CN207158304U - The catching robot of lead-acid accumulator - Google Patents
The catching robot of lead-acid accumulator Download PDFInfo
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- CN207158304U CN207158304U CN201720911262.2U CN201720911262U CN207158304U CN 207158304 U CN207158304 U CN 207158304U CN 201720911262 U CN201720911262 U CN 201720911262U CN 207158304 U CN207158304 U CN 207158304U
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Abstract
The catching robot of lead-acid accumulator, including frame, fixture, the three-dimensional motion for controlling clamp movement；Three-dimensional motion is arranged in frame, and fixture is arranged on the lower section of three-dimensional motion；Fixture includes fixture fixed board, fixture moves board component and connecting plate；Fixture fixed board is fixed on one end of connecting plate, and fixture moves board component and is slidably disposed on connecting plate；Fixture, which moves board component, includes dynamic board motor and each clamping jaw of the control telescoping mechanism that opposed jaw fixed board slides on sliding block that sliding block, some clamping jaws being connected with sliding block, control slide block drive whole fixture to move the slip of board component opposed jaw fixed board.Stable using manipulator crawl cell safety under acid environment, fixture moves one-time positioning of the plate by dynamic board motor, and the secondary positioning of clamping cylinder clamps so that the clamping force of each battery is consistent, avoids the battery during crawl and comes off.
Description
Technical field
A kind of automation equipment is the utility model is related to, it is especially a kind of to be used to capture battery during lead-acid accumulator chemical conversion
Manipulator.
Background technology
After the acid filling of lead-acid accumulator assembling at present, acid filling can generate heat after terminating, and need to immediately enter in tank and cool down, by first
It is melted into by manually being moved to from pipeline in chemical conversion water bath after cooling, after chemical conversion terminates, is moved in the other end of electrolytic bath
Pipeline delivers to later process, because acid filling terminates rear battery-heating, manually carry it is dangerous, so using manipulator capture electricity
Pond, manipulator include frame, the fixture three-dimensional motion that is arranged in frame, are arranged on below fixture three-dimensional motion
Fixture, fixture are made up of one piece of fixed board and one block of dynamic plate, move size adjusting position of the plate according to battery, when capturing battery, with
Battery pack is that unit captures, and because the size of battery has differences, clamping force is inconsistent, causes during crawl some
Battery comes off.
The content of the invention
In order to solve the above problems, the utility model provides a kind of catching robot of lead-acid accumulator, including frame,
Fixture, the three-dimensional motion for controlling clamp movement；Three-dimensional motion is arranged in frame, and fixture is arranged on three-dimensional fitness machine
The lower section of structure；Fixture includes fixture fixed board, fixture moves board component and connecting plate；Fixture fixed board is fixed on one end of connecting plate,
Fixture moves board component and is slidably disposed on connecting plate；Fixture move board component include sliding block, be connected with sliding block some clamping jaws,
Control slide block drives whole fixture to move the dynamic board motor of board component opposed jaw fixed board slip and controls each clamping jaw in sliding block
The telescoping mechanism that upper opposed jaw fixed board slides.
Advantage is：Dynamic board motor moves board component to fixture and carries out Primary Location, then secondary to clamping jaw fixed by telescoping mechanism
Position clamps so that the clamping force of each battery is consistent, enhances the stability of crawl, avoids the de- of during crawl battery
Fall.
As a kind of preferable scheme, fixture, which moves board component, also includes a screw mandrel, moves board motor and controls cunning by screw mandrel
The slip of block.
As a kind of preferable scheme, telescoping mechanism is and clamping jaw quantity identical clamping cylinder, each clamping cylinder control
One clamping jaw of system stretches.
As a kind of preferable scheme, in addition to the battery blocking mechanism being arranged in frame, battery blocking mechanism pass through
Stop support is connected with frame, including long cylinder, stop swing arm；Long cylinder fixing end is connected by air cylinder tailstock and stop support
Connect；Stop that swing arm is hinged in stop support, one end and the connection of long cylinder piston rod, the other end set barrier plate；Stop pendulum
The swing arm central axis that arm is hinged with stop support is in the direction of motion of battery conveying line.
