CN114014025B - A battery plate pile up neatly tongs device for industrial robot - Google Patents
A battery plate pile up neatly tongs device for industrial robot Download PDFInfo
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- CN114014025B CN114014025B CN202111256966.8A CN202111256966A CN114014025B CN 114014025 B CN114014025 B CN 114014025B CN 202111256966 A CN202111256966 A CN 202111256966A CN 114014025 B CN114014025 B CN 114014025B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention provides a storage battery plate stacking gripper device for an industrial robot, which belongs to the technical field of storage battery plate stacking and comprises a fixed plate, a plate grabbing mechanism, a plate leveling mechanism and a tooling plate grabbing mechanism. The fixing plate is arranged on a mechanical arm of the industrial robot; the polar plate grabbing mechanism comprises two polar plate grabbing groups and two first driving pieces, and the polar plate grabbing groups comprise two polar plate grabbing pieces arranged at intervals; the polar plate leveling mechanism comprises two clapper plates and two second driving pieces, and the clapper plates are arranged between the two polar plate grabbing pieces of the same polar plate grabbing group; the tooling plate grabbing mechanism comprises two tooling plate grabbing pieces and two third driving pieces. The storage battery polar plate stacking gripper device for the industrial robot can realize the carrying and stacking of two groups of polar plates, the arrangement of the polar plates and the carrying and stacking work of tooling plates, and is simple and convenient to operate and high in production efficiency.
Description
Technical Field
The invention belongs to the technical field of storage battery plate stacking, and particularly relates to a storage battery plate stacking gripper device for an industrial robot.
Background
When the storage battery pole plates are stacked, the storage battery pole plates are conveyed to a position to be grabbed, two groups of pole plates of the storage battery are grabbed by using lifting equipment at the same time, the pole plates are loosened at a preset stacking position of the tray, and then the pole plates are manually arranged, and the stacking is tidy. Other hoisting tools need to be replaced later, the tooling plate is hoisted and stacked, the operation is very complicated, and the production efficiency is low.
Disclosure of Invention
The invention aims to provide a storage battery polar plate stacking gripper device for an industrial robot, and aims to solve the problems that conventional hoisting equipment is adopted to hoist, stack and arrange storage battery polar plates and hoist, stack and arrange tooling plates, and the operation is complex and the efficiency is low.
In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a battery plate stacking gripper device for an industrial robot, comprising:
the fixing plate is mounted on a mechanical arm of the industrial robot;
the polar plate grabbing mechanism comprises two polar plate grabbing groups arranged below the fixed plate in a sliding mode and two first driving pieces used for driving the corresponding polar plate grabbing groups to open and close respectively, and the polar plate grabbing groups comprise two polar plate grabbing pieces arranged at intervals;
the polar plate leveling mechanism comprises two clapper plates arranged below the fixed plate and two second driving pieces used for driving the corresponding clapper plates to lift, and the clapper plates are arranged between the two polar plate grabbing pieces of the same polar plate grabbing group;
the frock board snatchs the mechanism, the frock board snatchs the mechanism and includes that two frock boards snatch the piece and two are used for the drive respectively to correspond the frock board snatchs the third driving piece that the piece goes up and down, two the frock board snatchs the piece and locates two respectively the polar plate snatchs group two that are close to each other on the polar plate snatchs the piece.
In a possible implementation manner, the middle part of the upper end surface of the fixing plate is provided with a plurality of connecting columns, and the top ends of the connecting columns are fixedly connected with a connecting plate for connecting a mechanical arm of an industrial robot.
