Gripping device, gripping module and driving device

Abstract

The present application relates to a clamping device, including: a clamping mechanism, the clamping mechanism including a clamping cylinder and a clamping jaw, the clamping cylinder being configured to drive the clamping jaw to clamp or open; a control component, used to supply gas to the clamping cylinder and obtain the air pressure value in the clamping cylinder, when the air pressure value is higher than the maximum value of a preset range, the control component stops supplying gas or controls the clamping cylinder to exhaust; when the air pressure value is lower than the minimum value of a preset range, the control component stops supplying gas to the clamping cylinder. It can monitor and judge the clamping force of the clamping jaw in real time to control the air supply and air cut-off of the clamping jaw cylinder.

Description

Technical Field

[0001] The present application relates to the technical field of battery manufacturing, and in particular to a clamping device, a clamping module and a driving device. Background Art

[0002] Energy conservation and emission reduction are the key to the sustainable development of the automobile industry. Electric vehicles have become an important part of the sustainable development of the automobile industry due to their advantages in energy conservation and environmental protection. For electric vehicles, battery technology is an important factor in their development.

[0003] In the development of battery technology, in addition to improving battery performance, production efficiency is also an issue that cannot be ignored. How to improve battery production efficiency is still a technical problem that needs to be solved urgently in battery technology. Summary of the invention

[0004] In view of the above problems, the present application provides a clamping device, a clamping module and a driving device, aiming to improve the production efficiency of batteries.

[0005] In the first aspect, the present application provides a clamping device, comprising: a clamping mechanism, the clamping mechanism comprising a clamping cylinder and a clamping jaw, the clamping cylinder being configured to drive the clamping jaw to clamp or open; a control component, for supplying gas to the clamping cylinder and obtaining the air pressure value in the clamping cylinder, when the air pressure value is higher than the maximum value of a preset range, the control component stops supplying gas or controls the clamping cylinder to exhaust; when the air pressure value is lower than the minimum value of the preset range, the control component stops supplying gas to the clamping cylinder.

[0006] The clamping device in the present application can be installed on a device with a driving function such as a manipulator or a servo motor, and the function of the clamping device is mainly reflected in grabbing objects. With the solution of the present application, the clamping device determines the cylinder pressure when grabbing the battery cell. If the clamping force of the clamping device is too low, an alarm can be issued according to the comparison result, and the machine can be shut down to wait for manual processing; if the clamping force of the clamping device is too high, the clamping device can be controlled to release the clamping device in time, or the device can be alarmed and shut down according to the comparison result to wait for manual processing.

[0007] In some embodiments, the control component includes: an air supply component for providing an air source to the gripper cylinder; an air pressure detection component for obtaining the air pressure value in the gripper cylinder; and a controller, which is communicatively connected to both the air pressure detection component and the air supply component, and is used to receive the air pressure value obtained by the air pressure detection component. The gripper device using this solution can automatically obtain the size of the clamping force when the gripper cylinder clamps the workpiece, thereby facilitating the determination of whether a fault warning is required or whether damage reduction treatment is required based on the clamping force. The automated production of the gripper device is improved, and the damage rate of the workpiece can be reduced.

[0008] In some embodiments, the gas supply component includes: a gas multi-way control valve, a first gas supply branch and a second gas supply branch connected to different outlets of the gas multi-way control valve, the first gas supply branch is connected to the closed position gas inlet hole of the gripper cylinder, and the second gas supply branch is connected to the open position gas inlet hole of the gripper cylinder; and the air pressure detection component is arranged in the first gas supply branch; when the air pressure value is higher than the maximum value of the preset range, the controller controls the gas multi-way control valve to ventilate the open position gas inlet hole, and at the same time controls the gas multi-way control valve to exhaust the closed position gas inlet hole; when the air pressure value is lower than the minimum value of the preset range, the controller controls the gas multi-way control valve to stop ventilating the open position gas inlet hole, or, the controller controls the gas multi-way control valve to exhaust the closed position gas inlet hole.

[0009] Under the joint action of the controller, the air pressure detection component and the air supply assembly, when the air pressure value is lower than the minimum value of the preset range, the controller controls the gas multi-way control valve to stop venting to the open position air inlet hole. Alternatively, the controller controls the gas multi-way control valve to exhaust air from the closed position air inlet hole, so as to achieve the above effect.

[0010] In some embodiments, the air pressure detection component is a proportional valve connected in series with the first air supply branch, and the proportional valve includes a digital conversion module, and the digital conversion module is used to obtain the air pressure value in the gripper cylinder. Exemplarily, the air pressure detection component can be a proportional valve. Since the digital conversion module is provided in the proportional valve, the digital conversion module is mainly used to obtain real-time data of the air pressure value in the gripper cylinder. Alternatively, the air pressure detection component can also be a pressure sensor or other device that can be used to obtain the air pressure value in the gripper cylinder.