As a kind of preferable scheme, cylinder of losing heart is set, and cylinder one end of losing heart is arranged on gas between air cylinder tailstock and long cylinder
On cylinder tailstock, the cylinder other end of losing heart is connected with long cylinder fixing end.
Advantage is, the blocking mechanism in the utility model is shunk and lifted with long cylinder, in height in off working state
Position, the battery not influenceed on pipeline are fed forward, and in working condition, long cylinder stretches out, and stops swing arm to lower swing, positioned at resistance
Barrier plate in gear swing arm can stop battery, and stop the swing arm axle be hinged with stop support perpendicular to battery conveying line
The direction of motion so that stop more stable；In the top of long cylinder, cylinder of losing heart is set, when fixture drives battery pack to rise, by
There is thrust in battery edge, cylinder of losing heart shrinks so that stop that swing arm is swung slightly, avoid scratching battery；
As a kind of preferable scheme, battery pitch control mechanism is set, battery pitch control mechanism includes setting on fixture
Put the first Pivot axle on fixture；A pair of swing rods are fixedly installed in first Pivot axle, sets and visits between two swing rods
Rod；Sensing arm is also fixedly installed in first Pivot axle, after probe touches battery, swing rod drives the first Pivot axle to turn
Dynamic, the first Pivot axle dynamic answers arm swing, and the proximity switch of detection sensing arm swing is also set up on fixture.
Advantage is：Battery pitch control mechanism is the mechanism for controlling battery pack to put spacing, if proximity switch senses
Arm swing is answered, illustrates that fixture touches previous Battery pack put down battery pack, under acid environment, is sentenced by mechanical movement conversion
Breaking, it is more reliable by optoelectronic induction whether to touch previous Battery pack ratio；
As a kind of preferable scheme, battery neutral gear testing agency is also set up on fixture, battery neutral gear testing agency includes
The second Pivot axle and telescopic cylinder on fixture；A support arm and one is fixedly installed in second Pivot axle
To pumping arm action, support arm is connected with telescopic cylinder；The base of fixture fixed board and two sides set detecting obstacles plate；Detecting obstacles
Two sides of plate are respectively provided with long lumbar hole and lower long lumbar hole, and the pin up and down of connection pumping arm action, lower long waist are set in upper long lumbar hole
Guide finger is set in hole, and pin drives pumping arm action up and down in upper long lumbar hole up and down；Battery neutral gear testing agency also includes
It is arranged on the inductive switch that detecting obstacles plate displacement is detected on fixture.
Advantage is that the region in water bath between two adjacent groups battery pack is referred to as battery neutral area, battery neutral gear detection machine
In off working state, telescopic cylinder stretches out structure, and telescopic cylinder drives support arm to show, and support arm drives the second Pivot axle
Rotate, the second Pivot axle drives pumping arm action to be swung up, and detecting obstacles plate moves up with pumping arm action；Battery neutral gear detects
In working condition, telescopic cylinder shrinks for mechanism, and telescopic cylinder drives support arm to swing back, and support arm drives the second Pivot axle
Rotate, the second Pivot axle drives pumping arm action to be moved down to lower swing, detecting obstacles plate with pumping arm action；Decline in fixture and press from both sides
During power taking pond, if inductive switch senses detecting obstacles, plate moves up, and illustrates that obstacle detection plate is pressed onto battery, i.e. fixture is determined
Plate is not in battery pack neutral area.Under acid environment, judge whether that encountering barrier ratio passes through light inductance by mechanical movement conversion
Should be more reliable；
Manipulator of the present utility model, it is reliable by fixture crawl cell safety under acid environment, different shaped can be positioned
Number battery, this manipulator be additionally included in off working state do not influence battery conveying blocking mechanism, and control battery in water
Put in bath spacing mechanism and detection fixture fixed board whether two Battery pack neutral gear regions mechanism, automaticity is high.
