A grabbing manipulator for fuel cell processing

Abstract

The present invention relates to the field of manipulators, and specifically is a grasping manipulator for fuel cell processing, comprising a fixed mounting plate, on which a plurality of fixed mounting holes are arranged, and also comprising: a height angle adjustment mechanism, comprising a height adjustment module and an angle adjustment module; an adjustable synchronous grasping mechanism, comprising a synchronous transmission module and an adjustable grasping module, wherein the height adjustment module comprises a positioning mounting plate arranged opposite to one side of the fixed mounting plate, and a height adjustment power source is arranged between the positioning mounting plate and the fixed mounting plate; the grasping manipulator can adapt to the grasping of fuel cells of different sizes and shapes, and the operation is simple and efficient; the grasping manipulator can grasp stably and adaptively at multiple points to avoid damage caused by uneven force, thereby ensuring that the grasping manipulator can operate stably for a long time; the grasping mechanism can clamp at multiple levels, thereby significantly improving the stability and safety of grasping the fuel cell.

Description

Technical Field

[0001] The invention relates to the field of manipulators, in particular to a grasping manipulator for fuel cell processing. Background Art

[0002] A fuel cell is a chemical device that converts the chemical energy of a fuel directly into electrical energy. It is also called an electrochemical generator. It is the fourth power generation technology after hydropower, thermal power generation and atomic power generation. Since fuel cells convert part of the Gibbs free energy in the chemical energy of the fuel into electrical energy through electrochemical reactions, they are not limited by the Carnot cycle effect and are therefore highly efficient. From the perspective of saving energy and protecting the ecological environment, fuel cells are the most promising power generation technology.

[0003] Because of the many characteristics of fuel cells, their demand in actual production and life is increasing. However, there are many problems in the production of fuel cells. Among them, the current equipment has many problems in the grasping of fuel cells. It often adopts a rigid single-stage clamping structure, which causes the fuel cell to deform, fall off, or even be damaged. It cannot adapt to the grasping of fuel cells of different sizes and shapes, and it is difficult to achieve long-term stable operation.

[0004] The present invention aims to solve the technical problems existing in the prior art, and for this purpose, proposes a grasping robot for fuel cell processing. Summary of the invention

[0005] The object of the present invention is to provide a grasping robot for fuel cell processing to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A grasping manipulator for fuel cell processing includes a fixed mounting plate, a plurality of fixed mounting holes are arranged on the fixed mounting plate, and further includes:

[0008] A height angle adjustment mechanism, comprising a height adjustment module and an angle adjustment module;

[0009] The adjustable synchronous grasping mechanism comprises a synchronous transmission module, and the adjustable synchronous grasping mechanism also comprises an adjustable grasping module arranged in cooperation with the bending and rotating rod.

[0010] As a further solution of the present invention: the height adjustment module includes a positioning mounting plate arranged opposite to one side of the fixed mounting plate, a height adjustment power source is arranged between the positioning mounting plate and the fixed mounting plate, the height adjustment power source is matched with the positioning mounting plate and is provided with a height adjustment telescopic column, and an angle adjustment power source is arranged at the outer end of the height adjustment telescopic column.

[0011] As a further solution of the present invention: a plurality of lifting guide columns are arranged on one side of the positioning mounting plate, a plurality of lifting guide sleeves are arranged on the outer side of the angle adjustment power source in cooperation with the lifting guide columns, and a limiting plate is arranged on the outer end of the lifting guide column.

[0012] As a further solution of the present invention: the angle adjustment module includes an angle adjustment power source and an angle adjustment column arranged at one end thereof, and an angle adjustment turntable is coaxially arranged at the outer end of the angle adjustment column.