[0011] In some embodiments, the clamping device further includes a first support assembly and a second support assembly, the clamping cylinder is connected to the first support assembly, and the first support assembly and the second support assembly cooperate in relative movement in a first direction, so that the clamping cylinder drives the first support assembly to move relative to the second support assembly. The present application does not limit the specific connection form between the clamping cylinder and the first support assembly, as long as the movement of the clamping cylinder can drive the movement of the first support assembly. When the clamping claw of the clamping claw cylinder presses on the object instead of clamping the object, an interaction force is generated between the object and the clamping claw. The use of this solution can alleviate the continuous damage of the downward pressure of the clamping claw on the object, thereby reducing the scrap rate of the object.

[0012] In some embodiments, the clamp includes a pair of clamp parts, each of which is respectively matched with the first support assembly to move relative to the first support assembly in the second direction. The clamp of the present application includes two clamp parts that can move relative to each other, and the functions of clamping and releasing the clamp are realized during the relative movement of the two clamp parts, further improving the clamping accuracy of the clamp.

[0013] In some embodiments, the clamping device further includes a first slide rail slider assembly and a second slide rail slider assembly; the first slide rail slider assembly includes a first slide rail and a first slider, the first slide rail is disposed in one of the first support assembly and the second support assembly, the first slider is fixed to the other of the two, and the first slide rail and the first slider slide in a first direction; the second slide rail slider assembly includes a second slide rail and a second slider, the second slide rail is disposed in one of the clamping portion and the first support assembly, the second slider is fixed to the other of the two, and the second slide rail and the second slider slide in a second direction. The present application does not limit the structure, material and size of each slide rail and each slider, as long as the slide rails and sliders that slide in mutual cooperation are adapted. The sliding combination of the slide rail slider is convenient for installation, and can ensure that the two structures that slide in mutual cooperation can move linearly on the given slide rail track, which is convenient for limiting the moving direction.

[0014] In some embodiments, the first support assembly includes a first support plate, a first vertical plate and a second vertical plate fixed on both sides of the first support plate; the second support assembly includes a second support plate, a third vertical plate and a fourth vertical plate fixed on both sides of the second support plate; the first support plate is located below the second support plate; the first slide rail and the first slider are respectively mounted on the first vertical plate and the third vertical plate; the second slide rail and the second slider are respectively mounted on the second vertical plate and the fourth vertical plate. Exemplarily, the gripper cylinder in the present application can be located below the first support plate, and under the joint action of the slide rail and slider assemblies on both sides of the first support plate, the gripper cylinder can move in a stable state.

[0015] In some embodiments, the clamping device further includes an elastic component, the elastic component is located between the first support component and the second support component, and the elastic component is configured so that under the elastic buffering effect, the clamping cylinder drives the first support component to move slowly in the first direction relative to the second support plate. Under the setting of the elastic component, the collision between the first support component and the second support component can be avoided, and under the elastic potential energy of the elastic component, the direct damage of the clamping jaw to the surface of the object can be avoided, thereby reducing the scrap rate of the object.

[0016] In some embodiments, the elastic component is located between the first support plate and the second support plate; the elastic component includes: a guide column and an elastic member sleeved on the outer wall of the guide column; the guide column includes a first end and a second end arranged opposite to each other, and the second end is fixed to the second support plate; the first end extends into the first support plate, and the first end is configured to be able to move a first distance relative to the first support plate along a first direction; the elastic member includes a fixed end and a free end, and the fixed end and the free end are respectively fixed to the first support plate and the second support plate. The structure of the elastic component using the guide column and the elastic member of the present application is simple in structure and convenient for installation, disassembly and replacement.

[0017] In some embodiments, the clamping device further includes a sensing component, which is communicatively connected with the controller; the sensing component includes a sensor and a sensing detection sheet that transmits signals with the sensor, the sensor is fixedly arranged on the side wall of the third vertical plate or the fourth vertical plate, and the sensing detection sheet is correspondingly fixedly arranged on the side wall of any one of the first vertical plate, the second vertical plate and the first support plate; when the clamping cylinder drives the first support component to move relative to the second support plate, the sensing detection sheet follows the movement of any one of the first vertical plate, the second vertical plate and the first support plate relative to the sensor on the third vertical plate or the fourth vertical plate, so that the sensing detection sheet is connected with the sensor signal. Under the action of the sensing component, the controller can receive a signal that the clamping jaw fails to properly grasp an object, so as to facilitate monitoring and maintenance of the overall equipment.

[0018] The present application provides a clamping module, including any of the above-mentioned clamping devices, wherein the clamping cylinders are provided with a plurality of clamping cylinders, and the control assembly is in gas communication with each of the clamping cylinders. The plurality of clamping cylinders are provided so as to be able to clamp a plurality of objects at the same time, thereby improving the production efficiency of the production line.