In a possible implementation manner, four polar plate grabbing pieces in two polar plate grabbing groups are respectively a first driven grabbing piece, a first driving grabbing piece, a second driving grabbing piece and a second driven grabbing piece, the first driving grabbing piece, the second driving grabbing piece and the second driven grabbing piece are sequentially arranged along the length direction of the fixed plate, a first connecting rod is connected between the first driven grabbing piece and the second driving grabbing piece, a second connecting rod is connected between the first driving grabbing piece and the second driven grabbing piece, the two first driving pieces are arranged in the middle of the upper end face of the fixed plate in a back-to-back manner, and the two first driving pieces are respectively connected with the first driving grabbing piece and the second driving grabbing piece;
one of the clapper plates is positioned between the first driven grabbing piece and the first driving grabbing piece, the other clapper plate is positioned between the second driving grabbing piece and the second driven grabbing piece, and the two second driving pieces are respectively arranged on the fixing plate;
the two tooling plate grabbing pieces are respectively arranged on the lower parts of the opposite sides of the first driving grabbing piece and the second driving grabbing piece, and the two third driving pieces are respectively arranged on the upper parts of the opposite sides of the first driving grabbing piece and the second driving grabbing piece.
In a possible implementation manner, the lower end surface of the fixing plate is provided with a slide rail along the length direction thereof, and the upper ends of the first driven grabbing piece, the first driving grabbing piece, the second driving grabbing piece and the second driven grabbing piece are respectively provided with a slide block in sliding fit with the slide rail.
In a possible implementation manner, two sides of the fixing plate are respectively provided with a yielding groove, the yielding grooves are formed along the length direction of the fixing plate, the top of the first active grabbing piece and the top of the second active grabbing piece are both provided with a connecting piece, and the connecting pieces penetrate through the yielding grooves and are connected to the corresponding driving ends of the first driving pieces; the both sides of the up end of fixed plate are equipped with the mounting bracket respectively, two the installation that the mounting bracket corresponds is in the top in groove of stepping down, two the second driving piece runs through the correspondence respectively the groove of stepping down, just second driving piece upper end is in on the mounting bracket, the lower extreme is connected clap on the flat board.
In a possible implementation manner, an articulation member is arranged between the second driving piece and the clapper plate, and the articulation member is used for changing the angle of the clapper plate so as to adapt to the flatness of the pole plate.
In a possible implementation manner, the bottom ends of the first driven grabbing piece, the first driving grabbing piece, the second driving grabbing piece and the second driven grabbing piece are respectively provided with a hook plate, the hook plates are arranged oppositely on the first driving grabbing piece and the second driving grabbing piece, and the hook plates are arranged oppositely on the first driven grabbing piece and the second driven grabbing piece.
In a possible implementation manner, the tooling plate grabbing piece comprises a top plate, a bottom plate and a plurality of connecting rods, the top plate is correspondingly connected to the driving end of the lower portion of the third driving piece, the bottom plate is arranged below the top plate in parallel, the connecting rods are connected between the top plate and the bottom plate, hooks are arranged on the lower end face of the bottom plate, and the hooks on the tooling plate grabbing piece are arranged oppositely.
In a possible implementation manner, the upper parts of the opposite side walls of the first active gripping member and the second active gripping member are provided with receiving plates, and the third driving member is connected to the receiving plates; the lower parts of the opposite side walls of the first active grabbing piece and the second active grabbing piece are respectively provided with a plurality of guide sleeves, and the guide sleeves and the connecting rods penetrate through the guide sleeves and are in sliding fit.
In a possible implementation manner, the first driving member, the second driving member and the third driving member are one or any combination of an air cylinder, a hydraulic cylinder or an electric push rod.
