CN207643112U - A kind of manipulator with two-pawl structure - Google Patents
A kind of manipulator with two-pawl structure Download PDFInfo
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- CN207643112U CN207643112U CN201721363120.3U CN201721363120U CN207643112U CN 207643112 U CN207643112 U CN 207643112U CN 201721363120 U CN201721363120 U CN 201721363120U CN 207643112 U CN207643112 U CN 207643112U
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- pneumatic clamper
- pneumatic
- connecting plate
- manipulator
- ambulatory splint
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Abstract
The utility model discloses a kind of manipulator with two-pawl structure, the manipulator with two-pawl structure, including fixed mechanism, rotating mechanism and double pneumatic gripper mechanisms；Fixed mechanism is for manipulator to be fixed on the machine；Rotating mechanism is connected and fixed Agency pneumatic gripper mechanism；Double pneumatic gripper mechanisms have the pneumatic clamper of 2 pneumatic controls.The manipulator with two-pawl structure is easy to implement, can significantly improve the efficiency of crawl battery.
Description
Technical field
The utility model is related to a kind of manipulators with two-pawl structure.
Background technology
Power battery is the main force of new energy, and power battery is applied not only to automobile industry, is additionally operable to electric tool, aviation
The fields such as model, electric bicycle and battery-operated motor cycle, power battery will be used wider and wider, the demand of power battery
Also increasing, the production capacity of battery constantly improves in the producer for producing battery, the working efficiency of equipment is also required it is higher and higher,
Important execution unit of the manipulator as equipment copies battery mechanically and plays a crucial role, directly affect the production of equipment work for capturing
Energy.The maximum production capacity that general single mechanical paw works in fetching battery can only achieve 6PPM (6PPM is 6 pieces i.e. per minute), nothing
Method meets the capacity requirements of production battery producer.Therefore, it is necessary to design a kind of manipulator with two-pawl structure.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of manipulators with two-pawl structure, should have double pawls
The manipulator of structure is easy to implement, can significantly improve the efficiency of crawl battery.
The technical solution of utility model is as follows：
A kind of manipulator with two-pawl structure, including fixed mechanism, rotating mechanism and double pneumatic gripper mechanisms；
Fixed mechanism is for manipulator to be fixed on the machine；Rotating mechanism is connected and fixed Agency pneumatic gripper mechanism；
Double pneumatic gripper mechanisms have the pneumatic clamper of 2 pneumatic controls.
Double pneumatic gripper mechanisms include pneumatic clamper link block and the first pneumatic clamper and the second pneumatic clamper that are connected with pneumatic clamper link block；
First pneumatic clamper includes the first pneumatic clamper connecting plate, the first strap, the first pneumatic clamper movable block and the first ambulatory splint；
First strap is fixed on pneumatic clamper link block；First pneumatic clamper connecting plate is connected with pneumatic clamper link block, and in compressed gas
It can be slid laterally relative to pneumatic clamper link block under driving；
The lower section of first pneumatic clamper connecting plate is connected by the first pneumatic clamper movable block with the first ambulatory splint；First ambulatory splint
Set up separately in inner side and outer side with the first strap；First ambulatory splint moves out energy under the drive of the first pneumatic clamper connecting plate
It is matched with the first strap battery is clamped；
Second pneumatic clamper includes the second pneumatic clamper connecting plate, the second strap, the second pneumatic clamper movable block and the second ambulatory splint；
Second strap is fixed on pneumatic clamper link block；Second pneumatic clamper connecting plate is connected with pneumatic clamper link block, and in compressed gas
It can be slid laterally relative to pneumatic clamper link block under driving；
The lower section of second pneumatic clamper connecting plate is connected by the second pneumatic clamper movable block with the second ambulatory splint；Second ambulatory splint
Set up separately in inner side and outer side with the second strap；Second ambulatory splint moves out energy under the drive of the first pneumatic clamper connecting plate
It is matched with the first strap battery is clamped.
It is equipped with pole insulation board below first pneumatic clamper connecting plate and the second pneumatic clamper connecting plate.