[0013] As a further solution of the present invention: the synchronous transmission module includes a synchronous transmission disk arranged directly opposite to the angle adjustment turntable, a synchronous drive telescopic column is connected between the synchronous transmission disk and the angle adjustment turntable, a plurality of bending and rotating rods are arranged at equal angles on the outside of the angle adjustment turntable, a fixed mounting frame is rotatably arranged at the bending part of the bending and rotating rod, the fixed mounting frame is installed on the angle adjustment turntable, a transmission ball is arranged at one end of the bending and rotating rod, and the synchronous transmission disk cooperates with the transmission ball to set a limited guide transmission groove with the synchronous drive telescopic column as the center.

[0014] As a further solution of the present invention: the adjustment grasping module includes a swing connecting rod rotatably arranged at the other end of the bent rotating rod, and a rotating mounting frame is rotatably arranged at the outer end of the swing connecting rod, and two groups of reset rotating shafts are symmetrically arranged on the rotating mounting frame, and the two groups of reset rotating shafts rotate towards each other, and a reset swing frame is arranged to cooperate with the reset rotating shaft, and the reset swing frame is rotatably connected to the reset rotating shaft through a pair of working mounting frames thereon, a reset swing rod is arranged on the reset swing frame, and several groups of rolling clamping assemblies are arranged at equal intervals between the reset swing rods, and an auxiliary clamping plate is arranged opposite to the side of the reset swing rod facing away from the reset swing frame, and several auxiliary elastic parts are arranged on one side of the auxiliary clamping plate, and the auxiliary elastic parts are all connected to the corresponding reset swing rod.

[0015] As a further solution of the present invention: arc-shaped elastic parts are connected and arranged at the angles between the bent rotating rod and the swing connecting rod.

[0016] As a further solution of the present invention: the rolling clamping assembly, the rolling clamping assembly includes an arc-shaped elastic rolling column, a plurality of extrusion wheels are evenly arranged on the arc-shaped elastic rolling column, the extrusion wheel is a cam structure, the extrusion wheel includes a proximal end portion and a distal end portion, the friction coefficients of the distal end portion and the proximal end portion are different, and the extrusion wheels at both ends of the arc-shaped elastic rolling column are rotatably connected to the reset swing frame through a limiting rotating shaft.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] It can adapt to the grabbing of fuel cells of different sizes and shapes, and the operation is simple and efficient;

[0019] It can grasp stably and adaptively at multiple points to avoid damage caused by uneven force, and ensure that the grasping manipulator can operate stably for a long time;

[0020] Capable of multi-level clamping, significantly improving the stability and safety of fuel cell gripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a three-dimensional schematic diagram of a grasping robot for fuel cell processing.

[0022] Figure 2 It is a three-dimensional schematic diagram of an adjustable synchronous grasping mechanism in a grasping robot for fuel cell processing.

[0023] Figure 3 It is a three-dimensional schematic diagram of an adjustable grasping module in a grasping robot for fuel cell processing.

[0024] Figure 4 This is a three-dimensional schematic diagram of the rotating mounting frame in a grasping robot for fuel cell processing.

[0025] Figure 5 This is a three-dimensional schematic diagram of the reset swing frame in a grasping robot for fuel cell processing.

[0026] Figure 6 It is a three-dimensional schematic diagram of a rolling clamping assembly in a grasping robot for fuel cell processing.

[0027] Figure 7 This is a three-dimensional schematic diagram of an extrusion wheel in a gripping robot for fuel cell processing.

[0028] 1-fixed mounting plate, 2-fixed mounting hole, 3-height adjustment power source, 4-positioning mounting plate, 5-height adjustment telescopic column, 6-angle adjustment power source, 7-lifting guide column, 8-lifting guide sleeve, 9-limiting piece, 10-angle adjustment column, 11-angle adjustment turntable, 12-synchronous transmission plate, 13-bending rotation rod, 14-arc elastic part, 15-swing connecting rod, 16-limiting guide transmission groove, 17-transmission ball, 18-fixed mounting frame, 19-rotating mounting frame, 20-reset shaft, 21-reset swing frame, 22-reset swing rod, 23-auxiliary clamping plate, 24-auxiliary elastic part, 25-limiting shaft, 26-extrusion wheel, 27-operation mounting frame, 28-arc elastic rolling column, 29-proximal end, 30-distal end, 31-synchronous drive telescopic column. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0030] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0031] For example, see Figure 1 to Figure 7 In an embodiment of the present invention, a gripping manipulator for fuel cell processing includes a fixed mounting plate 1, on which a plurality of fixed mounting holes 2 are arranged, and further includes:

[0032] A height angle adjustment mechanism, comprising a height adjustment module and an angle adjustment module;

[0033] The adjustable synchronous grabbing mechanism comprises a synchronous transmission module and an adjustable grabbing module.

[0034] The manipulator is installed at the target position in cooperation with the fixed installation plate 1 and the plurality of fixed installation holes 2 provided thereon. According to the specific operation requirements, the height and angle are adjusted respectively by the height adjustment module and the angle adjustment module on the height and angle adjustment mechanism, and the adjustable synchronous grasping mechanism is controlled to complete the grasping operation of the fuel cell.

[0035] Specifically, the synchronous transmission module cooperates with the adjustment of the height angle to ensure that the adjustment grasping module can grasp the fuel cell quickly and stably.

[0036] Example 2, based on Example 1, please refer to Figure 1 In the embodiment of the present invention, the height adjustment module includes a positioning installation disk 4 arranged opposite to one side of the fixed installation disk 1, a height adjustment power source 3 is arranged between the positioning installation disk 4 and the fixed installation disk 1, and the height adjustment power source 3 is provided with a height adjustment telescopic column 5 in cooperation with the positioning installation disk 4, and an angle adjustment power source 6 is arranged at the outer end of the height adjustment telescopic column 5; a plurality of lifting guide columns 7 are arranged on one side of the positioning installation disk 4, and a plurality of lifting guide sleeves 8 are arranged in cooperation with the lifting guide columns 7 on the outer side of the angle adjustment power source 6, and a limiting piece 9 is arranged at the outer end of the lifting guide column 7;

[0037] The angle adjustment module comprises an angle adjustment power source 6 and an angle adjustment column 10 arranged at one end thereof, and an angle adjustment rotating disk 11 is coaxially arranged at the outer end of the angle adjustment column 10 .

[0038] The height adjustment is specifically that the height adjustment power source 3 drives the height adjustment telescopic column 5 to adjust the length, thereby realizing the overall height adjustment of the angle adjustment module and the adjustable synchronous grabbing mechanism, wherein the guiding cooperation of several groups of lifting guide columns 7 and lifting guide sleeves 8 ensures the force balance during the height adjustment process and improves the stability of the adjustment;

[0039] The angle adjustment is specifically that the angle adjustment power source 6 drives the angle adjustment column 10 to rotate, and the angle adjustment column 10 and the adjustable synchronous grasping mechanism thereon perform axial rotation to complete the angle adjustment;

[0040] The height adjustment power source 3 and the angle adjustment power source 6 may be electrically driven, hydraulically driven or pneumatically driven.

[0041] Example 3, based on Example 1, please refer to Figure 1 to Figure 5 In the embodiment of the present invention, the synchronous transmission module includes a synchronous transmission disk 12 arranged opposite to the angle adjustment turntable 11, a synchronous drive telescopic column 31 is connected between the synchronous transmission disk 12 and the angle adjustment turntable 11, a plurality of bending rotation rods 13 are arranged at equal angles on the outside of the angle adjustment turntable 11, a fixed mounting frame 18 is arranged at the bending part of the bending rotation rod 13, and the fixed mounting frame 18 is installed on the angle adjustment turntable 11, a transmission ball 17 is arranged at one end of the bending rotation rod 13, and the synchronous transmission disk 12 cooperates with the transmission ball 17 to set a limited position guide transmission groove 16 with the synchronous drive telescopic column 31 as the center;

