identification system, and is suitable for the situation that the specification of the electrolyte barrel is uniform at the moment.
In order to adapt to a larger range, the touch panel 251 in this embodiment is a transverse plate hung below the lifting seat 21, two ends of the transverse plate are hung on two opposite sides of the lifting seat 21 in the horizontal direction, the length of the transverse plate is greater than the width of the lifting seat 21, and the lifting seat 21 in this embodiment is square.
When in use, the automatic gripping device for the electrolyte barrel is arranged on the gantry robot, and the gantry robot is controlled by the controller to drive the electrolyte barrel to move to a set position.
The electrolyte barrel automatic gripping device in the embodiment has the following use process: make automatic grabbing device of electrolyte barrel move to waiting to snatch the electrolyte barrel top, elevating system drives lift seat 21 and descends, contact plate 251 of lift seat 21 downside and the contact of the top end face of electrolyte barrel, proximity switch 252 is triggered this moment, elevating system stops descending, proximity switch 252 sends trigger signal to controller, the controller starts driving actuating cylinder 24 according to manipulator 2 state, make manipulator 2 open, it needs to explain, under the initial condition, in order to avoid manipulator 2 and electrolyte barrel upper port turn over in the edge and interfere, manipulator 2 is in and withdraws the state. Gripper 23 is pushed away to contradicting with the electrolyte barrel inside wall under driving actuating cylinder 24 effect, keeps conflicting with electrolyte barrel inner wall under the effect of driving actuating cylinder 24, because it is less to drive actuating cylinder 24 power, be not enough to promote the electrolyte barrel, the earlier contact drive actuating cylinder 24 can not promote the electrolyte barrel and remove, the earlier contact drive actuating cylinder 24 thrust reach the rated value after no longer increase, treat all the other electrolyte cylinders and electrolyte barrel inner wall contact back, the electrolyte cylinder is balanced to the effort of electrolyte barrel. And starting the lifting mechanism to enable the hook of the mechanical claw 23 to be matched with the inward-turning edge hook of the electrolyte barrel, driving the lifting seat 21 to continuously ascend by the lifting mechanism, lifting the electrolyte barrel, and moving the automatic gripping device of the electrolyte barrel to a set position.
The principle of the dropping condition of the electrolyte barrel is the same as that of the grabbing condition, after the automatic grabbing device of the electrolyte barrel is moved to a set position, the lifting seat 21 is descended until the bottom of the electrolyte barrel is contacted with the placed position, the lifting seat 21 is continuously descended, the hook 233 of the mechanical claw 23 is separated from the turned-in edge at the top end of the electrolyte barrel until the touch plate 251 is contacted with the end face at the top end of the electrolyte barrel again, the proximity switch 252 is triggered again, the controller starts the driving cylinder 24 according to the state of the manipulator 2 to enable the driving cylinder 24 to drive the manipulator 2 to withdraw, the manipulator 2 returns to the initial state, the lifting mechanism drives the lifting seat 21 to ascend, and the dropping of the.
In the specific embodiment of the manipulator for grabbing the electrolyte barrel, the structure of the manipulator for grabbing the electrolyte barrel in the embodiment is the same as that of the manipulator in the specific embodiment of the automatic grabbing device for the electrolyte barrel, and detailed description is omitted.
Claims (10)
1. Automatic grabbing device of electrolyte barrel, its characterized in that, including mount pad, the elevating system of setting on the mount pad, drive the manipulator that goes up and down by elevating system, the manipulator includes:
the lifting seat is connected with the lifting mechanism and driven by the lifting mechanism to lift;
the mechanical claws are movably assembled on the lifting seat and provided with hooking parts which are used for stretching into the upper port of the electrolyte barrel and hooking inward turned edges at the top end of the electrolyte barrel;
the manipulator is provided with a withdrawing state which enables all the mechanical claws to be close to each other and separated from the electrolyte barrel and an opening state which enables all the mechanical claws to be far away from the inward turning edge of the top end of the hooked electrolyte barrel;
the mechanical claw driving mechanisms are arranged on the lifting seat and drive the mechanical claws to move on the lifting seat so as to realize the opening and the retraction of the mechanical hands, the mechanical claw driving mechanisms correspond to the mechanical claws one to one and are mutually independent, and when the mechanical hands are opened, hook parts of the mechanical claws move to the lower part of the inward turning edge at the top end of the electrolyte barrel and then stop moving relative to the lifting seat so as to adapt to electrolyte barrels at different positions;
and the controller is in control connection with the mechanical claw driving mechanism and the lifting mechanism and is used for controlling the lifting, the opening and the retraction of the mechanical arm.