There is lateral gib block on pneumatic clamper link block, have on the first pneumatic clamper movable block and the second pneumatic clamper movable block with
Guide groove of the gib block to adaptation.
First pneumatic clamper or the second pneumatic clamper are equipped with photoelectric sensor.For detecting whether the first pneumatic clamper or the second pneumatic clamper are moved
Make.
It is equipped with multiple bufferings on first strap, the second strap, the first ambulatory splint and the second ambulatory splint
Micelle.
Rotating mechanism is equipped with the first rotary inductive piece.
Rotating mechanism is driven by servo motor.
The gas circuit of first pneumatic clamper and the second pneumatic clamper is equipped with the solenoid valve for being controlled by MCU or manual switch.
A kind of control method of the manipulator with two-pawl structure, using the manipulator above-mentioned with two-pawl structure；
Control method is as follows：
(1) by 1 or 2 pneumatic clamper work of solenoid valve control, work refers to capturing or putting down battery；
(2) by the double pneumatic gripper mechanisms rotations of Serve Motor Control (be such as rotated by 90 °, can counterclockwise or rotate clockwise)；
(3) double pneumatic gripper mechanisms are controlled by Z axis driving device to rise or fall；
(4) detect whether pneumatic clamper acts by photoelectric sensor；
(5) rotation angle of double pneumatic gripper mechanisms is detected by the first rotary inductive piece.
It is preferred that specifically being automatically controlled using MCU realizations.
The operation principle of manipulator：Servo motor drives two sets of gas clamping jaws (component) to rotate clockwise 90 degree together, keeps
Consistent with supplied materials double cell direction, two claws that solenoid valve control opens slim pneumatic clamper ensure that double pawl centre distances and supplied materials are double
For battery center apart from equal, Z axis module sliding block drives manipulator to move down into rational position, two solenoid valves control respectively two it is whole
The claw of the slim pneumatic clamper of body is closed to capture battery, and Z axis module sliding block drives and moves on to rational position on manipulator, passes through X, Y-axis
Module sliding block drives manipulator to arrive empty pallet rational position, and private takes motor and drives two sets gas clamping jaws (component) are counterclockwise together to rotate
Aligning control position, two claws that solenoid valve control is closed slim pneumatic clamper make two battery center distances enter in cell station with pallet
For the heart apart from equal, Z axis module sliding block drives manipulator to move down into rational position, and two solenoid valves controls integrally slim pneumatic clamper respectively
Claw opening take battery, Z axis module sliding block drives and moves on to rational position on manipulator, to complete manipulator crawl and put
Take an overall process of battery.
Advantageous effect：
The manipulator with two-pawl structure of the utility model, this robot manipulator structure is compact, light and handy, a performance crawl
Two batteries, and energy carrying >=10Kgf weights, maximum production capacity can reach 12PPM, two paws can work independently can also be same
Shi Yiqi work is not interfered from each other, and positioning accuracy is high, reliable and stable, and production capacity is high, at low cost, to meet production battery
The requirement accommodation of producer more facilitates extensively.
Battery is set to shorten the time during copying mechanically using the double gas gripper jaw parts of the manipulator of the utility model structure, to
The production capacity of battery is increased, reliable and stable, flexibility is good, and individually controlling two sets of gas gripper jaw parts using two solenoid valves can
With for spec battery is transported to from unqualified battery at different rational positions.
Two sets of gas gripper jaw part unique textures, can improve battery production capacity will not crush battery surface again, because of gas clamping jaw
It is made of grip block (nonmetallic) and buffering micelle (ethylene propylene diene rubber), i.e., is flexible contact with battery contact surface, contact
Face frictional force is big, flexible, wear resistant corrosion resistant, is not easy to crush that battery surface is again reliable and stable, and grip block, which has, is oriented to the oblique of battery
Face, positioning is more accurate, realizes from the production capacity of existing equivalent specifications size cell and becomes present 12PPM from 6PPM before,
Production capacity is increased to original 2 times.The manipulator has features simple structure, and work efficiency is high, reliable and stable, and positioning accuracy is high, cost
Low advantage is suitble to promotion and implementation.