[0042] The adjustment grabbing module includes a swing link 15 rotatably arranged at the other end of the bending rotation rod 13, and a rotation mounting frame 19 is rotatably arranged at the outer end of the swing link 15. Two groups of reset shafts 20 are symmetrically arranged on the rotation mounting frame 19. The two groups of reset shafts 20 rotate towards each other, and a reset swing frame 21 is arranged to cooperate with the reset shaft 20. The reset swing frame 21 is rotatably connected with the reset shaft 20 through a pair of working mounting frames 27 thereon. A reset swing rod 22 is arranged on the reset swing frame 21, and a plurality of rolling clamping assemblies are arranged at equal intervals between the reset swing rods 22. An auxiliary clamping plate 23 is arranged opposite to the side of the reset swing rod 22 facing away from the reset swing frame 21, and a plurality of auxiliary elastic members 24 are arranged on one side of the auxiliary clamping plate 23. The auxiliary elastic members 24 are all connected to the corresponding reset swing rod 22; arc-shaped elastic members 14 are connected at the angles between the bending rotation rod 13 and the swing link 15.

[0043] Before or during the height adjustment and angle adjustment, for fuel cells of different sizes or sizes, the synchronous drive telescopic column 31 will be pre-adjusted to change the spacing between the synchronous transmission disk 12 and the angle adjustment turntable 11. At this time, the transmission ball 17 realizes sliding displacement under the cooperation of the limit guide transmission groove 16, and the bending rotation rod 13 rotates with the sliding displacement of the transmission ball 17, and the bending rotation rod 13 rotates with the fixed mounting frame 18 connected to the bending part. The swing link 15 rotates a certain angle with the bending rotation rod 13 under the elastic support of the arc elastic member 14, so that the reset swing rod The auxiliary clamping plate 22 moves toward the fuel cell until the auxiliary clamping plate 23 contacts the fuel cell, and the angle is passively adjusted under the rotation cooperation of the rotating mounting frame 19. As the auxiliary clamping plate 23 further moves toward the fuel cell, the reset swing frame 21 rotates together with the reset swing rod 22 under the action of the reset shaft 20, and the two reset swing rods 22 on the same rotating mounting frame 19 rotate in the opposite direction, and the elastic force of the auxiliary elastic member 24 makes the auxiliary clamping plate 23 better fit on the surface of the fuel cell, realizing the first layer of clamping, which can be competent for the grasping operation of fuel cells of different shapes;

[0044] The distance between the synchronous transmission disk 12 and the angle adjustment turntable 11 is further shortened. At this time, the rolling clamping assembly in the open and closed state presses against the surface of the fuel cell, and can adapt to the shape of the fuel cell surface to deform appropriately, thereby improving the fit of the fuel cell grip, completing adaptive covering contact at multiple locations and points on the fuel cell, and realizing the second layer of clamping.

[0045] Example 4, based on Example 1, please refer to Figure 6 , Figure 7 In the embodiment of the present invention, the rolling clamping assembly includes an arc-shaped elastic rolling column 28, and a plurality of extrusion wheels 26 are evenly arranged on the arc-shaped elastic rolling column 28. The extrusion wheel 26 is a cam structure, and the extrusion wheel 26 includes a proximal end portion 29 and a distal end portion 30. The friction coefficients of the distal end portion 30 and the proximal end portion 29 are different. The extrusion wheels 26 at both ends of the arc-shaped elastic rolling column 28 are rotatably connected to the reset swing frame 21 through a limiting rotating shaft 25.

[0046] The abutment at multiple points is completed. At this time, the arc-shaped elastic rolling column 28 is deformed under the force of the abutment between the plurality of extrusion wheels 26 and the fuel cell, and provides elastic stress to ensure that the extrusion wheel 26 is firmly attached to the surface of the fuel cell;

[0047] After that, the height is adjusted. The height adjustment telescopic column 5 is extended for a certain distance under the driving of the height adjustment power source 3. At this time, the extrusion wheel 26 in the extrusion state is rolled under the rotation cooperation of the limit rotating shaft 25 and the arc-shaped elastic rolling column 28, and the proximal end 29 in the initial state is in contact with the surface of the fuel cell, and the distal end 30 is in contact with the surface of the fuel cell. Under the premise that the distance between the rotating mounting frame 19 and the fuel cell remains unchanged, the force bearing area is reduced, the friction coefficient is changed, and the grasping stability of the fuel cell is significantly improved;

[0048] The rolling clamping assembly inserted into the concave part of the fuel cell surface can reduce the possibility of damage by compensating the deformation of the arc-shaped elastic rolling column 28 .