[0019] In some embodiments, the control assembly includes a plurality of gas detection components, the number of which corresponds to the number of the clamping cylinders, so as to achieve the full effects of the above-mentioned clamping module and each clamping device, which will not be described in detail here.

[0020] The present application also provides a driving device, including the above-mentioned clamping module, and the driving device is used to drive the clamping module to clamp the component, so as to achieve all the technical effects of the above-mentioned clamping module. No further description is given here.

[0021] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0023] Figure 1 The overall structure of the clamping device in one embodiment of the present application is shown in FIG. Figure 1 ;

[0024] Figure 2 The overall structure of the clamping device in one embodiment of the present application is shown in FIG. Figure 2 ;

[0025] Figure 3 The structure of the clamping module in one embodiment of the present application is shown in FIG. Figure 1 ;

[0026] Figure 4 The structure of the clamping module in one embodiment of the present application is shown in FIG. Figure 2 .

[0027] The reference numerals in the specific implementation manner are as follows:

[0028] 001, clamping jaw device; 002, clamping jaw module;

[0029] 1. Clamping mechanism; 3. First supporting assembly; 4. Second supporting assembly; 5. Sensing assembly; 6. First slide rail and slider assembly; 7. Second slide rail and slider assembly; 8. Elastic assembly; 9. Fixed plate;

[0030] 11. Gripper cylinder; 12. Gripper; 21. Proportional valve; 31. First support plate; 32. First vertical plate; 33. Second vertical plate; 41. Second support plate; 42. Third vertical plate; 43. Fourth vertical plate; 51. Inductive detection sheet; 52. Sensor; 61. First slide rail; 62. First slider; 71. Second slide rail; 72. Second slider; 81. Guide column; 82. Elastic member. DETAILED DESCRIPTION

[0031] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0033] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0034] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0036] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0037] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0038] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0039] The applicant has noticed that the existing clamping device completely relies on the technicians to debug the mechanical hard limit to control the opening and closing size of the clamping jaws. Before the clamping jaws are used, a strain gauge needs to be used to roughly detect the clamping force of the clamping jaws. During the operation of the equipment, if the clamping jaw components are aged, it will affect the opening and closing range of the clamping jaws in the clamping jaw cylinder. With the existing clamping device, it is impossible to detect the size of the clamping force applied to the battery cell product in real time during the clamping action of the clamping jaw cylinder, which may cause the clamping force of the clamping jaw to be too high and damage the battery cell, or cause the clamping force of the clamping jaw to be too low and throw out the battery cell, thereby damaging the battery cell, or even injuring the staff.

[0040] Based on the above considerations, in order to solve the problem that the clamping force of the jaws cannot be monitored in real time, the applicant has conducted in-depth research and designed a jaw device. By obtaining the clamping force of the jaws and comparing the clamping force with a preset range, the result of whether the clamping force is too large or too small is obtained. Based on the result, it can be judged whether the jaw cylinder has a fault, and then inspection and maintenance can be performed according to the fault situation.

[0041] The use of such a clamping device can reduce the chip breakage rate in the chip clamping process, thereby improving the production efficiency of the entire production line.

[0042] The clamping device disclosed in the embodiment of the present application can be used in, but not limited to, a servo drive motor, a manipulator, and other drive devices. Mechanical equipment or electronic control equipment composed of the clamping device, clamping module, and drive device disclosed in the present application can be used, which is conducive to improving the production efficiency of various production lines.

[0043] refer to Figure 1 The present application provides a clamping device 001, comprising a clamping mechanism 1 and a control component. The clamping mechanism 1 comprises a clamping cylinder 11 and a clamping jaw 12, and the clamping jaw cylinder 11 is configured to drive the clamping jaw 12 to clamp or open. The control component is used to supply gas to the clamping jaw cylinder 11 and obtain the air pressure value in the clamping jaw cylinder 11. When the air pressure value is higher than the maximum value of the preset range, the control component stops supplying air or controls the clamping jaw cylinder 11 to exhaust; when the air pressure value is lower than the minimum value of the preset range, the control component stops supplying air to the clamping jaw cylinder 11.

[0044] The gripper device 001 in the present application can be installed on a device with a driving function such as a manipulator or a servo motor, and the function of the gripper device 001 is mainly reflected in grasping objects.

[0045] For example, the object may be a product or a fixture, etc.

[0046] The control component in the clamping device 001 of the present application can obtain the air pressure value of the clamping cylinder 11, compare the air pressure value with the preset range, and when the air pressure value is higher than the maximum value of the preset range, the control component stops supplying air or controls the clamping cylinder 11 to exhaust air. When the air pressure value is lower than the minimum value of the preset range, the control component stops supplying air to the clamping cylinder 11. Based on this, the real-time gas pressure value converted from the air pressure value can be compared with the preset range to deduce whether the clamping force of the clamping jaw 12 on the battery cell is within a reasonable range.

