LCTP high-precision anti-falling gripper

Abstract

The application provides an LCTP high-precision anti-falling gripper, which comprises a robot and a gripper, the gripper is fixed to the working end of the robot, the gripper comprises a clamping jaw capable of clamping an electric core and a sponge suction cup capable of adsorbing the electric core, the clamping jaws are symmetrically arranged on both sides of the sponge suction cup, and the inner bottom surface of the clamping jaw is provided with an auxiliary discharging assembly, the auxiliary discharging assembly can provide a relative stroke clamping action in the process of falling of the electric core, so that the electric core is completely released after falling on the platform, the electric core is completely separated from the gripper, and the electric core is not impacted in the instant of falling, the clamping jaw cylinder and the suction cup cylinder are sequentially arranged in the application, the conventional suction cup cylinder can adsorb and grasp electric cores of various sizes, but is limited by the adsorption size, therefore, the clamping jaw cylinder drives two sets of clamping jaws to clamp the two sides of the electric core, so that the electric core is as large as possible to be grasped, the electric core is ensured not to fall, and different sizes of electric cores are adapted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of new energy battery cell handling, in particular to a LCTP high-precision anti-falling gripper. BACKGROUND

[0002] With the development of science and technology, people's living standards have been greatly improved, among which electronic devices are more and more widely used in people's life, and most of the electronic devices need to use battery cells. The existing battery cells need to be fed and discharged in the production process, such as loading the battery cells into the tray or taking out the battery cells from the tray, and the battery cells need to be grabbed in the feeding and discharging process. In the new energy industry, the most common is that the robot with a grabber carries the battery cell or LCTP module.

[0003] The device with publication number "CN112027652A" provides a battery cell gripper, which comprises a gripper mechanism, a first driving member, and a guard plate mechanism. The gripper mechanism comprises a connecting plate and two gripper assemblies connected to the two ends of the connecting plate, and the two gripper assemblies form a containing space for containing the battery cell, and the gripper assembly is used for clamping the tab of the battery cell. The output end of the first driving member is connected with the connecting plate, and is used for driving the connecting plate to lift; the guard plate mechanism comprises a lifting driving assembly and two guard plates, and the lifting driving assembly is installed on the connecting plate and is used for driving the two guard plates to lift relative to the containing space, so as to correspondingly relax or clamp the main plate of the battery cell. The gripper assembly and the guard plate mechanism of the device cooperate with each other to clamp the tab and the main plate of the battery cell respectively, the guard plate can protect the battery cell and cooperate with the gripper assembly to grab the battery cell, the grabbing efficiency of the battery cell is improved, and the fixed-point grabbing mode in the prior art is cancelled, so that the damage to the battery cell during the grabbing process of the battery cell gripper can be avoided.

[0004] However, the above-mentioned device and the prior art still have the following problems in the implementation process:

[0005] 1. If a fixed length hoisting device is used, it can only cope with one type of module product, and cannot be compatible with all hoisting modules;

[0006] 2. After the robot gripper transports the battery cell, the bottom surface of the battery cell and the placing platform or the placing conveying table have a certain gap, and the battery cell will produce a certain impact after falling, which will cause unpredictable damage to the battery cell, and there may be hidden dangers that the battery cell cannot be used normally. SUMMARY

[0007] The purpose of the present application is to provide a LCTP high-precision anti-falling gripper to solve the problems in the background art.

[0008] In order to achieve the above object, the present application provides the following technical scheme: a LCTP high-precision anti-falling gripper, comprising a robot and a gripper, the gripper is fixed to the working end of the robot, the gripper comprises a clamping jaw capable of clamping the battery and a sponge suction cup capable of adsorbing the battery, the clamping jaw is symmetrically arranged on both sides of the sponge suction cup, the inner bottom surface of the clamping jaw is provided with an auxiliary discharging assembly, the auxiliary discharging assembly can provide a relative stroke clamping action during the falling of the battery, and the battery is completely released after falling on the platform, so that the battery is completely separated from the gripper, and the battery is not impacted during falling.

[0009] Preferably, the robot is provided as a full-automatic mechanical arm, and the robot comprises a base, a pivoting arm and a supporting arm, the pivoting arm is rotatably installed on the base, and the supporting arm is rotatably connected with the pivoting arm.