Brief description of the drawings
Fig. 1, lead-acid accumulator catching robot stereogram
Fig. 2, lead-acid accumulator catching robot partial enlarged drawing
Fig. 3, fixture stereogram
Fig. 4, fixture front view
Fig. 5, fixture move plate side view
Fig. 6, blocking mechanism stereogram
Fig. 7, blocking mechanism side view
Fig. 8, battery pitch control mechanism stereogram
Fig. 9, battery pitch control mechanism front view
Figure 10, battery pitch control mechanism side view
Figure 11, battery neutral gear testing agency stereogram
Figure 12, battery neutral gear testing agency front view
Figure 13, battery neutral gear testing agency side view
The ball wire of motor 7. above and below the fixture of 5. installing plate of crossbeam 3. pipeline, 4. water bath 6. 1. frame 2. is walked
The blocking mechanism of 8. fixture of bar, 9. battery pitch control mechanism, 10. 11. fixture translation motor of battery neutral gear testing agency 12.
13. the connecting plate 17. of 14. rotary shaft of walking roller, 15. movable motor 16. moves the sliding block of 18. fixture fixed board of board motor 19.
The cylinder 20. air cylinder tailstock 26. of 24. stop support of dynamic board component 21. screw mandrel, 22. clamping cylinder, 23. clamping jaw of fixture 25. is losed heart
27. the long swing arm central shaft 29. of cylinder 28. stops the sensing arm of 32. Pivot axle of swing arm 30. barrier plate, 31. bearing 33.
34. the pumping arm action of 39. support arm of proximity switch 35. swing rod, 36. probe, 37. telescopic cylinder, 38. detecting obstacles plate 40.
42. times long lumbar holes of long lumbar hole clamping jaw support of 44. guide finger of pin, 45. inductive switch 46. about 43. on 41.
Embodiment
The manipulator that control battery puts spacing includes frame 1, the three-dimensional motion being arranged in frame, fixture three-dimensional
Motion includes fixture X-axis motion, fixture Y-axis motion, fixture Z axis motion.
Fixture X-axis motion is two pairs of walking rollers 13 being arranged on housiung separator 2, and each pair walking roller 13 passes through
Axis connection, movable motor 15 is set on axle；
Fixture Y-axis motion includes the installing plate 5 being arranged in frame 1, is arranged on the fixture translation of the lower section of installing plate 5
Motor 11, it is arranged on the rack that the bottom of installing plate 5 is engaged with the electric phase 11 of fixture translation；
Fixture Z axis motion is arranged on the fixture on installing plate 5 motor 6, one end and the phase of motor 6 above and below fixture up and down
Even, the ball screw 7 that the other end is connected with fixture；
The battery pitch control mechanism 9 being arranged on fixture 8 and battery neutral gear testing agency 10, it is arranged in frame 1
Blocking mechanism 12；
Fixture 8 includes fixture fixed board 18 and fixture moves board component 20, in addition to jockey fixed board 18 moves plate group with fixture
The connecting plate 16 of part 20, connecting plate are connected with screw mandrel 7, dynamic board motor 17 are set on connecting plate 16, fixture fixed board 18 and fixture move
Leading screw is set between board component, board motor 17 is moved and controls leading screw to rotate, leading screw drives fixture to move board component 20 under connecting plate 16
Side is slided, and fixture moves the sliding block 19 that board component 20 includes being connected with connecting plate, several clamping jaws 23 being slidably connected with sliding block 19,
And several control the clamping cylinder 22 that each clamping jaw 23 slides respectively, clamping cylinder 22, which shrinks, drives clamping jaw to slide, clamping jaw
23 outsides set clamping jaw support 4, to support clamping cylinder 22 and clamping jaw 23.
