CN209364638U - It is a kind of for grabbing the multi-axis robot of battery - Google Patents
It is a kind of for grabbing the multi-axis robot of battery Download PDFInfo
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- CN209364638U CN209364638U CN201821695146.2U CN201821695146U CN209364638U CN 209364638 U CN209364638 U CN 209364638U CN 201821695146 U CN201821695146 U CN 201821695146U CN 209364638 U CN209364638 U CN 209364638U
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- mechanical arm
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- shaft mechanical
- clamping plate
- battery
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- 230000007246 mechanism Effects 0.000 claims abstract description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000009987 spinning Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of for grabbing the multi-axis robot of battery, including pedestal, the turntable being fixed on pedestal, with the first axle mechanical arm of the turntable rotatable engagement, with the second shaft mechanical arm of the first axle mechanical arm rotatable engagement, with the third shaft mechanical arm of the second shaft mechanical arm rotatable engagement, with the 4th shaft mechanical arm of the third shaft mechanical arm rotatable engagement, with the 5th shaft mechanical arm of the 4th shaft mechanical arm rotatable engagement and the grasping mechanism being connect with the 5th shaft mechanical arm.The utility model can be improved space utilization rate, improves production efficiency, while big to the pretective acreage of battery, battery is protected not fall, do not deformed during carrying easily.
Description
Technical field
The utility model relates to a kind of for grabbing the multi-axis robot of battery.
Background technique
The robot machine arm of the prior art is since there are distances between shaft, so that its track front and back swung is asymmetric,
Therefore robot in the prior art is all biased into the design that robot works in front, and the working space at robot rear
But very little, the i.e. space at robot rear are wastes, lead to not the production design for realizing multistation.The clamping of fixture simultaneously
Dynamics is difficult to obtain balance, and clamping dynamics is not enough easy to make battery that shift in position is even detached from fixture in the handling process, difficult
Carry and stacking, clamping dynamics is excessive, is easy to make battery that deformation occurs, damages to battery.Therefore, urgently
A kind of multi-axis robot for being used to grab battery for being able to solve the above problem need to be researched and developed.
Utility model content
The purpose of this utility model is to provide a kind of for grabbing the multi-axis robot of battery, to solve above-mentioned background
The problem of being proposed in technology.
The technical solution that the utility model uses to solve above-mentioned technical problem is as follows: a kind of for grabbing battery
Multi-axis robot, including pedestal, the turntable being fixed on pedestal, with the first axle mechanical arm of the turntable rotatable engagement,
With the second shaft mechanical arm of the first axle mechanical arm rotatable engagement and the third axis machine of the second shaft mechanical arm rotatable engagement
Tool arm, with the 4th shaft mechanical arm of the third shaft mechanical arm rotatable engagement, the with the 4th shaft mechanical arm rotatable engagement
Five shaft mechanical arms and the grasping mechanism being connect with the 5th shaft mechanical arm.
Further, the turntable is connect by rotating cylinder with the first axle mechanical arm, i.e. first axle mechanical arm energy
Enough rotations in rotating cylinder carry out the spinning movement of 360 degree of left and right, the first axle mechanical arm and the second shaft mechanical arm under driving
Hinged by articulated shaft, the articulated shaft is connect with the output end of the first speed reducer, and the input terminal of first speed reducer connects
The output shaft of first servo motor is connect, is connected between first axle mechanical arm and the second shaft mechanical arm for controlling the second axis of adjustment
It is dynamic that the telescoping cylinder in mechanical arm direction, i.e. the second shaft mechanical arm can carry out upper and lower 90 degree rise and fall under the flexible drive of telescoping cylinder
Make；The second shaft mechanical arm and hinged, the output of the articulated shaft and the second speed reducer by articulated shaft of third shaft mechanical arm
End connection, the input terminal of second speed reducer connect the output shaft of the second servo motor, and the third shaft mechanical arm passes through
Shaft is connect with the 4th shaft mechanical arm, and the 4th shaft mechanical arm is connect by shaft with the 5th shaft mechanical arm, the 5th axis
Mechanical arm is connect by shaft with grasping mechanism；First speed reducer, the second speed reducer are RV speed reducer.
Further, the grasping mechanism include mounting flange, mounting plate, lateral cylinder, longitudinal cylinder, first clamping plate and
Second clamping plate, the mounting plate upper surface are provided with mounting flange, and mounting flange upper end and the 5th shaft mechanical arm end pass through spiral shell
Nail is fixedly connected, and the mechanisms such as flexible, the convenient and various robots of grasping mechanism is cooperated, under the mounting plate
The two sides on surface are respectively arranged with a guide rail being laterally extended along mounting plate, are equipped on two guide rails and are slidably matched with two guide rails
Sliding block is provided with the first connecting plate on the sliding block.