[0010] Preferably, the gripper comprises a mounting flange and a mounting seat fixedly connected at the bottom of the mounting flange, the mounting flange is fixedly connected with the supporting arm, the mounting seat is provided with a clamping jaw cylinder and a suction cup cylinder respectively, the clamping jaw is symmetrically arranged at the end of the telescopic rod on both sides of the clamping jaw cylinder, and the sponge suction cup is fixedly connected with the bottom of the suction cup cylinder.

[0011] Preferably, one side of the mounting seat is provided with a photoelectric sensor, the photoelectric sensor can be positioned to the position of the battery to be grabbed, and the two sides of the mounting seat are symmetrically provided with an electrical module and an electromagnetic valve, the electrical module is electrically connected with the control system of the robot, the clamping jaw cylinder and the suction cup cylinder respectively, and the electromagnetic valve is communicated with the clamping jaw cylinder and the suction cup cylinder respectively.

[0012] Preferably, the end of the air inlet rod of the suction cup cylinder is fixedly communicated with a suction cup mounting bracket, the sponge suction cup is fixedly communicated with one side of the bottom of the suction cup mounting bracket, the mounting size of the suction cup mounting bracket can ensure that the mounting position of the sponge suction cup is located between the two groups of clamping jaws, a clamping plate is detachably mounted on the inner wall of the clamping jaw, the clamping plate can be replaced according to the size of the battery to ensure the stability of clamping, and a scale is arranged on one side of the cross brace.

[0013] Preferably, vacuum generators are fixedly installed on both sides of the mounting seat, vacuum generator filters are fixedly installed on the upper surface of the suction cup mounting bracket on both sides of the suction cup cylinder, the vacuum generator filters are communicated with the vacuum generators, and the vacuum generator filters can filter the vacuum generators.

[0014] Preferably, the clamping jaw comprises a fixed cross brace and a clamping plate sliding on one end of the cross brace, and the auxiliary material placing assembly comprises an internally threaded sleeve rotatably installed in the clamping jaw, a screw rod internally threaded connected with the internally threaded sleeve, two sets of clamping claws connected with the bottom of the screw rod through elastic connectors, and a clamping driving assembly arranged between the two sets of clamping claws.

[0015] Preferably, a rack guide groove is formed in the inner bottom surface of the cross brace, a rack is slidingly installed in the rack guide groove, and a gear is fixedly connected to the surface of the internally threaded sleeve below the cross brace.

[0016] Preferably, the bottom end of the screw rod is slidingly connected with a bracket through an elastic connector, the clamping claw is rotatably connected in the clamping claw, a pawl is slidingly installed in the center of the bracket, the rotating shaft surface of the clamping claw is annularly arranged with teeth, the clamping claw is engaged with the pawl through the teeth, the elastic connector comprises a guide rod and a compression spring sleeved on the outer surface of the guide rod, the compression spring is connected to the bottom end of the screw rod and above the bracket, a hollow guide sleeve is fixedly installed above the bracket, one end of the guide rod is fixedly connected with the bottom end of the screw rod, and the other end of the guide rod is slidingly installed in the guide sleeve.

[0017] Preferably, support plates are symmetrically arranged on both sides of the bracket, a micro air cylinder is fixedly installed on the upper surface of the support plate, the output shaft end of the micro air cylinder is fixedly connected with the rod end of the first fixed rod through a joint, and the clamping claw is rotatably installed in the bracket through the second fixed rod.

[0018] Compared with the prior art, the present application has the following advantages:

[0019] 1. The clamping jaw cylinder and the suction cup cylinder are sequentially arranged in the present application, the conventional suction cup cylinder can adsorb and grab electric cells of various sizes, but is limited by the adsorption size, therefore, the clamping jaw cylinder drives two sets of clamping jaws to clamp the two sides of the electric cell, so as to grab the electric cell as large as possible, ensure that the electric cell will not fall, and adapt to electric cells of more sizes.

[0020] 2. In the present application, a vacuum generator filter is communicated with one side of the vacuum generator, dust in the atmosphere is easy to be sucked into the electrical accessory, therefore, the vacuum generator filter is arranged, which can effectively filter dust, reduce the risk of entering the vacuum generator, ensure the normal use of the vacuum generator, prolong the service life of the vacuum generator, and reduce the cost consumption in the production process.