The invention provides a storage battery plate stacking gripper device for an industrial robot, which has the beneficial effects that: compared with the prior art, the fixing plate is arranged on a mechanical arm of an industrial robot, two polar plate grabbing groups are arranged below the fixing plate in a sliding mode, and the two first driving parts control the two polar plate grabbing parts in the corresponding polar plate grabbing groups to open and close so as to complete taking and placing of two groups of polar plates; the clapper is positioned between the two polar plate grabbing pieces, and after the polar plates are transported and stacked, the two second driving pieces control the corresponding clapper to lift so as to clap the corresponding polar plates; when two polar plates are controlled to be grabbed and combined to be opened and closed, the two polar plates which are opposite to each other on the two polar plate grabbing groups are positioned to be mutually opened and closed, so that the two tooling plates are driven to be grabbed, and the opening and closing of the tooling plates are completed. The mechanical arm of the motion-matched industrial robot moves in the space, and the carrying stacking of the two groups of polar plates, the arrangement of the polar plates and the carrying stacking of the tooling plates can be completed. The storage battery polar plate stacking gripper device for the industrial robot can realize the carrying and stacking of two groups of polar plates, the arrangement of the polar plates and the carrying and stacking work of tooling plates, and is simple and convenient to operate and high in production efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a perspective view of a storage battery plate stacking gripper device for an industrial robot according to an embodiment of the present invention;
fig. 2 is a front view of a battery plate stacking gripper device for an industrial robot according to an embodiment of the present invention;
fig. 3 is a perspective view of a fixing plate and a slide rail provided in an embodiment of the present invention;
FIG. 4 is a perspective view of the paddle plate, the hinge member, the second drive member, and the mounting bracket provided by the embodiment of the present invention;
fig. 5 is a perspective view of a first active grab and a tooling plate grabbing mechanism provided by an embodiment of the present invention.
Description of reference numerals:
1. a fixing plate; 2. connecting columns; 3. a connecting plate; 4. a first driven grasping member; 5. a first active grasping member; 6. a second active grasping member; 7. a second driven grasping member; 8. a first connecting rod; 9. a second connecting rod; 10. a first driving member; 11. a slide rail; 12. a slider; 13. a yielding groove; 14. a connecting member; 15. hooking the plate; 16. beating a flat plate; 17. a second driving member; 18. a third driving member; 19. a mounting frame; 20. a top plate; 21. a base plate; 22. a connecting rod; 23. hooking; 24. a bearing plate; 25. a guide sleeve; 26. a vertical plate; 27. connecting blocks; 28. an auxiliary lever; 29. an auxiliary cover.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2, a storage battery plate stacking gripper device for an industrial robot according to the present invention will now be described. The utility model provides a battery plate pile up neatly tongs device for industrial robot, includes that fixed plate 1, polar plate snatch the mechanism, polar plate leveling mechanism and frock board snatch the mechanism.
The fixing plate 1 is arranged on a mechanical arm of an industrial robot; the polar plate grabbing mechanism comprises two polar plate grabbing groups arranged below the fixed plate 1 in a sliding mode and two first driving pieces 10 used for driving the corresponding polar plate grabbing groups to open and close respectively, and each polar plate grabbing group comprises two polar plate grabbing pieces arranged at intervals; the polar plate leveling mechanism comprises two clapper plates 16 arranged below the fixed plate 1 and two second driving pieces 17 respectively used for driving the corresponding clapper plates 16 to ascend and descend, and the clapper plates 16 are arranged between two polar plate grabbing pieces of the same polar plate grabbing group; the tooling plate grabbing mechanism comprises two tooling plate grabbing pieces and two third driving pieces 18 which are used for driving the corresponding tooling plate grabbing pieces to ascend and descend respectively, and the two tooling plate grabbing pieces are arranged on the two polar plate grabbing pieces respectively, wherein the two polar plates are close to each other.
Compared with the prior art, the storage battery plate stacking gripper device for the industrial robot has the advantages that the fixed plate 1 is installed on a mechanical arm of the industrial robot, two plate grabbing groups are arranged below the fixed plate 1 in a sliding mode, and the two first driving pieces 10 control the two plate grabbing pieces in the corresponding plate grabbing groups to be opened and closed so as to take and place two groups of plates; the clapper plate 16 is positioned between the two polar plate grabbing pieces, and after the polar plates are transported and stacked, the two second driving pieces 17 control the corresponding clapper plates 16 to lift so as to clap the corresponding polar plates; when the two first driving parts 10 control the two polar plates to be grabbed and combined to be opened and closed, the two polar plate grabbing parts which are positioned on the two polar plate grabbing groups and are opposite to each other are mutually opened and closed so as to drive the two tooling plate grabbing parts to be opened and closed to finish the taking and placing of the tooling plate. The mechanical arm of the motion-matched industrial robot moves in the space, and the carrying stacking of the two groups of polar plates, the arrangement of the polar plates and the carrying stacking of the tooling plates can be completed. The storage battery polar plate stacking gripper device for the industrial robot can realize the carrying and stacking of two groups of polar plates, the arrangement of the polar plates and the carrying and stacking work of tooling plates, and is simple and convenient to operate and high in production efficiency.