Further, one end of first clamping plate is connected on first connecting plate, and the length of first clamping plate is greater than electric power storage
The height in pond, first clamping plate are provided with lateral cylinder on guide rail perpendicular to mounting plate, and lateral cylinder setting is in guide rail far from the
On one end of one clamping plate, the piston-rod end of the lateral cylinder is connect with first clamping plate, is equipped on the outside of the first clamping plate
Cylinder, the piston-rod end of cylinder are connected with lower pallet, and lower pallet is located at the inside of first clamping plate when the cylinder is closed, described
Lower pallet is parallel to mounting plate, and the second clamping plate is towards first clamping plate and mounting plate is arranged in far from one end of guide rail, and
For second splint perpendicular to mounting plate, second clamping plate is parallel to first clamping plate, and the length of second clamping plate is less than the length of the first clamping plate
Degree, first clamping plate and second clamping plate cooperation are clamped and are carried to battery.
Further, the grasping mechanism further includes two cross bars, two vertical poles, the second connecting plate and support, and described two
The frame of root cross bar and two vertical pole connection squarelys, the frame are connected by one end of the second connecting plate and mounting plate, frame
Support is respectively arranged on four of frame are diagonal.
The utility model based on holding in the palm, supplemented by folder, have certain load-bearing capacity, in clamping, handling process with electric power storage
Pond contact area is big, big to the pretective acreage of battery, and battery is protected not fall, do not deformed during carrying easily；
The utility model be provided with can 360 degree rotation turntable, and then enable to the multi-axis robot can be before and after robot
Station is all arranged in left and right four direction, and then can be improved space utilization rate, improves production efficiency.
Detailed description of the invention
Fig. 1 is that the utility model is a kind of for grabbing the perspective view of the multi-axis robot of battery；
Fig. 2 is that the utility model is a kind of for grabbing the grasping mechanism perspective view of the multi-axis robot of battery；
Fig. 3 is that the utility model is a kind of for grabbing the grasping mechanism side view of the multi-axis robot of battery.
In attached drawing；
1, pedestal 2, turntable 3, first axle mechanical arm
4, the second shaft mechanical arm 5, third shaft mechanical arm 6, the 4th shaft mechanical arm
7, grasping mechanism 8, the 5th shaft mechanical arm 9, rotating cylinder
10, first servo motor 11, telescoping cylinder 12, the second servo motor
701, mounting flange 702, mounting plate 703, guide rail
704, sliding block 705, first clamping plate 706, second clamping plate
707, the first connecting plate 708, lateral cylinder 709, cylinder
710, lower pallet 711, cross bar 712, vertical pole
713, the second connecting plate 714, support
Specific embodiment
With reference to the accompanying drawings and detailed description, the utility model is furtherd elucidate, it should be understood that following specific embodiment parties
Formula is merely to illustrate the utility model rather than limitation the scope of the utility model.
Refering to Figure 1, a kind of for grabbing the multi-axis robot of battery, including pedestal 1, it is fixed on pedestal 1
Turntable 2, with the first axle mechanical arm 3 of 2 rotatable engagement of turntable, with 3 rotatable engagement of first axle mechanical arm
The third shaft mechanical arm 5 of second shaft mechanical arm 4 and 4 rotatable engagement of the second shaft mechanical arm and the third shaft mechanical arm 5
4th shaft mechanical arm 6 of rotatable engagement, with the 5th shaft mechanical arm 8 of 6 rotatable engagement of the 4th shaft mechanical arm and with described the
The grasping mechanism 7 of five shaft mechanical arms 8 connection.