[0021] 3. In the production process, because the distance between the sponge suction cup and the battery cell is uncontrollable, a set of auxiliary discharging assemblies are arranged, which can provide clamping action in the falling process of the battery cell, ensure that the battery cell is completely released after falling on the platform, and the battery cell is not affected by any external force in the falling process to prevent damage to the battery cell, thereby realizing better control of the distance between the sponge suction cup and the battery cell, and improving the precision of the whole grabbing device. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the application;

[0023] Figure 2 It is a schematic diagram of the three-dimensional structure of the application;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the application;

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the application;

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the application; Figure 4

[0027] Figure 6 It is a schematic diagram of the three-dimensional structure of the application;

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure of the application;

[0029] In the figure: 1, robot; 101, base; 102, pivoting arm; 103, support arm; 2, grabbing hand; 3, mounting flange; 4, electrical module; 5, electromagnetic valve; 6, vacuum generator; 7, clamping jaw; 701, cross brace; 702, clamping plate; 703, clamping plate; 8, linear guide rail; 9, clamping jaw cylinder; 10, sponge suction cup; 11, suction cup cylinder; 12, auxiliary discharging assembly; 13, gear; 14, rack; 15, lead screw; 16, internally threaded sleeve; 17, rack guide groove; 18, compression spring; 19, guide rod; 20, guide sleeve; 21, bracket; 2101, sliding groove; 22, micro-cylinder; 23, clamping jaw; 24, first fixed rod; 25, joint; 26, pulley; 27, second fixed rod; 29, teeth; 30, support plate; 31, mounting seat; 32, linear guide rail; 33, photoelectric sensor; 34, suction cup mounting bracket; 35, vacuum generator filter; 36, scale. DETAILED DESCRIPTION

[0030] ​With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0031] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application. Figures 1-7 The present application provides a technical solution: a LCTP high-precision anti-falling gripper, Embodiments

[0032] The LCTP high-precision anti-falling gripper comprises a robot 1 and a gripper 2. The robot 1 is set as a full-automatic mechanical arm, and the robot 1 comprises a base 101, a pivoting arm 102 and a supporting arm 103. The pivoting arm 102 is rotatably installed on the base 101, and the supporting arm 103 is rotatably connected with the pivoting arm 102. Since the working range of the robot 1 is large, in the present embodiment, the robot 1 is arranged on an electric core production line to carry the electric core. The gripper 2 is fixed to the working end of the robot 1. The gripper 2 comprises a gripper jaw 7 capable of clamping the electric core, and a sponge suction cup 10 capable of adsorbing the electric core. The gripper jaw 7 is symmetrically arranged on both sides of the sponge suction cup 10. In the present embodiment, the sponge suction cup 10 and the gripper jaw 7 work together to clamp and carry the electric core. The gripper jaw 7 can ensure the accuracy of the electric core, and the sponge suction cup 10 can adsorb the surface of the electric core to better avoid the falling of the electric core. Especially when stacking, the suction force of the sponge suction cup 10 can provide better buffer force for the downward movement of the electric core to protect the electric core.

[0033] The gripper 2 comprises a mounting flange 3 and a mounting seat 31 fixedly connected at the bottom of the mounting flange 3. In the present embodiment, the mounting seat 31 adopts a combined welding structure, and a plurality of groups of horizontal plates and vertical plates are arranged to detachably connect other related structures. The mounting flange 3 is fixedly connected with the supporting arm 103, and the whole gripper 2 is combined with the robot 1 through the mounting flange 3. The mounting seat 31 is respectively provided with a gripper cylinder 9 and a suction cup cylinder 11. The gripper jaw 7 is symmetrically arranged on the ends of the extension rods on both sides of the gripper cylinder 9. In the present embodiment, the gripper cylinder 9 adopts a double-output shaft structure, and two groups of output shafts are respectively connected with the gripper jaws on both sides to control the opening and closing of the gripper jaw 7 through a pneumatic source. The gripper jaw 7 comprises a fixed cross brace 701 and a clamping plate 702 sliding on one end of the cross brace 701. Two groups of linear guides 8 are symmetrically arranged at the bottom of the mounting seat 31. The slider of the linear guide 8 is connected with the clamping plate 702, and the cross brace 701 is fixedly connected with the cross beam of the linear guide 8. When the double-output shaft of the gripper cylinder 9 acts, it can drive the clamping plate 702 to make opening and closing movement on the linear guide 8. According to the size of the electric core, the stroke of the gripper cylinder 9 is controlled to control the clamping plate 702 to clamp and carry the electric core.