In some embodiments, referring to fig. 1 to 2, a plurality of connecting columns 2 are disposed in the middle of the upper end surface of the fixing plate 1, and a connecting plate 3 for connecting a robot arm of an industrial robot is fixedly connected to the top ends of the plurality of connecting columns 2.
Specifically, spliced pole 2 is four, and the vertical fixation is at the middle part of 1 up end of fixed plate, and upper portion fixedly connected with connecting plate 3, connecting plate 3 are used for connecting industrial robot's arm, and industrial robot's arm possesses the degree of freedom of multidimension, can drive the transport pile up neatly action of whole device in order to accomplish arbitrary position after polar plate and frock board snatch.
In some embodiments, referring to fig. 1 to 2, four electrode plate grabbing pieces in two electrode plate grabbing groups are respectively a first driven grabbing piece 4, a first driving grabbing piece 5, a second driving grabbing piece 6 and a second driven grabbing piece 7, the first driven grabbing piece 4, the first driving grabbing piece 5, the second driving grabbing piece 6 and the second driven grabbing piece 7 are sequentially arranged along the length direction of the fixing plate 1, a first connecting rod 8 is connected between the first driven grabbing piece 4 and the second driving grabbing piece 6, a second connecting rod 9 is connected between the first driving grabbing piece 5 and the second driven grabbing piece 7, and two first driving pieces 10 are oppositely arranged in the middle of the upper end surface of the fixing plate 1 and respectively connected with the first driving grabbing piece 5 and the second driving grabbing piece 6;
one clapper plate 16 is positioned between the first driven grabbing part 4 and the first driving grabbing part 5, the other clapper plate 16 is positioned between the second driving grabbing part 6 and the second driven grabbing part 7, and the two second driving parts 17 are respectively arranged on the fixing plate 1;
the two tooling plate gripping members are respectively arranged at the lower parts of the opposite sides of the first active gripping member 5 and the second active gripping member 6, and the two third driving members 18 are respectively arranged at the upper parts of the opposite sides of the first active gripping member 5 and the second active gripping member 6.
Specifically, the polar plate grabbing piece comprises an upper plate and a lower plate, the lower end of the upper plate and the upper end of the lower plate are both provided with horizontal plates, and the two horizontal plates are connected through bolts. In addition, the longitudinal middle parts of the upper plate and the lower plate are respectively provided with a reinforcing plate so as to improve the structural strength of the pole plate grabbing piece.
The quantity of head rod 8 and second connecting rod 9 is two, and two head rods 8 are the upper plate of the first driven piece 4 of grabbing and the upper plate of the second initiative piece 6 of grabbing of simultaneous symmetric connection, are located the both sides of the first driven piece 4 of grabbing and the second initiative piece 6 of grabbing, can improve the stability of the two synchronous motion. Similarly, the second connecting rod 9 is arranged in the same manner as the first connecting rod 8, and the first connecting rod 8 and the second connecting rod 9 are parallel to each other but not coaxial. The first active grabbing piece 5 and the second active grabbing piece 6 are provided with through holes, and the corresponding first connecting rod 8 and the corresponding second connecting rod 9 can penetrate through the through holes.
Two clap flat board 16 and set up respectively between first driven grabbing 4 and first initiative grabbing 5 to and second initiative grabbing 6 and second are from grabbing 7 between, snatch the group and accomplish the polar plate transport pile up neatly when the polar plate, clap flat board 16 and drive with the help of the second driving piece 17 that corresponds and go up and down, can directly accomplish the flattening work of polar plate, need not to adjust the position again, improve work efficiency.