2. The automatic grabbing device of electrolyte barrel of claim 1, wherein the manipulator for grabbing electrolyte barrel further comprises a proximity switch disposed on the lifting seat and in signal connection with the controller, the proximity switch is used for detecting the vertical distance between the hook portion and the inward-turning edge of the top end of the electrolyte barrel, and sending a trigger signal to the controller when the vertical distance between the hook portion of the mechanical claw and the inward-turning edge of the top end of the electrolyte barrel reaches a set value; the controller controls the mechanical claw driving mechanism to open the mechanical hand when receiving the trigger signal before grabbing the electrolyte barrel, and controls the mechanical claw driving mechanism to withdraw the mechanical hand when receiving the trigger signal after grabbing the electrolyte barrel.
3. The automatic grabbing device of electrolyte barrel of claim 2, wherein the lift seat is movably assembled with a touch plate for abutting against the end face of the top end of the electrolyte barrel, the touch plate can move relative to the lift seat when abutting against the electrolyte barrel during the lift of the lift seat, the touch plate is connected with a sensing element adapted to the proximity switch, the movable stroke of the touch plate relative to the lift seat has a triggering position for triggering the proximity switch by the sensing element when the vertical distance between the hooking part of the mechanical claw and the upturned edge of the top end of the electrolyte barrel reaches a set value, and the proximity switch sends a triggering signal to the controller after triggering.
4. The automatic electrolytic solution barrel grabbing device according to any one of claims 1 to 3, wherein the gripper driving mechanism is a driving cylinder or a driving hydraulic cylinder, and when the manipulator is opened, the hooking part of the gripper moves to the lower part of the upper inward-turning edge and stops moving relative to the lifting seat after contacting with the inner wall of the electrolytic solution barrel.
5. The automatic electrolytic solution barrel gripping device according to any one of claims 1 to 3, wherein the gripper is slidably fitted to the elevating base in a direction perpendicular to the elevating direction of the elevating base.
6. The automatic electrolytic solution barrel grabbing device according to any one of claims 1 to 3, wherein the lifting seat is in up-and-down guiding sliding fit with the mounting seat.
7. Snatch electrolyte barrel manipulator, its characterized in that includes:
the lifting seat is connected with the lifting mechanism and driven by the lifting mechanism to lift;
the mechanical claws are movably assembled on the lifting seat and provided with hooking parts which are used for stretching into the upper port of the electrolyte barrel and hooking inward turned edges at the top end of the electrolyte barrel;
the manipulator is provided with a withdrawing state which enables all the mechanical claws to be close to each other and separated from the electrolyte barrel and an opening state which enables all the mechanical claws to be far away from the inward turning edge of the top end of the hooked electrolyte barrel;
and when the manipulator is opened, the hook part of the mechanical claw moves to the top end of the electrolyte barrel and then stops moving relative to the lifting seat to adapt to electrolyte barrels at different positions after moving to the lower part of the inward turning edge of the top end of the electrolyte barrel.
8. The electrolyte barrel grabbing manipulator according to claim 7, further comprising a proximity switch disposed on the lifting seat and in signal connection with the controller, wherein the proximity switch is configured to detect a vertical distance between the hook portion and the inward-turned edge of the top end of the electrolyte barrel, and send a trigger signal to the controller to retract or open the manipulator when the vertical distance between the hook portion of the gripper and the inward-turned edge of the top end of the electrolyte barrel reaches a set value.
9. The mechanical hand for grabbing the electrolyte barrel according to claim 8, wherein the lifting seat is movably assembled with a touch plate for abutting against the end face of the top end of the electrolyte barrel, the touch plate can move relative to the lifting seat when abutting against the electrolyte barrel in the lifting process of the lifting seat, the touch plate is connected with a sensing piece adaptive to the proximity switch, a triggering position for triggering the proximity switch by the sensing piece is arranged in the moving stroke of the touch plate relative to the lifting seat when the vertical distance between the hooking part of the mechanical claw and the inward turning edge of the top end of the electrolyte barrel reaches a set value, and the proximity switch sends a triggering signal to the controller after triggering.
10. The manipulator for grabbing the electrolyte barrel of any one of claims 7-9, wherein the gripper driving mechanism is a driving cylinder or a driving hydraulic cylinder, and when the manipulator is opened, the hooking part of the gripper moves to the lower part of the upper inward-turning edge and stops moving relative to the lifting seat after contacting with the inner wall of the electrolyte barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910616603.7A CN112207848A (en) | 2019-07-09 | 2019-07-09 | Automatic grabbing device of electrolyte barrel and manipulator for grabbing electrolyte barrel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910616603.7A CN112207848A (en) | 2019-07-09 | 2019-07-09 | Automatic grabbing device of electrolyte barrel and manipulator for grabbing electrolyte barrel |
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| CN112207848A true CN112207848A (en) | 2021-01-12 |
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| CN201910616603.7A Pending CN112207848A (en) | 2019-07-09 | 2019-07-09 | Automatic grabbing device of electrolyte barrel and manipulator for grabbing electrolyte barrel |
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