[0047] By adopting the solution of the present application, the clamp 12 determines the cylinder pressure when grabbing the battery cell. If the clamping force of the clamp 12 is too low, an alarm can be issued according to the comparison result, and the machine can be shut down to wait for manual processing; if the clamping force of the clamp 12 is too high, the clamp 12 can be controlled to release the clamp 12 in time, or the equipment alarm can be issued according to the comparison result, and the machine can be shut down to wait for manual processing.

[0048] Exemplarily, the control component includes: an air supply component for providing an air source to the gripper cylinder; an air pressure detection component for obtaining the air pressure value in the gripper cylinder; and a controller, which is communicatively connected to both the air pressure detection component and the air supply component, and is used to receive the air pressure value obtained by the air pressure detection component. The gripper device using this solution can automatically obtain the size of the clamping force when the gripper cylinder clamps the workpiece, thereby facilitating the determination of whether a fault warning is required or whether damage reduction treatment is required based on the clamping force. The automated production of the gripper device is improved, and the damage rate of the workpiece can be reduced.

[0049] Furthermore, the control component includes: the air supply component includes a gas multi-way control valve, a first air supply branch and a second air supply branch connected to different outlets of the gas multi-way control valve, the first air supply branch is connected to the closed position air inlet of the clamping jaw cylinder 11, and the second air supply branch is connected to the open position air inlet of the clamping jaw cylinder 11; and the air pressure detection component is arranged in the first air supply branch. In the clamping jaw device 001 of this scheme, when the air pressure value is higher than the maximum value of the preset range, the controller controls the gas multi-way control valve to vent to the open position air inlet, and controls the gas multi-way control valve to exhaust the closed position air inlet at the same time. When the air pressure value is lower than the minimum value of the preset range, the controller controls the gas multi-way control valve to stop venting to the open position air inlet, or the controller controls the gas multi-way control valve to exhaust the closed position air inlet.

[0050] Exemplarily, the air supply component is used to supply air to or exhaust air from the gripper cylinder 11 , the air pressure detection component is used to obtain the air pressure value of the gripper cylinder 11 , and the controller is used to receive the air pressure value.

[0051] Under the joint action of the controller, the air pressure detection component and the air supply assembly, when the air pressure value is lower than the minimum value of the preset range, the controller controls the gas multi-directional control valve to stop venting to the open position air inlet hole, or the controller controls the gas multi-directional control valve to exhaust the closed position air inlet hole, so as to achieve the above effect.

[0052] For more details, please refer to Figure 1 The air pressure detection component is a proportional valve 21 connected in series with the first air supply branch. The proportional valve 21 includes a digital conversion module, which is used to obtain the air pressure value in the gripper cylinder 11.

[0053] Exemplarily, the air pressure detection component may be a proportional valve 21 . Since a digital conversion module is provided in the proportional valve 21 , the digital conversion module is mainly used to obtain real-time data of the air pressure value in the gripper cylinder 11 .

[0054] Alternatively, illustratively, the air pressure detection component may also be a device such as a pressure sensor that can be used to obtain the air pressure value in the gripper cylinder 11.

[0055] Specifically, refer to Figure 1 The clamping device 001 also includes a first support assembly 3 and a second support assembly 4. The clamping cylinder 11 is connected to the first support assembly 3. The first support assembly 3 and the second support assembly 4 cooperate with each other in relative movement in a first direction so that the clamping cylinder 11 drives the first support assembly 3 to move relative to the second support assembly 4.

[0056] Exemplarily, the connection between the gripper cylinder 11 and the first support assembly 3 in the present application may be a direct connection or an indirect connection, and the connection between the two may be a fixed connection or a detachable connection between the cylinder body of the gripper cylinder 11 and the first support assembly 3.

[0057] The present application does not limit the specific connection form between the clamping cylinder 11 and the first supporting assembly 3, as long as the movement of the clamping cylinder 11 can drive the movement of the first supporting assembly 3.

[0058] In addition, the first support assembly 3 and the second support assembly 4 have a relative moving cooperation relationship. When the jaws 12 of the jaw cylinder 11 press the object instead of clamping the object, an interaction force is generated between the object and the jaws 12. This force causes the jaw cylinder 11 to have a tendency to move away from the object. Since there is a movable space between the first support assembly 3 and the second support assembly 4, the jaw cylinder 11 drives the first support assembly 3 to move relative to the second support assembly 4 under the action of the force trend, so as to alleviate the continuous damage of the jaws 12 to the downward pressure on the object, thereby reducing the scrap rate of the object.

[0059] Specifically, the clamping jaw 12 includes clamping jaw portions arranged in pairs, and each clamping jaw portion cooperates with the first supporting assembly 3 to move relative to each other in the second direction.