Two sets of third driving pieces 18 and the tooling plate grabbing pieces are correspondingly arranged on opposite side walls of the first active grabbing piece 5 and the second active grabbing piece 6 from top to bottom and are mutually matched to complete grabbing, carrying and stacking of the tooling plates.
In some embodiments, referring to fig. 1 to 3, the lower end surface of the fixing plate 1 is provided with a slide rail 11 along the length direction thereof, and the upper ends of the first driven grasping element 4, the first driving grasping element 5, the second driving grasping element 6 and the second driven grasping element 7 are provided with a slide block 12 slidably engaged with the slide rail 11.
Specifically, the cross section of the slide rail 11 is T-shaped, the top of the slider 12 is provided with a T-shaped sliding groove adapted to the slide rail 11, and the slider 12 is in sliding fit with the slide rail 11 through the sliding groove and cannot fall off from the slide rail 11.
The first driven grabbing piece 4, the first driving grabbing piece 5, the second driving grabbing piece 6 and the second driven grabbing piece 7 can slide along the length direction of the fixing plate 1, and stability and flexibility of the four pieces are guaranteed.
In some embodiments, referring to fig. 1 to 3, two sides of the fixing plate 1 are respectively provided with an abdicating groove 13, the abdicating grooves 13 are formed along the length direction of the fixing plate 1, the top of the first active grasping element 5 and the top of the second active grasping element 6 are both provided with a connecting element 14, and the connecting element 14 penetrates through the abdicating groove 13 and is connected to the corresponding driving end of the first driving element 10; the both sides of the up end of fixed plate 1 are equipped with mounting bracket 19 respectively, and the top at the groove 13 of stepping down is installed to two mounting brackets 19 correspondences, and two second driving piece 17 run through the groove 13 of stepping down that corresponds respectively, and second driving piece 17 upper end is on mounting bracket 19, and the lower extreme is connected on clapping dull and stereotyped 16.
Specifically, the abdicating grooves 13 are formed in two sides of the fixing plate 1 and formed along the length direction of the fixing plate 1, so that the abdicating grooves can avoid two connecting pieces 14, and two first driving pieces 10 can smoothly drive the active grabbing pieces to slide along the sliding rails 11. The mounting frame 19 is a U-shaped frame with a downward opening, and two open ends are fixed on the upper end surface of the fixing plate 1 by bolts and span above the abdicating groove 13. The upper ends of the second driving members 17 are respectively mounted on the corresponding mounting frames 19, penetrate through the corresponding abdicating grooves 13, and the lower ends of the second driving members are connected to the clapper plate 16. The avoiding groove 13 can avoid the connecting piece 14 and the second driving piece 17, and the actions of pole plate grabbing and pole plate leveling can be ensured not to interfere with each other.
In some embodiments, referring to fig. 4, a hinge member is provided between the second driving member 17 and the clapper plate 16 for changing the angle of the clapper plate 16 to adapt to the flatness of the pole plate.
Specifically, the upper end face of the clapper plate 16 is transversely provided with a connecting shaft and an auxiliary cover 29 covering the connecting shaft, the middle of the upper end face of the auxiliary cover 29 is provided with two vertical plates 26 extending upwards at intervals, the lower end of the second driving piece 17 is connected with a connecting block 27, the lower end of the connecting block 27 is located between the two vertical plates 26, and a rotating shaft is arranged between the two vertical plates 26 and the connecting block 27 in a penetrating mode. The rotating shaft, the connecting block 27 and the two vertical plates 26 form the hinged component, when the second driving part 17 drives the clapper plate 16 to descend and contact with the polar plate, the polar plate may have an uneven state, at the moment, the connecting block 27 in the hinged component enables the two vertical plates 26 to drive the auxiliary cover 29 to rotate through the rotating shaft, so that the angle of the clapper plate 16 is changed, the connecting block is attached to the upper end surface of the polar plate in a matched mode, the second driving part 17 continues to descend, and the polar plate is gradually flattened.