Description of the drawings
Fig. 1 is the general structure schematic diagram (expanded view) of the manipulator with two-pawl structure；
Fig. 2 is the structural schematic diagram of double pneumatic gripper mechanisms.
Label declaration：1- gas clamping jaw, 2- pneumatic clampers connecting plate, the second pneumatic clampers of 3- connecting plate, the second pneumatic clamper of 4- mirror images connecting plate,
The bis- pawl fixed plates of 5-, the bis- pawl positioning plates of 6-, 7- rotating shaft holders, 8- turntables connecting plate, the first rotating shaft holders of 9- spacer,
The second rotating shaft holders of 10- spacer, 11- pneumatic clampers rotary shaft, 12- pneumatic clampers rotation shaft retaining ring, the bis- pneumatic clamper component fixed plates of 13-, 14-
The bis- pneumatic clamper buffering guide posts of double pneumatic clamper component reinforcing plates, the bis- pneumatic clamper component connecting plates of 15-, 16-, the excellent power rubber gaskets of 17-, 18- compression springs
Liner, 19- the first fool proof switch-mode regulations bar, 20- fool proofs adjustment seat, 21- the second fool proof switch-mode regulations bar, the detections of 22- first are opened
It closes and adjusts metal plate, the second detection switch of 23- adjusts metal plate, 24- buffering guide posts fixed block, 25- buffering guide posts baffle ring, 26- first
Rotary inductive piece, 27- proximity sensors fixing bracket, 28- rotation paws gag lever post, 29- opens pneumatic clamper fixed plate, 30- is put down
Key, the second rotary inductives of 31- piece, the slim pneumatic clampers of 32-, 33- line slide rails pair, 34- linear bearings, 35- oil buffers, 36-
Compression spring, 37- range sensors, 38- taper roll bearings, 39- hexagon socket cap head screws, 40- hex nuts, 41- are close to be passed
Sensor, 42- speed reducers, 43- servo motors.
51- the first pneumatic clamper connecting plates, 52- the second pneumatic clamper connecting plates；The first straps of 53-, 54- the first pneumatic clamper activities
Block, 55- the second pneumatic clamper movable blocks, 56- pole insulation boards, 57- pneumatic clamper cylinder connecting plates, the first ambulatory splints of 58-, 59- second
Ambulatory splint, 60- buffer micelle, 61- current limiters, 62- pneumatic clamper link blocks, 63- optoelectronic switches, the second straps of 64-.
Specific implementation mode
The utility model is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：Such as Fig. 1~2, a kind of manipulator with two-pawl structure, including fixed mechanism, rotating mechanism and double gas
Pawl mechanism；
Fixed mechanism is for manipulator to be fixed on the machine；Rotating mechanism is connected and fixed Agency pneumatic gripper mechanism；
Double pneumatic gripper mechanisms have the pneumatic clamper of 2 pneumatic controls.
Double pneumatic gripper mechanisms include pneumatic clamper link block 62 and the first pneumatic clamper and the second pneumatic clamper that are connected with pneumatic clamper link block；
First pneumatic clamper includes the first pneumatic clamper connecting plate 51, the first strap 53, the work of the first pneumatic clamper movable block 54 and first
Dynamic clamping plate 58；First strap is fixed on pneumatic clamper link block；First pneumatic clamper connecting plate is connected with pneumatic clamper link block, and is pressing
It can be slid laterally relative to pneumatic clamper link block under the driving of contracting gas；
The lower section of first pneumatic clamper connecting plate is connected by the first pneumatic clamper movable block with the first ambulatory splint；First ambulatory splint
Set up separately in inner side and outer side with the first strap；First ambulatory splint moves out energy under the drive of the first pneumatic clamper connecting plate
It is matched with the first strap battery is clamped；
Second pneumatic clamper includes the second pneumatic clamper connecting plate 52, the second strap 64, the work of the second pneumatic clamper movable block 55 and second
Dynamic clamping plate 59；Second strap is fixed on pneumatic clamper link block；Second pneumatic clamper connecting plate is connected with pneumatic clamper link block, and is pressing
It can be slid laterally relative to pneumatic clamper link block under the driving of contracting gas；
The lower section of second pneumatic clamper connecting plate is connected by the second pneumatic clamper movable block with the second ambulatory splint；Second ambulatory splint
Set up separately in inner side and outer side with the second strap；Second ambulatory splint moves out energy under the drive of the first pneumatic clamper connecting plate
It is matched with the first strap battery is clamped.