[0060] The clamping jaw 12 of the present application includes two clamping jaw parts that can move relative to each other, and realizes the functions of clamping and releasing the jaws during the relative movement of the two clamping jaw parts. The two clamping jaw parts are configured to cooperate with the first support assembly 3 in the second direction to further ensure that the two clamping jaw parts always keep moving in the second direction during the relative movement, and the problem of the two clamping jaw parts moving in different directions will not occur. That is, according to the needs of the production line, the two clamping jaw parts can clamp objects in a specified direction, further improving the clamping accuracy of the clamping jaw 12.

[0061] For further reference, Figure 2 The clamping device 001 also includes a first slide rail 61 slider assembly 6 and a second slide rail 71 slider assembly 7; the first slide rail 61 slider assembly 6 includes a first slide rail 61 and a first slider 62, the first slide rail 61 is arranged at one of the first support assembly 3 and the second support assembly 4, the first slider 62 is fixed to the other of the two, and the first slide rail 61 and the first slider 62 slide in cooperation in a first direction; the second slide rail 71 slider assembly 7 includes a second slide rail 71 and a second slider 72, the second slide rail 71 is arranged at one of the clamping jaw portion and the first support assembly 3, the second slider 72 is fixed to the other of the two, and the second slide rail 71 and the second slider 72 slide in cooperation in a second direction.

[0062] The present application does not impose any limitation on the structure, material and size of each slide rail and each slider, as long as the slide rails and sliders that slide together are compatible.

[0063] The sliding combination of the slide rail and the slider is easy to install and can ensure that the two structures that slide with each other can move linearly on the given slide rail, which is convenient for limiting the moving direction.

[0064] For more details, please refer to Figure 1 and Figure 2The first support assembly 3 includes a first support plate 31, a first vertical plate 32 and a second vertical plate 33 fixed on both sides of the first support plate 31; the second support assembly 4 includes a second support plate 41, a third vertical plate 42 and a fourth vertical plate 43 fixed on both sides of the second support plate 41; the first support plate 31 is located below the second support plate 41; the first slide rail 61 and the first slider 62 are respectively mounted on the first vertical plate 32 and the third vertical plate 42; the second slide rail 71 and the second slider 72 are respectively mounted on the second vertical plate 33 and the fourth vertical plate 43.

[0065] This application specifically defines the structures of the first supporting assembly 3 and the second supporting assembly 4 .

[0066] Exemplarily, each vertical plate may be a plate-like structure extending along the thickness direction of each conveying line.

[0067] The present application does not impose any limitation on the thickness of each vertical plate, as long as it can match the on-site installation and will not interfere with the corresponding components.

[0068] Each vertical plate is arranged on both sides of the first support plate 31 and the second support plate 41, so that each slide rail slider assembly can limit the direction on both sides of the first support plate 31 and the second support plate 41. Further, the clamping claw cylinder 11 is located below the first support plate 31, and under the joint action of each slide rail slider assembly on both sides of the first support plate 31, the clamping claw cylinder 11 can move in a stable state.

[0069] For more details, please refer to Figure 2 The clamping device 001 further includes an elastic component 8, which is located between the first support component 3 and the second support component 4. The elastic component 8 is configured so that under the action of elastic buffering, the clamping cylinder 11 drives the first support component 3 to move slowly relative to the second support plate 41 in the first direction. Further exemplary, under the action of the elastic component 8, the elastic component is located between the first support plate 31 and the second support plate 41, and there is an elastic buffer space between the first support plate 31 and the second support plate 41, that is, when the clamping jaw 12 presses down on the surface of the object, the force between the clamping jaw 12 and the surface of the object can act on the clamping jaw cylinder 11, so that the clamping jaw cylinder 11 has a tendency to move toward the second support plate 41, and under the action of the above-mentioned force, the clamping jaw cylinder 11 drives the first support plate 31 to move relative to the second support plate 41. With the setting of the elastic component 8, the collision between the first support plate 31 and the second support plate 41 can be avoided, and the elastic potential energy of the elastic component 8 can neutralize the above-mentioned force, thereby avoiding direct damage to the surface of the object by the clamp 12, thereby reducing the scrap rate of the object.

[0070] Exemplarily, the elastic component 8 includes a guide column 81 and an elastic member 82 sleeved on the outer wall of the guide column 81; the guide column 81 includes a first end and a second end arranged opposite to each other, and the second end is fixed on the second support plate 41; the first end extends into the first support plate 31, and the first end is configured to be able to move a first distance relative to the first support plate 31 in a first direction; the elastic member 82 includes a fixed end and a free end, and the fixed end and the free end are respectively fixed on the first support plate 31 and the second support plate 41.