In addition, the two sides of the mounting rack 19 are connected with auxiliary rods 28 extending downwards, the lower ends of the two auxiliary rods 28 penetrate through the auxiliary covers 29 respectively and are rotatably connected to the two sides of the connecting shaft, the angle of the clapper board 16 is changed simultaneously by matching with the hinge members, and the stability of the clapper board 16 in the rotating process is improved.
In some embodiments, referring to fig. 1, fig. 2 and fig. 5, the bottom ends of the first driven grabbing element 4, the first driving grabbing element 5, the second driving grabbing element 6 and the second driven grabbing element 7 are all provided with hook plates 15, the hook plates 15 on the first driving grabbing element 5 and the second driving grabbing element 6 are arranged oppositely, and the hook plates 15 on the first driven grabbing element 4 and the second driven grabbing element 7 are arranged oppositely.
Specifically, the hook plate 15 is integrally formed at the bottom ends of the first driven grasping member 4, the first driving grasping member 5, the second driving grasping member 6 and the second driven grasping member 7. Wherein, the board 15 that colludes that is located on first initiative grabbing 5 and the second initiative grabbing 6 sets up relatively, and the board 15 that colludes that is located on first driven grabbing 4 and the second driven grabbing 7 sets up relatively, and when grabbing two sets of polar plates, two collude the board 15 combination and lean on the bottom of leaning on the polar plate both sides, upwards promote the polar plate, stability when guaranteeing the polar plate transport.
In some embodiments, referring to fig. 5, the tooling plate grasping members include a top plate 20, a bottom plate 21 and a plurality of connecting rods 22, the top plate 20 is correspondingly connected to the driving end of the lower portion of the third driving member 18, the bottom plate 21 is disposed below the top plate 20 in parallel, the plurality of connecting rods 22 are connected between the top plate 20 and the bottom plate 21, hooks 23 are disposed on the lower end surface of the bottom plate 21, and the hooks 23 on the two tooling plate grasping members are disposed opposite to each other.
Specifically, the top plate 20 is horizontally disposed, and the upper end surface is connected to the lower end of the third driving member 18. The bottom plate 21 is horizontally arranged, and the lower end face is connected to the upper end of the hook 23. The number of the connecting rods 22 for simultaneously connecting the bottom plate 21 and the top plate 20 is two, and the two connecting rods 22 simultaneously connect the top plate 20 and the bottom plate 21 to form a stable frame structure.
The two hooks 23 are oppositely arranged and move along with the opening and closing of the first active grabbing part 5 and the second active grabbing part 6 so as to complete the taking and placing of the tooling plate.
In some embodiments, referring to fig. 5, the upper portions of the opposite sidewalls of the first active gripping member 5 and the second active gripping member 6 are provided with receiving plates 24, and the third driving member 18 is connected to the receiving plates 24; the lower parts of the opposite side walls of the first active gripping member 5 and the second active gripping member 6 are provided with a plurality of guide sleeves 25, and the guide sleeves 25 and the connecting rods 22 penetrate through the guide sleeves 25 and are in sliding fit.
Specifically, the receiving plates 24 are L-shaped plates, two receiving plates 24 are respectively bolted on the upper portions of the opposite side walls of the first active gripping member 5 and the second active gripping member 6, and two third driving members 18 are respectively and stably connected to the corresponding receiving plates 24, so that the third driving members 18 are stably mounted in the longitudinal direction.
The uide bushing 25 divide into two sets ofly, is located the lower part of the relative lateral wall of first initiative gripping member 5 and second initiative gripping member 6 respectively, and the quantity of every uide bushing 25 of group is two, matches the quantity that corresponds connecting rod 22 respectively, and connecting rod 22 runs through the uide bushing 25 that corresponds and slides the setting, and the uide bushing 25 plays the effect of direction to connecting rod 22, can ensure the stability that couple 23 goes up and down.