It is equipped with pole insulation board below first pneumatic clamper connecting plate and the second pneumatic clamper connecting plate.
There is lateral gib block on pneumatic clamper link block, have on the first pneumatic clamper movable block and the second pneumatic clamper movable block with
Guide groove of the gib block to adaptation.
First pneumatic clamper or the second pneumatic clamper are equipped with photoelectric sensor 63.For detecting whether the first pneumatic clamper or the second pneumatic clamper are moved
Make.
It is equipped with multiple bufferings on first strap, the second strap, the first ambulatory splint and the second ambulatory splint
Micelle 60.
Rotating mechanism is equipped with the first rotary inductive piece 26.
Rotating mechanism is driven by servo motor 43.
The gas circuit of first pneumatic clamper and the second pneumatic clamper is equipped with the solenoid valve for being controlled by MCU or manual switch.
A kind of control method of the manipulator with two-pawl structure, using the manipulator above-mentioned with two-pawl structure；
Control method is as follows：
(1) by 1 or 2 pneumatic clamper work of solenoid valve control, work refers to capturing or putting down battery；
(2) by the double pneumatic gripper mechanisms rotations of Serve Motor Control (be such as rotated by 90 °, can counterclockwise or rotate clockwise)；
(3) double pneumatic gripper mechanisms are controlled by Z axis driving device to rise or fall；
(4) detect whether pneumatic clamper acts by photoelectric sensor；
(5) rotation angle of double pneumatic gripper mechanisms is detected by the first rotary inductive piece.
A kind of component included by manipulator has：Gas clamping jaw (component), pneumatic clamper connecting plate, the second pneumatic clamper connecting plate, mirror image
Second pneumatic clamper connecting plate, double pawl fixed plates, double pawl positioning plates, pneumatic clamper rotating shaft holder, turntable connecting plate, the first swivel bearing
Seat spacer, the second rotating shaft holder spacer, pneumatic clamper rotary shaft, pneumatic clamper rotation shaft retaining ring, double pneumatic clamper component fixed plates, double pneumatic clamper groups
Part reinforcing plate, double pneumatic clamper component connecting plates, double pneumatic clampers buffering guide post, excellent power rubber gasket, compression spring liner, the first fool proof switch-mode regulation
Bar, fool proof adjustment seat, the second fool proof switch-mode regulation bar, the first detection switch adjust metal plate, the second detection switch adjusts metal plate, slow
It rushes guide post fixed block, buffering guide post baffle ring, the first rotary inductive piece, proximity sensor fixing bracket, rotation paw gag lever post, open
Open pneumatic clamper fixed plate, flat key, the second rotary inductive piece, slim pneumatic clamper, line slide rail pair, linear bearing, oil buffer, pressure
Spring, range sensor, taper roll bearing, hexagon socket cap head screw, hex nut, proximity sensor, speed reducer, servo electricity
Machine：This manipulator is made of two sets of identical gas clamping jaws (component), often covers gas clamping jaw (component) and pneumatic clamper connecting plate bolt
It tightens together, is fixed in pneumatic clamper fixed plate using line slide rail pair, make two sets of identical gas clamping jaws (component) that can only prolong
Slide direction moves freely, and a set of gas clamping jaw (component) is connected by the second pneumatic clamper connecting plate with 1 pawl of slim pneumatic clamper, separately
A set of gas clamping jaw (component) is connected by mirror image the second pneumatic clamper connecting plate with other 1 pawl of slim pneumatic clamper 2, and slim pneumatic clamper is again
It is fastened in double pawl fixed plates with bolt by opening pneumatic clamper fixed plate, the double pawl positioning plates of two pieces are separately fixed at double pawl fixed plates
Both sides, while two soket head cap screws of installation and an oil buffer on every double pawl positioning plates, realize that two sets of gas clamping jaws are wide
The adjusting of distance between degree；Double pawl fixed plates are by buffering guide post fixed block, double pneumatic clampers buffering guide post, compressed spring, linear axis
Hold, excellent power rubber gasket, buffering guide post baffle ring are connected with double claw assembly connecting plates, double claw assembly connecting plates are equipped with the second sense of rotation
Piece is answered, realizes that the buffering of double fastener pawl crawl battery and detection function prevent battery plus-negative plate column of damaging.