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0050] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A gripping manipulator for fuel cell processing, comprising a fixed mounting plate, on which a plurality of fixed mounting holes are arranged, characterized in that: Also includes: A height angle adjustment mechanism, comprising a height adjustment module and an angle adjustment module; The height adjustment module includes a positioning installation plate arranged opposite to one side of the fixed installation plate, a height adjustment power source is arranged between the positioning installation plate and the fixed installation plate, a height adjustment telescopic column is arranged in cooperation with the positioning installation plate, and an angle adjustment power source is arranged at the outer end of the height adjustment telescopic column; The angle adjustment module comprises an angle adjustment power source and an angle adjustment column arranged at one end thereof, and an angle adjustment rotating disk is coaxially arranged at the outer end of the angle adjustment column; The adjustable synchronous grabbing mechanism comprises a synchronous transmission module, wherein the synchronous transmission module comprises a synchronous transmission disk arranged opposite to the angle adjustment turntable, a synchronous drive telescopic column is connected between the synchronous transmission disk and the angle adjustment turntable, a plurality of bending and rotating rods are arranged at equal angles on the outside of the angle adjustment turntable, a fixed mounting frame is rotatably arranged at the bending part of the bending and rotating rod, and the fixed mounting frame is mounted on the angle adjustment turntable; The adjustable synchronous grabbing mechanism also includes an adjusting grasping module arranged in cooperation with the bending and rotating rod, the adjusting grasping module includes a swing connecting rod rotatably arranged on the other end of the bending and rotating rod, and a swing mounting frame is rotatably arranged on the outer end of the swing connecting rod, and two sets of reset shafts are symmetrically arranged on the rotating mounting frame, and the two sets of reset shafts rotate toward each other and are cooperated with the reset shaft to be provided with a reset swing frame, and the reset swing frame is rotatably connected with the reset shaft through a pair of working mounting frames thereon. A reset swing rod is provided on the reset swing frame, and a plurality of groups of rolling clamping assemblies are equidistantly arranged between the reset swing rods. A transmission ball is provided at one end of the bending and rotating rod, and a synchronous transmission disc cooperates with the transmission ball to form a limited position guide transmission groove with the synchronous drive telescopic column as the center. The reset swing rod is provided with an auxiliary clamping plate opposite to the side of the reset swing rod facing away from the reset swing frame, and a plurality of auxiliary elastic members are provided on one side of the auxiliary clamping plate, and the auxiliary elastic members are all connected with the corresponding reset swing rod, and an arc elastic member is connected at the angle between the bending and rotating rod and the swing connecting rod; The rolling clamping assembly includes an arc-shaped elastic rolling column, on which a plurality of extrusion wheels are evenly arranged. The extrusion wheels at both ends of the arc-shaped elastic rolling column are rotatably connected to the reset swing frame through a limiting rotating shaft. The extrusion wheel is a cam structure, and the extrusion wheel includes a proximal end portion and a distal end portion. The friction coefficients of the distal end portion and the proximal end portion are different.

2. A fuel cell processing grasping robot according to claim 1, characterized in that: A plurality of lifting guide columns are arranged on one side of the positioning installation plate, and a plurality of lifting guide sleeves are arranged in cooperation with the lifting guide columns on the outer side of the angle adjustment power source.

3. A fuel cell processing grasping manipulator according to claim 2, characterized in that: A limiting piece is arranged at the outer end of the lifting guide column.

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