Blocking mechanism 12 includes stop support 24, the air cylinder tailstock 25 being arranged in stop support 24 and air cylinder tailstock 25
The cylinder 26 of losing heart of connection, it is arranged on the long cylinder 27 for the lower end of cylinder 26 of losing heart, stop support 24 is hinged on by swing arm central shaft 28
The stop swing arm 29 of bottom, stop that one end of swing arm is connected with the long piston rod of cylinder 27, the other end sets barrier plate 30；
Battery pitch control mechanism 9 includes being arranged on the first bearing on fixture fixed board 18, first through the first bearing
Pivot axle, the sensing arm 33 being fixedly installed in the first Pivot axle, the proximity switch 34 being arranged on connecting plate 16,
A pair of swing rods 35 of the first pivot shaft end are fixedly installed on, include the probe 36 of two swing rods 35 of connection.
Battery neutral gear testing agency 10 includes being arranged on the second bearing on fixture fixed board 18, second through the second bearing
Pivot axle, the detecting obstacles plate 38 for being coated on the periphery of fixture fixed board 18, the telescopic cylinder 37, one being arranged on connecting plate 16
End is fixedly installed on the support arm 39 of second Pivot axle other end connection telescopic cylinder 37, one end is fixedly installed on the second rotation
Turning the central shaft other end, even slip connects a pair of pumping arm action 40 of detecting obstacles plate 38, is arranged on connecting plate 16 and detecting obstacles
The relative inductive switch 45 of plate 38, is provided with long lumbar hole 41 and lower long lumbar hole 42 on detecting obstacles plate 38, in upper long lumbar hole 41
Pin 43 up and down of connection pumping arm action 40 are set, guide finger 44 is set in lower long lumbar hole 42.
First bearing and the second bearing can be same bearing, such as the bearing 31 in the present embodiment accompanying drawing；In first rotation
Mandrel and the second Pivot axle can be same central shaft, such as the Pivot axle 32 in the present embodiment accompanying drawing.
Battery pack includes six batteries in the present embodiment, and battery pack is conveyed by belt conveyor line 3, due to the size of battery
Have differences, therefore fixture moves board component 20 and is made up of six pieces of clamping jaws 23, the quantity of clamping jaw is identical with the quantity of battery, each folder
Pawl is connected with clamping cylinder 22 respectively, and the quantity of clamping jaw is identical with the quantity of clamping cylinder 22, can so ensure each battery
On clamping force be consistent, fixture is an entirety when moving board component positioning, clamping cylinder single movement, enhancing fixture gripping
The stability of battery, when avoiding using one block of dynamic plate, due to the difference in size of battery, and cause during crawl some
Battery comes off.
Crawl battery enters the process of water bath：
(1) movable motor 15 is started so that walking roller 13 is in rotary moving on walking crossbeam 2, drives fixture to move to water
The position of bath 4, walking braking；
(2) in off working state, long cylinder 27 shrinks blocking mechanism, stops that swing arm 29 is lifted up with long cylinder 27；
When blocking mechanism works, long cylinder 27 stretches out, and stops swing arm 29 to lower swing, after barrier plate 30 touches battery, above and below fixture
Motor 6 starts, and passes through ball leading screw driving mode so that fixture 8 declines, and now fixture, which moves board component 20 and is positioned at, larger opens shelves
Position, avoid battery of the scratching to pipeline 3；
(3) after fixture 8 declines in place, fixture translation motor 11 is translated by rack pinion mode fixture 8, folder
Tool fixed board 18 translates close and contacts battery, moves board motor 17 and moves board component 20 close to electricity by screw rod transmission mode fixture
Pond, fixture move the distance between board component 20 and battery and reserve 30mm or so, and now clamping cylinder 22 stretches out, and fixture moves board component
20 continue close to battery and clamp, and the stroke of clamping cylinder 22 is 40mm；
(4) after completing pinching action, fixture 8 rises, and fixture 8 moves to water bath 4, reaches the place holder 8 of water bath 4
Drop to water-bath groove height, fixture 8 continues to translate forward, if probe 36 drives the swing backward of central shaft 32, is fixed on central shaft
Sensing arm 33 on 32 is swung forward, then proximity switch 34 senses that sensing arm 33 moves, and illustrates that probe 36 encounters previous row's electricity
Pond group, now clamping cylinder 22 unclamp, dynamic board motor 17 drive fixture move board component 20 navigate to it is larger open file location, put down electricity
Pond, fixture 8 rise and move to the position of pipeline 3, start subsequent cycle.