Pneumatic clamper rotary shaft is connected by two taper roll bearings with pneumatic clamper rotating shaft holder, and pneumatic clamper rotary shaft tail portion is passed through
Second rotating shaft holder spacer directly rotates shaft retaining ring by pneumatic clamper with double claw assembly connecting plates and is fastened on one with soket head cap screw
It rises, realizes that two sets of gas clamping jaws (component) rotate integrally.
Pneumatic clamper rotating shaft holder is connected with the fastening of turntable connecting plate soket head cap screw, pneumatic clamper rotary shaft head flat key
It is connected with decelerating motor, speed reducer flange is fastened on soket head cap screw on turntable connecting plate, realizes servo deceleration electricity
Machine controls clockwise or counterclockwise 90 degree together of two sets gas clamping jaws (component), and two poles end, which is provided with, in rotary course approaches biography
The soft limit of sensor and mechanical position limitation, securely and reliably；Turntable connecting plate is fastened with double pneumatic clamper component fixed plates with soket head cap screw,
Double pneumatic clamper component fixed plates are connected with module realizes the integral elevating of manipulator.
In gas clamping jaw (component), two slim pneumatic clampers are fastened on one by pneumatic clamper cylinder connecting plate with flat head screw back-to-back
It rises, form a whole slim pneumatic clamper；First pneumatic clamper movable block 54 and the second pneumatic clamper movable block 55 are solid with soket head cap screw respectively
It is scheduled on the left side claw of whole slim pneumatic clamper, the first pneumatic clamper connecting plate 51 is fixed on and whole slim pneumatic clamper with soket head cap screw
Connected the first pneumatic clamper movable block 54 and the second pneumatic clamper movable block 55 of left side claw on, the first pneumatic clamper connecting plate 51 and the second gas
The soket head cap screw of pawl connecting plate 52 fastens together, the second interior hexagonal spiral shell of ambulatory splint 59 (also known as battery guide grip block A)
Nail is fastened on the second pneumatic clamper connecting plate, constitutes the whole left side clamping jaw of gas gripper jaw part；
Same second pneumatic clamper connecting plate 52 (also known as mirror image pneumatic clamper 1) is also secured to and whole slim gas with soket head cap screw
The first connected pneumatic clamper movable block 54 of the right side claw of pawl and the second pneumatic clamper movable block 55 (be also known as respectively pneumatic clamper link block A and
Pneumatic clamper link block B) on, the first strap 53 and the second pneumatic clamper connecting plate 52 soket head cap screw fasten together, the first activity
Clamping plate 58 (also known as battery guide grip block B) is fastened on soket head cap screw on the first strap 53, constitutes gas clamping jaw portion
Whole the right clamping jaw of part, realizes the left side clamping jaw and the right clamping jaw that whole slim pneumatic clamper is controlled with a dual control position solenoid valve
It is closed to step up or unclamp battery.It uses on the surface that first pneumatic clamper connecting plate 51 and the second pneumatic clamper connecting plate 52 are contacted with LITHIUM BATTERY column
Pneumatic clamper pole insulation board prevents two-stage column short-circuit, is all inlayed on the first pneumatic clamper movable block 54 and the second pneumatic clamper movable block 55 flexible slow
Micelle is rushed, on the one hand allow prevents surface tear from the other hand increasing the frictional force of battery contact surface to prevent pine in this way by folder battery
It is dynamic to fall.It is mounted with proximity sensor at the first pneumatic clamper movable block 54 to detect whether leakage folder battery.