[0034] The sponge suction cup 10 is fixedly connected to the bottom of the suction cup cylinder 11. One side of the mounting seat 31 is provided with a photoelectric sensor 33. In this embodiment, the position of the battery to be grabbed can be located by using the photoelectric sensor 33. The photoelectric sensor 33 is electrically connected with the robot 1. The position information collected by the photoelectric sensor 33 is converted by the electrical module 4, and the robot 1 is controlled to drive the gripper 2 to grab the battery. The electrical module 4 and the electromagnetic valve 5 are symmetrically arranged on both sides of the mounting seat 31. The electrical module 4 is electrically connected with the control system of the robot 1, the clamping jaw cylinder 9 and the suction cup cylinder 11 respectively. The electromagnetic valve 5 is communicated with the clamping jaw cylinder 9 and the suction cup cylinder 11 respectively. In this embodiment, the electrical module 4 is used to control the grabbing and transferring operations of the battery. The electrical module 4 is electrically connected with the control system of the robot 1, the clamping jaw cylinder 9 and the suction cup cylinder 11, and controls the electromagnetic valve 5 to control the clamping jaw cylinder 9 and the suction cup cylinder 11 respectively. The air inlet rod of the suction cup cylinder 11 is fixedly connected with a suction cup mounting rack 34. The sponge suction cup 10 is fixedly connected to one side of the bottom of the suction cup mounting rack 34. The mounting size of the suction cup mounting rack 34 can ensure that the mounting position of the sponge suction cup 10 is located between the two groups of clamping plates 702. In this embodiment, due to the position limitation, the suction cup cylinder 11 is installed outside the entire mounting seat 31, and the output port deviates from the central position of the clamping. Therefore, a set of suction cup mounting racks 34 is communicated with the output / inlet port of the suction cup cylinder 11, the mounting position of the sponge suction cup 10 is changed, so that the sponge suction cup 10 is located between the two groups of clamping plates 702 and is ensured to be in the central position. The clamping plate 703 is detachably mounted on the inner wall of the clamping plate 702. In this embodiment, the clamping plate 703 can be replaced according to the size of the battery to ensure the stability of clamping. The clamping plate 703 can be replaced according to the size of the battery to ensure the stability of clamping. One side of the cross brace 701 is provided with a scale 36. In this embodiment, the scale 36 is provided to better provide the setting and observation work of the clamping size for the operator.

[0035] When the electromagnetic valve 5 is controlled, the robot 1 drives the gripper 2 to reach above the battery grabbing position through the data collected by the photoelectric sensor 33. The clamping jaw cylinder is controlled by the electromagnetic valve 5. The clamping jaw 7 is opened. The robot 1 drives the gripper 2 to move downward to the grabbing position. The clamping jaw cylinder 9 is controlled by the electromagnetic valve 5. The clamping jaw 7 clamps the pole of the battery. After the clamping jaw is clamped, the suction cup cylinder 11 of the sponge suction cup 10 position is controlled by the electromagnetic valve 5 to extend. The telescopic rod of the suction cup cylinder 11 descends with the sponge suction cup 10. When the sponge suction cup 10 contacts the battery, the electromagnetic valve 5 controls the vacuum generator 6 to start working. The compressed air enters the vacuum generator 6 to generate negative pressure. The sponge suction cup 10 tightly adsorbs the battery. At this time, the external equipment continuously fills the compressed air into the vacuum generator 6 to keep the suction force of the sponge suction cup 10 stable, and the grabbing is completed.

[0036] In this embodiment, the electromagnetic valve 5 includes several groups of valve bodies, which respectively control the clamping jaw cylinder 9, the suction cup cylinder 11, the vacuum generator 6 and other control devices to work alternately.

[0037] The vacuum generator 6 is fixedly installed on both sides of the mounting seat 31, and the vacuum generator filter 35 is fixedly installed on the upper surface of the suction cup mounting frame 34 on both sides of the suction cup cylinder 11. The vacuum generator filter 35 is in communication with the vacuum generator 6, and can filter the vacuum generator 6. In the module of the LCTP, the sponge suction cup 10 is used to suck the battery cell, which cannot completely prevent the battery cell from falling off. Because the sponge suction cup 10 is easy to suck in impurities during work, the use of the vacuum generator 6 is damaged, so that the precision of the clamping jaw 7 directly affects the precision of the stacking after the battery cell is transferred. Therefore, the vacuum generator filter 35 is arranged in this embodiment to prevent the sponge suction cup 10 from sucking in impurities, and more effectively improve the adsorption effect.