[0071] The structure of the elastic assembly 8 using the guide post 81 and the elastic member 82 of the present application is simple in structure and convenient for installation, removal and replacement. In addition, the guide post 81 has a guiding function, and the elastic member 82 can provide buffering elastic potential energy to neutralize the above-mentioned force.

[0072] Exemplarily, the elastic member 82 may be any one of a tension spring, a compression spring or a torsion spring.

[0073] Exemplarily, the elastic member 82 may be a hollow cylindrical structure made of a material having compression elasticity, so as to be sleeved and installed with the guide column 81. Exemplarily, when the moving distance of the clamping jaw cylinder 11 is small, the elastic member 82 may be made of rubber. Exemplarily, the elastic member 82 may be made of polyurethane.

[0074] For further reference, Figure 1 The clamping device 001 also includes a sensing component 5, which is communicatively connected to the controller; the sensing component 5 includes a sensor 52 and a sensing detection sheet 51 for signal transmission with the sensor 52, the sensor 52 is fixedly arranged on the side wall of the third vertical plate 42 or the fourth vertical plate 43, and correspondingly, the sensing detection sheet 51 is fixedly arranged on the side wall of any one of the first vertical plate 32, the second vertical plate 33 and the first support plate 31; in the process of the clamping cylinder 11 driving the first support component 3 to move relative to the second support plate 41, the sensing detection sheet 51 follows the first vertical plate 32, the second vertical plate 33 and the first support plate 31 to move relative to the sensor 52 on the third vertical plate 42 or the fourth vertical plate 43, so that the sensing detection sheet 51 is connected to the sensor 52 signal.

[0075] Under the action of the sensing component 5, combined with the aforementioned elastic component 8, when the jaw 12 of the jaw cylinder 11 presses down on the surface of the object, the jaw cylinder 11 drives the first support component 3 to move toward the second support component 4, that is, the sensing detection sheet 51 moves toward the sensor 52. When the signals between the two are connected, the sensing component 5 sends a signal to the controller. At this time, the controller can receive a signal that the jaw 12 fails to correctly clamp the object, so as to facilitate monitoring and maintenance of the overall equipment.

[0076] When the clamping jaw 12 is directly pressed on the top surface of the battery cell due to coordinate errors, in this case, there is often a large pressure between the clamping jaw 12 and the top surface of the battery cell, which may directly cause damage to the battery cell. Based on the above structure, the clamping device 001 also has a flexible detection function. When the servo module or the robot arm drives the clamping jaw 12 to start and presses the top surface of the battery cell, the clamping jaw 12 and the clamping jaw cylinder 11 will move upward along the first slide rail 61, thereby driving the first support plate 31 to move toward the second support plate 41. Since the above-mentioned elastic component 8 is arranged between the first support plate 31 and the second support plate 41, as the spacing between the first support plate 31 and the second support plate 41 decreases, the elastic member 82 in the elastic component 8 is compressed to generate elastic potential energy, which can be used to offset the downward pressure of the servo module or the robot arm. When the pressure is too large, the flexible detection sheet will trigger the flexible sensor 52 from ON to OFF, indicating that the pressure of the clamping jaw 12 on the upper surface of the battery cell is too large, thereby controlling the clamping jaw 12 to be lifted in time to avoid damage to the battery cell. After that, the equipment can be shut down with an alarm and wait for manual maintenance.

[0077] Exemplarily, the initial state of the clamp 12 is open. When a signal to clamp a battery cell is received, the clamp 12 moves to the top of the battery cell under the load-bearing movement of the servo module or the robot arm, and then descends; when the horizontal coordinate positioning of the clamp 12 is incorrect, and the clamp 12 is pressed on the top surface of the battery cell during the descent, the clamp 12 is subjected to the resistance of the battery cell surface, and will move relative to the robot arm along the first slide rail 61 to offset part of the pressure. At the same time, after the flexible detection sheet triggers the flexible sensor 52 to switch from ON to OFF, the PLC (controller) will control the clamp 12 to lift up, and then the equipment will alarm and shut down, waiting for maintenance by staff.

[0078] For example, when the gripper 12 is accurately positioned and normally descends to the specified position, and the proximity switch on the gripper device 001 senses the battery cell, it means that the gripper 12 has reached the gripping position and can grip the battery cell.