Please refer to Fig. 2, shown in 3, the turntable in the present embodiment passes through rotating cylinder 9 and the first axle mechanical arm 3
Connection, i.e. mechanical arm 1 can carry out the spinning movement of 360 degree of left and right, first shaft mechanical in the case where the rotation of rotating cylinder 9 drives
Arm 3 and the second shaft mechanical arm 4 are hinged by articulated shaft, and the articulated shaft is connect with the output end of the first speed reducer, and described the
The output shaft of the input terminal connection first servo motor 10 of one speed reducer, connects between first axle mechanical arm 3 and the second shaft mechanical arm 4
It is connected to the telescoping cylinder 11 for controlling adjustment 4 direction of the second shaft mechanical arm, i.e. the second shaft mechanical arm 4 being capable of stretching in telescoping cylinder 11
Contracting drives the lower movement of rising and falling for carrying out 90 degree up and down；The second shaft mechanical arm 4 is cut with scissors with third shaft mechanical arm 5 by articulated shaft
It connects, the articulated shaft is connect with the output end of the second speed reducer, and the input terminal of second speed reducer connects the second servo electricity
The output shaft of machine 12, the third shaft mechanical arm 5 are connect by shaft with the 4th shaft mechanical arm 6, and the 4th shaft mechanical arm 6 is logical
It crosses shaft to connect with the 5th shaft mechanical arm 8, the 5th shaft mechanical arm 8 is connect by shaft with grasping mechanism 7；Described first
Speed reducer, the second speed reducer 72 are RV speed reducer.
The grasping mechanism 7 includes mounting flange 701, mounting plate 702, lateral cylinder 708, the folder of longitudinal cylinder 709, first
Plate 705 and second clamping plate 706,702 upper surface of mounting plate are provided with mounting flange 701,701 upper end of mounting flange and the
Five shaft mechanical arms, 8 end is fixedly connected by screw, such that grasping mechanism 1 is flexible, convenient machines such as with various robots
Structure cooperates, and the two sides of 702 lower surface of mounting plate are respectively arranged with a guide rail 703 being laterally extended along mounting plate 702,
The sliding block 704 being slidably matched with two guide rails 703 is installed on two guide rails 703, is provided with the first connecting plate on the sliding block 704
707；
One end of first clamping plate 705 is connected on first connecting plate 707, and the length of first clamping plate 705 is greater than electric power storage
The height in pond, first clamping plate 705 are provided with lateral cylinder 708 on guide rail 703, the lateral cylinder 708 perpendicular to mounting plate 702
It is arranged on the one end of guide rail 703 far from first clamping plate 705, the piston-rod end and first clamping plate 705 of the lateral cylinder 708
It connects, cylinder 709 is installed on the outside of the first clamping plate 705, the piston-rod end of cylinder 709 is connected with lower pallet 710, described
Lower pallet 710 is located at the inside of first clamping plate 705 when cylinder 709 is closed, and the lower pallet 710 is parallel to mounting plate 702, described
Second clamping plate 706 is towards first clamping plate 705 and is arranged on the one end of mounting plate 702 far from guide rail 703, and second clamping plate 706 is hung down
Directly in mounting plate 702, second clamping plate 706 is parallel to first clamping plate 705, and the length of second clamping plate 706 is less than the first clamping plate
705 length, first clamping plate 705 and the cooperation of second clamping plate 706 are clamped and are carried to battery.First clamping plate 705 and
It is provided on the inside of second splint 706 foamed board (not shown), foamed board (not shown) works as a buffer, and protects battery and fixture
It does not deform easily.
The first clamping plate 705 can be one piece or muti-piece, corresponding lateral cylinder 708 or one or
Person is multiple.
The grasping mechanism further includes two cross bars, 711, two vertical poles 712, the second connecting plate 713 and support 714, described
Two cross bars 711 and two vertical poles 712 connect the frame of squarely, and the frame passes through the second connecting plate 713 and mounting plate 702
One end connection, four of frame it is diagonal on be respectively arranged with support 714.
Although the illustrative specific embodiment of the utility model is described above, in order to the art
Technical staff is it will be appreciated that the utility model, but the utility model is not limited only to the range of specific embodiment, to this technology
For the those of ordinary skill in field, as long as long as the utility model that various change is limited and determined in the attached claims
In spirit and scope, all are created using the utility model of the utility model design in the column of protection.
Claims (5)
1. a kind of for grabbing the multi-axis robot of battery, it is characterised in that: including pedestal (1), be fixed on pedestal (1)
Turntable (2) is rotated with the first axle mechanical arm (3) of the turntable (2) rotatable engagement, with the first axle mechanical arm (3)
Second shaft mechanical arm (4) of cooperation, with the third shaft mechanical arm (5) of the second shaft mechanical arm (4) rotatable engagement, with described the
The 4th shaft mechanical arm (6) of three shaft mechanical arm (5) rotatable engagements, the 5th axis with the 4th shaft mechanical arm (6) rotatable engagement
Mechanical arm (8) and the grasping mechanism (7) being connect with the 5th shaft mechanical arm (8).