Crawl battery goes out the process of water bath：
(1) movable motor 15 is started so that walking roller 13 rotates on walking crossbeam 2, drives fixture to move to water bath
Position, walking braking, battery in place after, fixture up and down motor 6 start, pass through ball leading screw driving mode so that under fixture 8
Drop, now fixture, which moves board component 20 and is positioned at, larger opens file location, reduction of speed when fixture 8 drops to cell height, less than battery height
Recover normal speed after degree；
(2) in off working state, telescopic cylinder 37 stretches out for battery neutral gear testing agency 10, and the first swing arm 39 is with flexible gas
Cylinder 37 is outwards shown, and the second swing arm 40 moves up to the top of the upper long lumbar hole 41 of detecting obstacles plate 38, and upper and lower pin 43 blocks
Detecting obstacles plate 38；In working condition, telescopic cylinder 37 is shunk, and the first swing arm 39 is withdrawn with telescopic cylinder 37 is synchronous, and second
Swing arm 40 is moved down, and detecting obstacles plate 38 is synchronous to be declined, if detecting obstacles plate 38 encounters battery, detecting obstacles plate 38 is to moving up
Dynamic, inductive switch 45 senses the displacement of detecting obstacles plate 38, illustrates to encounter obstacle during decline in fixture 8, that is, detects
Go out fixture fixed board 18 in two Battery pack neutral areas, the at this moment stopping of fixture 8 not decline；
(3) fixture 8 rises to about 20mm in cell height, and fixture 8 translates about 10mm to the direction of pipeline 3, then declines, such as
Fruit still detects obstacle, then fixture 8 rises, alarm, the previous row's battery pack of artificial treatment to keep the spacing of two Battery pack groups,
Then fixture 8 drops to water-bath groove height, and the action of detecting obstacles is repeatable 1 to 3 time, to reduce manual intervention probability；
(4) fixture 8 moves board motor 17 and is driven the dynamic board component of fixture by screw mandrel 21 after battery pack neutral gear region
20 navigate to position corresponding with battery length, and clamping cylinder 22 acts, and clamp battery pack, fixture 8 rises, and moves to conveying
The position of line 3, fixture 8 drop to the height of pipeline 3, and clamping cylinder 22 unclamps, and put down battery, and dynamic board motor, which is positioned at, larger opens shelves
Position, while fixture 8 translates, and fixture fixed board 18 is increased apart from battery edge about 20mm, fixture 8, and move to water bath 46
Position, start subsequent cycle.
Claims (7)
1. the catching robot of lead-acid accumulator, including frame, fixture, the three-dimensional motion for controlling clamp movement；Three-dimensional is transported
Motivation structure is arranged in frame, and fixture is arranged on the lower section of three-dimensional motion；Characterized in that, described fixture includes fixture
Fixed board, fixture move board component and connecting plate；Fixture fixed board is fixed on one end of connecting plate, and it is slidable that fixture moves board component
It is arranged on connecting plate；The fixture, which moves board component, includes sliding block, some clamping jaws being connected with sliding block, control slide block drive entirely
Fixture, which moves dynamic board motor and each clamping jaw of control the opposed jaw fixed board on sliding block that board component opposed jaw fixed board slides, to be slided
Dynamic telescoping mechanism.
2. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that the fixture moves board component also
Including a screw mandrel, slip that the dynamic board motor passes through screw mandrel control slide block.
3. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that the telescoping mechanism be and folder
Pawl quantity identical clamping cylinder, one clamping jaw of each clamping cylinder control stretch.
4. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that also include being arranged in frame
Battery blocking mechanism, the battery blocking mechanism is connected by stop support with frame, including long cylinder, stops swing arm；It is long
Cylinder fixing end is connected by air cylinder tailstock with stop support；Stop that swing arm is hinged in stop support, one end is lived with long cylinder
The connection of stopper rod, the other end set barrier plate；The swing arm central axis for stopping that swing arm is be hinged with stop support is in battery
The direction of motion of pipeline.