[0079] The gas multi-directional control valve in the present application can be a three-position five-way solenoid valve, which supplies compressed air to the closed position air inlet of the clamp cylinder 11. The compressed air flows from each air supply branch through the proportional valve 21 and the pilot one-way valve, and then passes through the pneumatic joint (connected to the air inlet holes of the clamp cylinder 11) to enter the closed position air inlet of the clamp cylinder 11; the clamp cylinder 11 begins to close, and the two clamping parts of the clamp 12, driven by the clamp cylinder 11, move relative to each other through the guide slide rail (second slide rail 71) of the clamp 12 to clamp the battery cell, and at the same time, the PLC detects the pressure of the compressed air in real time through the proportional valve 21; if the parameter exceeds the maximum value of the preset range, it indicates that the pressure applied to the battery cell surface by the clamp 12 is too large, and the PLC immediately A command is issued to make the three-position five-way solenoid valve supply compressed air to the air inlet of the open position of the clamping cylinder 11, and exhaust air to the air inlet of the closed position of the clamping cylinder 11, so that the clamping jaws 12 can be opened in time when the clamping jaws 12 do not cause substantial damage to the battery cell, thereby avoiding damage to the battery cell; after that, the sensing detection sheet 51 is connected with the sensor 52 signal, and after the sensor 52 is turned from OFF to ON, it indicates that the clamping jaws 12 are in a completely closed state. At this time, the PLC detects the pressure of the compressed air in real time through the proportional valve 21; if the parameter is lower than the preset range, it indicates that the pressure applied to the battery cell surface by the clamping jaws 12 is too small. At this time, the PLC will issue a command to stop grasping, and the equipment will alarm and shut down, waiting for the staff to check and maintain the clamping jaw device 001.

[0080] Exemplarily, the length of the battery cell can be 305±0.2mm; the jaw 12 of the jaw cylinder 11 is used to clamp the battery cell of this specification. Specifically, the standard sample battery cell 1 (305mm long) is used to adjust the jaw 12 so that its clamping force is sufficient to grasp the battery cell; the standard sample battery cell 2 (304.8mm long) is grasped by the jaw 12, and the parameter value A of the proportional valve 21 is recorded after the grasping is stable, such as 0.526MPa; the standard sample battery cell 3 (305.2mm long) is grasped by the jaw 12, and the parameter value B of the proportional valve 21 is recorded after the grasping is stable, such as 0 .512MPa; when the gripper 12 grabs the battery cell, the proportional valve 21 detects the compressed air value on the air intake side of the closed position of the air gripper cylinder in the range of C, such as 0.512MPa-0.526MPa; if the gripper 12 is damaged and becomes loose and cannot successfully grab the battery cell, the compressed air value D detected by the proportional valve 21 at this time, such as 0.500MPa, is below the range C value; if the gripper 12 is damaged and the clamping force is too large or the battery cell is crooked, the compressed air value E detected by the proportional valve 21 at this time, such as 0.540MPa, is above the range C value. Using the above judgment example, the gripper cylinder 11 can be troubleshooted to achieve all the technical effects of the present application.

[0081] This application also provides a clamping claw module 002, reference Figure 3 and Figure 4The clamping module 002 includes the above-mentioned clamping device 001, and a plurality of clamping cylinders 11 are provided. The control component maintains gas communication with each clamping cylinder 11 respectively. The clamping module 002 of the present application is provided with a plurality of clamping cylinders 11, which can clamp a plurality of objects at the same time to improve the production efficiency of the production line. Moreover, the control component maintains gas communication with each clamping cylinder 11 respectively, so that the control component can control the air intake of each clamping cylinder 11 respectively, so as to control the clamping force of each clamping jaw 12 respectively. While improving the production efficiency, it can also ensure that each clamping cylinder 11 is independently turned on and off, which is convenient for separate monitoring and maintenance. Reference Figure 3 The clamping module 002 includes two clamping devices 001, wherein the second support plates 41 of the two clamping devices 001 can be fixed on the lower surface of the fixed plate 9, and the proportional valves 21 of the two pretending devices can be fixed on the upper surface of the fixed plate 9. The fixed plate 9 can be used to support and install the proportional valve 21, and the two clamping devices 001 can be fixed on the same fixed plate 9 at the same time. The structure is simple and easy to install and disassemble. According to the actual production needs, further reference Figure 4 The clamping jaw module 002 may also include four clamping jaw devices 001, and the four clamping jaw devices 001 may also be fixed on the same fixing plate 9 at the same time to achieve the above-mentioned effect.

[0082] Furthermore, the control assembly may include a plurality of gas detection components, the number of which corresponds to the number of the clamping cylinders 11. In order to achieve all the effects of the above-mentioned clamping module 002 and each clamping device 001, no further description is given here.

[0083] The present application further provides a driving device, including the above-mentioned clamping jaw module 002, the driving device is used to drive the clamping jaw module 002 to clamp components, so as to achieve all the technical effects of the above-mentioned clamping jaw module 002. No further description is given here.