2. according to claim 1 a kind of for grabbing the multi-axis robot of battery, which is characterized in that the gripper
Structure (7) includes mounting flange (701), mounting plate (702), lateral cylinder (708), longitudinal cylinder (709), first clamping plate (705)
With second clamping plate (706), mounting plate (702) upper surface is provided with mounting flange (701), mounting flange (701) upper end with
5th shaft mechanical arm (8) end is fixedly connected by screw, and the two sides of mounting plate (702) lower surface are respectively arranged with an edge
The guide rail (703) that mounting plate (702) is laterally extended is equipped with the sliding block being slidably matched with two guide rails (703) on two guide rails (703)
(704), the first connecting plate (707) are provided on the sliding block (704).
3. according to claim 2 a kind of for grabbing the multi-axis robot of battery, which is characterized in that first clamping plate
(705) one end is connected on first connecting plate (707), and the length of first clamping plate (705) is greater than the height of battery, the
One clamping plate (705) is provided with lateral cylinder (708) on guide rail (703), which sets perpendicular to mounting plate (702)
It sets on the one end of guide rail (703) far from first clamping plate (705), the piston-rod end of the lateral cylinder (708) and the first folder
Plate (705) connection, first clamping plate (705) outside are equipped with cylinder (709), and the piston-rod end of cylinder (709) is connected with
Lower pallet (710), lower pallet (710) is located at the inside of first clamping plate (705), the lower pallet when cylinder (709) is closed
(710) it is parallel to mounting plate (702), the second clamping plate (706) is towards first clamping plate (705) and is arranged in mounting plate (702)
On one end far from guide rail (703), second clamping plate (706) is parallel to first perpendicular to mounting plate (702), second clamping plate (706)
Clamping plate (705).
4. according to claim 1 a kind of for grabbing the multi-axis robot of battery, which is characterized in that the gripper
Structure further includes two cross bars (711), two vertical poles (712), the second connecting plate (713) and support (714), two cross bars
(711) frame of He Lianggen vertical pole (712) connection squarely, the frame pass through the second connecting plate (713) and mounting plate (702)
One end connection, four of frame it is diagonal on be respectively arranged with support (714).
5. according to claim 1 a kind of for grabbing the multi-axis robot of battery, which is characterized in that the turntable
It is connect by rotating cylinder (9) with the first axle mechanical arm (3), the first axle mechanical arm (3) and the second shaft mechanical arm (4) are logical
Cross that articulated shaft is hinged, the articulated shaft is connect with the output end of the first speed reducer, the input terminal connection of first speed reducer
The output shaft of first servo motor (10) is connected between first axle mechanical arm (3) and the second shaft mechanical arm (4) and adjusts for controlling
The telescoping cylinder (11) in whole second shaft mechanical arm (4) direction；The second shaft mechanical arm (4) and third shaft mechanical arm (5) pass through hinge
Spindle is hinged, and the articulated shaft is connect with the output end of the second speed reducer, the input terminal connection second of second speed reducer
The output shaft of servo motor (12), the third shaft mechanical arm (5) are connect by shaft with the 4th shaft mechanical arm (6), and described the
Four shaft mechanical arms (6) are connect by shaft with the 5th shaft mechanical arm (8), and the 5th shaft mechanical arm (8) passes through shaft and crawl
Mechanism (7) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821695146.2U CN209364638U (en) | 2018-10-19 | 2018-10-19 | It is a kind of for grabbing the multi-axis robot of battery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821695146.2U CN209364638U (en) | 2018-10-19 | 2018-10-19 | It is a kind of for grabbing the multi-axis robot of battery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209364638U true CN209364638U (en) | 2019-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821695146.2U Active CN209364638U (en) | 2018-10-19 | 2018-10-19 | It is a kind of for grabbing the multi-axis robot of battery |
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| CN (1) | CN209364638U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2023522661A (en) * | 2020-09-04 | 2023-05-31 | エルジー エナジー ソリューション リミテッド | BATTERY PACK ASSEMBLY SYSTEM AND BATTERY PACK ASSEMBLY METHOD USING THE SAME |
-
2018
- 2018-10-19 CN CN201821695146.2U patent/CN209364638U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2023522661A (en) * | 2020-09-04 | 2023-05-31 | エルジー エナジー ソリューション リミテッド | BATTERY PACK ASSEMBLY SYSTEM AND BATTERY PACK ASSEMBLY METHOD USING THE SAME |
| JP7399403B2 (en) | 2020-09-04 | 2023-12-18 | エルジー エナジー ソリューション リミテッド | Battery pack assembly system and battery pack assembly method using the same |
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