Optionally, the first driving element 10, the second driving element 17 and the third driving element 18 are one or any combination of an air cylinder, a hydraulic cylinder or an electric push rod.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (9)
1. A battery plate pile up neatly tongs device for industrial robot, its characterized in that includes:
the fixing plate is mounted on a mechanical arm of the industrial robot;
the polar plate grabbing mechanism comprises two polar plate grabbing groups arranged below the fixed plate in a sliding mode and two first driving pieces used for driving the corresponding polar plate grabbing groups to open and close respectively, and each polar plate grabbing group comprises two polar plate grabbing pieces arranged at intervals;
the polar plate leveling mechanism comprises two clapper plates arranged below the fixed plate and two second driving pieces used for driving the corresponding clapper plates to lift, and the clapper plates are arranged between the two polar plate grabbing pieces of the same polar plate grabbing group;
the tooling plate grabbing mechanism comprises two tooling plate grabbing pieces and two third driving pieces which are respectively used for driving the corresponding tooling plate grabbing pieces to ascend and descend, and the two tooling plate grabbing pieces are respectively arranged on the two polar plate grabbing pieces, close to each other, of the two polar plate grabbing groups;
the four polar plate grabbing pieces in the two polar plate grabbing groups are respectively a first driven grabbing piece, a first driving grabbing piece, a second driving grabbing piece and a second driven grabbing piece, the first driving grabbing piece, the second driving grabbing piece and the second driven grabbing piece are sequentially arranged along the length direction of the fixing plate, a first connecting rod is connected between the first driven grabbing piece and the second driving grabbing piece, a second connecting rod is connected between the first driving grabbing piece and the second driven grabbing piece, the two first driving pieces are arranged in the middle of the upper end face of the fixing plate in a back-to-back mode, and the first driving grabbing piece and the second driving grabbing piece are respectively connected;
one of the clapper plates is positioned between the first driven grabbing piece and the first driving grabbing piece, the other clapper plate is positioned between the second driving grabbing piece and the second driven grabbing piece, and the two second driving pieces are respectively arranged on the fixing plate;
the two tooling plate grabbing pieces are respectively arranged at the lower parts of the opposite sides of the first driving grabbing piece and the second driving grabbing piece, and the two third driving pieces are respectively arranged at the upper parts of the opposite sides of the first driving grabbing piece and the second driving grabbing piece.
2. The accumulator plate stacking gripper device for the industrial robot is characterized in that a plurality of connecting columns are arranged in the middle of the upper end face of the fixing plate, and connecting plates for connecting mechanical arms of the industrial robot are fixedly connected to the top ends of the connecting columns.
3. The battery plate stacking gripper device for the industrial robot as claimed in claim 1, wherein the lower end surface of the fixed plate is provided with a slide rail along the length direction thereof, and the upper ends of the first driven gripping member, the first driving gripping member, the second driving gripping member and the second driven gripping member are provided with slide blocks which are slidably engaged with the slide rail.
4. The storage battery plate stacking gripper device for the industrial robot as claimed in claim 3, wherein two sides of the fixing plate are respectively provided with an abdicating groove, the abdicating grooves are formed along the length direction of the fixing plate, the top of the first active gripping member and the top of the second active gripping member are respectively provided with a connecting member, and the connecting member penetrates through the abdicating grooves and is connected to the corresponding driving end of the first driving member; the both sides of the up end of fixed plate are equipped with the mounting bracket respectively, two the installation that the mounting bracket corresponds is in the top in groove of stepping down, two the second driving piece runs through the correspondence respectively the groove of stepping down, just second driving piece upper end is in on the mounting bracket, the lower extreme is connected clap on the flat board.
5. A battery plate palletizing gripper device for an industrial robot as claimed in claim 4, wherein a hinge member is arranged between the second driving member and the paddle plate, and the hinge member is used for changing the angle of the paddle plate so as to adapt to the flatness of the plate.