[0084] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A clamping device, characterized in that: include: A clamping mechanism, the clamping mechanism comprising a clamping cylinder and a clamping jaw, the clamping cylinder being configured to drive the clamping jaw to clamp or open; A control component, the control component comprising: An air supply assembly, used for providing an air source to the gripper cylinder; An air pressure detection component, used for obtaining the air pressure value in the gripper cylinder; A controller, which is in communication with the air pressure detection component and the air supply component, and is used to receive the air pressure value obtained by the air pressure detection component; Wherein, the gas supply assembly comprises: a gas multi-way control valve, a first gas supply branch and a second gas supply branch connected to different outlets of the gas multi-way control valve, the first gas supply branch is connected to the closed position gas inlet hole of the clamping jaw cylinder, and the second gas supply branch is connected to the open position gas inlet hole of the clamping jaw cylinder; and the air pressure detection element is arranged in the first gas supply branch; When the air pressure value is higher than the maximum value of the preset range, the controller controls the gas multi-way control valve to ventilate the open position air inlet hole, and controls the gas multi-way control valve to exhaust the closed position air inlet hole; When the air pressure value is lower than the minimum value of the preset range, the controller controls the gas multi-way control valve to stop venting to the open position air inlet hole, or the controller controls the gas multi-way control valve to exhaust air from the closed position air inlet hole; The air pressure detection component is a proportional valve connected in series with the first air supply branch, and the proportional valve includes a digital conversion module, and the digital conversion module is used to obtain the air pressure value in the clamping jaw cylinder.

2. The clamping device according to claim 1, characterized in that: The clamping device also includes a first support assembly and a second support assembly. The clamping cylinder is connected to the first support assembly. The first support assembly and the second support assembly cooperate with each other in a first direction so that the clamping cylinder drives the first support assembly to move relative to the second support assembly.

3. The clamping device according to claim 2, characterized in that: The clamping jaw comprises clamping jaw parts arranged in pairs, and each of the clamping jaw parts cooperates with the first supporting assembly to move relative to the first supporting assembly in the second direction.

4. The clamping device according to claim 2, characterized in that: The clamping device also includes a first slide rail and slider assembly and a second slide rail and slider assembly; The first slide rail and slider assembly comprises a first slide rail and a first slider, the first slide rail is arranged on one of the first support assembly and the second support assembly, the first slider is fixed on the other of the two, and the first slide rail and the first slider are slidably matched in a first direction; The second slide rail and slider assembly includes a second slide rail and a second slider, the second slide rail is arranged on one of the clamp and the first support assembly, the second slider is fixed on the other of the two, and the second slide rail and the second slider are slidably matched in the second direction.

5. The clamping device according to claim 4, characterized in that: The first support assembly includes a first support plate, a first vertical plate and a second vertical plate fixed on both sides of the first support plate; the second support assembly includes a second support plate, a third vertical plate and a fourth vertical plate fixed on both sides of the second support plate; the first support plate is located below the second support plate; The first slide rail and the first slide block are matched and mounted on the first vertical plate and the third vertical plate respectively; The second slide rail and the second slide block are matched and mounted on the second vertical plate and the fourth vertical plate respectively.

6. The clamping device according to claim 5, characterized in that: The clamping device also includes an elastic component, which is located between the first supporting component and the second supporting component. The elastic component is configured so that under the elastic buffering effect, the clamping cylinder drives the first supporting component to move slowly in the first direction relative to the second supporting plate.

7. The clamping device according to claim 6, characterized in that: The elastic component is located between the first supporting plate and the second supporting plate; The elastic component comprises: a guide post and an elastic member sleeved on the outer wall of the guide post; The guide post comprises a first end and a second end which are arranged opposite to each other, wherein the second end is fixed to the second support plate; the first end extends into the first support plate, and the first end is configured to be able to move a first distance relative to the first support plate along a first direction; The elastic member includes a fixed end and a free end, and the fixed end and the free end are respectively fixed on the first supporting plate and the second supporting plate.

8. The clamping device according to claim 5, characterized in that: The clamping device further comprises a sensing component, wherein the sensing component is communicatively connected with the controller; The sensing component includes a sensor and a sensing detection sheet for signal transmission with the sensor, wherein the sensor is fixedly arranged on the side wall of the third vertical plate or the fourth vertical plate, and the sensing detection sheet is correspondingly fixedly arranged on the side wall of any one of the first vertical plate, the second vertical plate and the first supporting plate; When the clamp cylinder drives the first support assembly to move relative to the second support plate, the induction detection plate follows the first vertical plate, the second vertical plate and any one of the first support plate to move relative to the sensor on the third vertical plate or the fourth vertical plate, so that the induction detection plate is connected with the sensor signal.

9. A clamping jaw module, characterized in that: It comprises the clamping device according to any one of claims 1 to 8, wherein a plurality of clamping cylinders are provided, and the control component maintains gas communication with each of the clamping cylinders respectively.

10. The clamping jaw module according to claim 9, characterized in that: The control component includes a plurality of gas detection components, and the number of the gas detection components corresponds to the number of the gripper cylinders.

11. A driving device, characterized in that: It comprises the clamping jaw module as claimed in claim 9 or 10, wherein the driving device is used to drive the clamping jaw module to clamp components.

Images