动力锂电池组搬运机械手的设计与研究  

Power lithium battery pack carrying manipulator design and research

作　　者：金伟[1] 黄大贵[1] 陈远强[1] 高翔[1] 

机构地区：[1]电子科技大学,四川成都611731

出　　处：《自动化与仪器仪表》2014年第1期4-5,9,共3页Automation & Instrumentation

摘　　要：针对动力锂电池组生产线中需将装配完的电池组搬运到指定地点的要求,开发研制了一种搬运机械手。主要介绍了该机械手移动机构和抓取机构两大部分的结构组成,然后通过动力学计算对驱动电机进行选型。最后,从机械手系统的精确移动定位考虑提出了一种闭环控制系统。实验表明该机械手系统运行稳定可靠,已经应用于生产线的转运工位中。In the power lithium battery production line, aiming at the requirement of carrying the assembled battery to the desig-nated location, a kind of carrying manipulator was designed. The moving mechanism and grab mechanism were mainly introduced, and then the selection of drive motor needs dynamics calculations to determine. Lastly, considering the precise positioning of carry-ing manipulator system, this paper put forward a closed loop control system. Experiments show that the manipulator runs stably and reliably and has already been used in the transport station of production line.

关 键 词：移动机构 抓取机构 动力学计算 闭环控制 

分 类 号：TP211[自动化与计算机技术—检测技术与自动化装置]