Robot manipulator structure is made of two sets of identical gas clamping jaws (component), often covers the closure of gas clamping jaw (component) with one
Individual dual control position solenoid valve controls, and the closure of such two sets of clamping jaws (component) is respectively by two individual dual control position solenoid valves
It controls, two sets of gas clamping jaws (component) of such manipulator can work crawl battery together, can also individually work and grab
Battery is taken, two batteries can once be captured by, which realizing, can also once capture a battery.
Claims (8)
1. a kind of manipulator with two-pawl structure, which is characterized in that including fixed mechanism, rotating mechanism and double pneumatic gripper mechanisms；
Fixed mechanism is for manipulator to be fixed on the machine；Rotating mechanism is connected and fixed Agency pneumatic gripper mechanism；
Double pneumatic gripper mechanisms have the pneumatic clamper of 2 pneumatic controls；
Double pneumatic gripper mechanisms include pneumatic clamper link block (62) and the first pneumatic clamper and the second pneumatic clamper that are connected with pneumatic clamper link block；
First pneumatic clamper includes the first pneumatic clamper connecting plate (51), the first strap (53), the first pneumatic clamper movable block (54) and first
Ambulatory splint (58)；First strap is fixed on pneumatic clamper link block；First pneumatic clamper connecting plate is connected with pneumatic clamper link block, and
It can be slid laterally relative to pneumatic clamper link block under the driving of compressed gas；
The lower section of first pneumatic clamper connecting plate is connected by the first pneumatic clamper movable block with the first ambulatory splint；First ambulatory splint and
One strap sets up separately in inner side and outer side；First ambulatory splint moves out under the drive of the first pneumatic clamper connecting plate can be with
One strap is matched so that battery is clamped；
Second pneumatic clamper includes the second pneumatic clamper connecting plate (52), the second strap (64), the second pneumatic clamper movable block (55) and second
Ambulatory splint (59)；Second strap is fixed on pneumatic clamper link block；Second pneumatic clamper connecting plate is connected with pneumatic clamper link block, and
It can be slid laterally relative to pneumatic clamper link block under the driving of compressed gas；
The lower section of second pneumatic clamper connecting plate is connected by the second pneumatic clamper movable block with the second ambulatory splint；Second ambulatory splint and
Two straps set up separately in inner side and outer side；Second ambulatory splint moves out under the drive of the first pneumatic clamper connecting plate can be with
One strap is matched so that battery is clamped.
2. the manipulator according to claim 1 with two-pawl structure, which is characterized in that the first pneumatic clamper connecting plate and second
Pole insulation board is equipped with below pneumatic clamper connecting plate.
3. the manipulator according to claim 1 with two-pawl structure, which is characterized in that have laterally on pneumatic clamper link block
Gib block, have on the first pneumatic clamper movable block and the second pneumatic clamper movable block with the gib block to the guide groove being adapted to.
4. the manipulator according to claim 1 with two-pawl structure, which is characterized in that in the first pneumatic clamper or the second pneumatic clamper
Equipped with photoelectric sensor (63).
5. the manipulator according to claim 1 with two-pawl structure, which is characterized in that the first strap, second are consolidated
Multiple buffering micelles (60) are equipped on clamp plate, the first ambulatory splint and the second ambulatory splint.
6. the manipulator according to claim 1 with two-pawl structure, which is characterized in that rotating mechanism is equipped with the first rotation
Turn sensing chip (26).
7. the manipulator with two-pawl structure according to claim 6, which is characterized in that rotating mechanism is by servo motor
(43) it drives.
8. having the manipulator of two-pawl structure according to claim 1-7 any one of them, which is characterized in that the first pneumatic clamper and the
The gas circuit of two pneumatic clampers is equipped with the solenoid valve for being controlled by MCU or manual switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721363120.3U CN207643112U (en) | 2017-10-20 | 2017-10-20 | A kind of manipulator with two-pawl structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721363120.3U CN207643112U (en) | 2017-10-20 | 2017-10-20 | A kind of manipulator with two-pawl structure |
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| CN207643112U true CN207643112U (en) | 2018-07-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
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2017
- 2017-10-20 CN CN201721363120.3U patent/CN207643112U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
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