6. The battery plate stacking gripper device for the industrial robot as claimed in claim 1, wherein the bottom ends of the first driven gripper, the first driving gripper, the second driving gripper and the second driven gripper are provided with hook plates, the hook plates on the first driving gripper and the second driving gripper are arranged oppositely, and the hook plates on the first driven gripper and the second driven gripper are arranged oppositely.
7. The accumulator plate stacking gripper device for industrial robots according to claim 1, characterized in that the tooling plate gripping members comprise a top plate, a bottom plate and a plurality of connecting rods, the top plate is correspondingly connected to the driving end of the lower part of the third driving member, the bottom plate is arranged below the top plate in parallel, the plurality of connecting rods are connected between the top plate and the bottom plate, the lower end face of the bottom plate is provided with hooks, and the hooks on the two tooling plate gripping members are arranged oppositely.
8. A battery plate palletizing gripper device for an industrial robot as claimed in claim 7, wherein said first active gripping member and said second active gripping member are provided with receiving plates on the upper portions of the opposite side walls, and said third driving member is connected to said receiving plates; the lower parts of the opposite side walls of the first active grabbing piece and the second active grabbing piece are respectively provided with a plurality of guide sleeves, and the guide sleeves and the connecting rods penetrate through the guide sleeves and are in sliding fit.
9. The battery plate palletizing gripper device for an industrial robot as claimed in any one of claims 1 to 8, wherein the first driving member, the second driving member and the third driving member are one or any combination of a cylinder, a hydraulic cylinder or an electric push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111256966.8A CN114014025B (en) | 2021-10-27 | 2021-10-27 | A battery plate pile up neatly tongs device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111256966.8A CN114014025B (en) | 2021-10-27 | 2021-10-27 | A battery plate pile up neatly tongs device for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114014025A CN114014025A (en) | 2022-02-08 |
| CN114014025B true CN114014025B (en) | 2023-03-10 |
Family
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| CN202111256966.8A Active CN114014025B (en) | 2021-10-27 | 2021-10-27 | A battery plate pile up neatly tongs device for industrial robot |
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| CN116706261B (en) * | 2023-06-27 | 2024-03-19 | 重庆创祥电源有限公司 | Lead-acid storage battery assembly line grabbing mechanism |
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| CN204624673U (en) * | 2015-05-20 | 2015-09-09 | 来建良 | A kind of loading and unloading handgrip adapting to many specifications pole plate |
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| WO2019097442A1 (en) * | 2017-11-15 | 2019-05-23 | Simac Tech S.R.L. | Gripper for the grip of loads |
| CN213201524U (en) * | 2020-06-16 | 2021-05-14 | 中节能西安启源机电装备有限公司 | Stacking fixture and polar plate stack stacking production line |
| CN213415461U (en) * | 2020-06-30 | 2021-06-11 | 河北博柯莱智能装备科技股份有限公司 | Polar plate grabbing and stacking gripper |
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| CN103662852A (en) * | 2013-11-26 | 2014-03-26 | 风帆股份有限公司 | Multifunctional storage battery stacking tongs |
| CN204172044U (en) * | 2014-10-09 | 2015-02-25 | 武汉人天机器人技术有限公司 | A kind of multi-function robot handgrip |
| CN204624673U (en) * | 2015-05-20 | 2015-09-09 | 来建良 | A kind of loading and unloading handgrip adapting to many specifications pole plate |
| CN205855408U (en) * | 2016-07-29 | 2017-01-04 | 浙江优傲智能科技有限公司 | Self adaptation piling handgrip |
| CN207344582U (en) * | 2017-09-29 | 2018-05-11 | 荆州正荣生物饲料股份有限公司 | A kind of packed feed grabbing device |
| WO2019097442A1 (en) * | 2017-11-15 | 2019-05-23 | Simac Tech S.R.L. | Gripper for the grip of loads |
| CN213201524U (en) * | 2020-06-16 | 2021-05-14 | 中节能西安启源机电装备有限公司 | Stacking fixture and polar plate stack stacking production line |
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| CN114014025A (en) | 2022-02-08 |
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