5. the catching robot of lead-acid accumulator according to claim 4, it is characterised in that described air cylinder tailstock and length
Cylinder of losing heart is set between cylinder, and cylinder one end of losing heart is arranged on air cylinder tailstock, and the cylinder other end of losing heart is connected with long cylinder fixing end.
6. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that electricity is set on described fixture
Pond pitch control mechanism, described battery pitch control mechanism include the first Pivot axle being arranged on fixture；Described
A pair of swing rods are fixedly installed in first Pivot axle, probe is set between two swing rods；In the first described Pivot axle also
Sensing arm is fixedly installed, after probe touches battery, swing rod drives the first Pivot axle to rotate, and the first Pivot axle drives
Sense arm swing, the proximity switch of detection sensing arm swing is also set up on described fixture.
7. the catching robot of lead-acid accumulator according to claim 1, it is characterised in that also set up on described fixture
Battery neutral gear testing agency, battery neutral gear testing agency include the second Pivot axle and the telescopic cylinder being arranged on fixture；
A support arm is fixedly installed in the second described Pivot axle and a pair of pumping arm action, support arm are connected with telescopic cylinder；
The base of the fixture fixed board and two sides set detecting obstacles plate；Two sides of the detecting obstacles plate are respectively provided with long lumbar hole
With lower long lumbar hole, the interior pin up and down for setting connection pumping arm action of upper long lumbar hole, lower long lumbar hole is interior to set guide finger, and upper and lower pin drives
Pumping arm action is up and down in upper long lumbar hole；Described battery neutral gear testing agency also includes being arranged on fixture detecting detection
The inductive switch of balk board displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720911262.2U CN207158304U (en) | 2017-07-26 | 2017-07-26 | The catching robot of lead-acid accumulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720911262.2U CN207158304U (en) | 2017-07-26 | 2017-07-26 | The catching robot of lead-acid accumulator |
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| Publication Number | Publication Date |
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| CN207158304U true CN207158304U (en) | 2018-03-30 |
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ID=61714112
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720911262.2U Active CN207158304U (en) | 2017-07-26 | 2017-07-26 | The catching robot of lead-acid accumulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298307A (en) * | 2017-07-26 | 2017-10-27 | 江苏金帆新程装备有限公司 | The catching robot of lead-acid accumulator |
| CN111627850A (en) * | 2020-06-12 | 2020-09-04 | 文一三佳(合肥)机器人智能装备有限公司 | Arrange piece machine initial point correction system |
| CN117049163A (en) * | 2023-10-13 | 2023-11-14 | 宁德时代新能源科技股份有限公司 | Grabbing device, grabbing equipment, battery production line and control method |
| CN117068746A (en) * | 2023-10-13 | 2023-11-17 | 宁德时代新能源科技股份有限公司 | Battery grabbing device, battery production line and control method of battery grabbing device |
-
2017
- 2017-07-26 CN CN201720911262.2U patent/CN207158304U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298307A (en) * | 2017-07-26 | 2017-10-27 | 江苏金帆新程装备有限公司 | The catching robot of lead-acid accumulator |
| CN107298307B (en) * | 2017-07-26 | 2022-11-08 | 江苏金帆新程装备有限公司 | Grabbing manipulator of lead-acid storage battery |
| CN111627850A (en) * | 2020-06-12 | 2020-09-04 | 文一三佳(合肥)机器人智能装备有限公司 | Arrange piece machine initial point correction system |
| CN117049163A (en) * | 2023-10-13 | 2023-11-14 | 宁德时代新能源科技股份有限公司 | Grabbing device, grabbing equipment, battery production line and control method |
| CN117068746A (en) * | 2023-10-13 | 2023-11-17 | 宁德时代新能源科技股份有限公司 | Battery grabbing device, battery production line and control method of battery grabbing device |
| CN117049163B (en) * | 2023-10-13 | 2024-03-29 | 宁德时代新能源科技股份有限公司 | Grabbing device, grabbing equipment, battery production line and control method |
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