[0038] In summary, on the basis of adsorption, the clamping jaw 7 can ensure the precision of the battery cell, and the sponge suction cup 10 is matched with the clamping jaw 7 to clamp and adsorb the battery cell at the same time, which more effectively avoids the falling of the battery cell. Especially when stacking, the adsorption force of the sponge suction cup 10 provides protection for the battery cell. In actual use, the data collected by the person skilled in the art indicates that the stacking precision is 0.1 mm, the stacking flatness and straightness are within ±0.1 mm, the synchronous operation of the clamping jaw cylinder 9 and the sponge suction cup 10 realizes high-precision grabbing of the LCTP battery cell, and realizes high-precision stacking of the battery cell. Embodiment

[0039] On the basis of the first embodiment, the mutual cooperation of the clamping jaw cylinder 9 and the sponge suction cup 10 realizes high-precision grabbing of the battery cell. However, there is a certain gap between the bottom surface of the battery cell and the placing platform or the placing conveying table at the moment when the clamping jaw is lowered and released after transferring the battery cell. After the battery cell falls, a certain impact is generated, which causes unpredictable damage to the battery cell, and there may be hidden dangers that the battery cell cannot be normally used. Therefore, this embodiment provides a set of auxiliary discharging assembly 12, and the specific arrangement is as follows:

[0040] The auxiliary discharging assembly 12 is arranged on the inner bottom surface of the clamping jaw 7, which can provide a relative stroke clamping action during the falling process of the battery cell, ensure that the battery cell is completely placed on the platform, and then released, so that the battery cell is completely separated from the gripper, protects the battery cell from being impacted in the falling moment, and prevents the battery cell from being damaged.

[0041] The bottom surface of the cross brace 701 is provided with a rack guide groove 17, and a rack 14 is slidably installed in the rack guide groove 17. One end of the rack 14 is fixedly connected with the clamping plate 702. During the clamping process of the clamping jaw 7, the clamping plate 702 needs to be pulled open. Thus, the clamping plate 702 drives the rack 14 to slide. The movement of the rack 14 drives the gear 13 to rotate. The gear 13 is fixedly connected with the internal thread sleeve 16. Thus, the rotation of the gear 13 drives the internal thread sleeve 16 to rotate, thereby driving the lead screw 15 to vertically ascend and descend in the cross brace 701. The surface of the internal thread sleeve 16 is fixedly connected with the gear 13 below the cross brace 701. The gear 13 is engaged with the rack 14. The auxiliary discharging assembly 12 comprises an internal thread sleeve 16 rotatably installed in the clamping jaw 7. The internal thread sleeve 16 is internally threadedly connected with the lead screw 15. The bottom of the lead screw 15 is connected with two groups of clamping claws 23 through elastic connecting members. The two groups of clamping claws 23 are provided with a clamping driving assembly therebetween. The opening and closing of the two groups of clamping claws 23 are controlled through the clamping driving assembly, thereby assisting in taking and placing the battery cell. The bottom end of the lead screw 15 is slidably connected with a support 21 through an elastic connecting member. The elastic connecting member comprises a guide rod 19 and a compression spring 18 sleeved on the outer surface of the guide rod 19. The compression spring 18 is connected to the bottom end of the lead screw 15 and above the support 21. A hollow guide sleeve 20 is fixedly installed above the support 21. In the embodiment, the sliding connection between the guide rod 19 and the guide sleeve 20 maximally reduces the impact force generated in the instant of contact between the clamping claw 23 and the battery cell, thereby reducing the damage to the battery cell. One end of the guide rod 19 is fixedly connected with the bottom end of the lead screw 15. The other end of the guide rod 19 is slidably installed in the guide sleeve 20. Support plates 30 are symmetrically arranged on the two sides of the support 21. Micro pneumatic cylinders 22 are fixedly installed on the upper surfaces of the support plates 30. The output shaft ends of the micro pneumatic cylinders 22 are fixedly connected with the rod ends of first fixed rods 24 through joints 25. The clamping claws 23 are rotatably installed in the support 21 through second fixed rods 27. In the embodiment, the internal thread sleeve 16 rotates to drive the lead screw 15 to ascend and descend. When the clamping claw 23 touches the battery cell during the descending process, the micro pneumatic cylinder 22 is started to drive the first fixed rod 24 to move in the sliding groove 2101 formed in the support 21 through the joint 25.

[0042] The clamping claw 23 is rotatably connected in the clamping claw 23. A pawl 26 is slidably installed in the central position of the support 21. The rotating shaft surface of the clamping claw 23 is annularly arranged with teeth 29. The clamping claw 23 is engaged with the pawl 26 through the teeth 29. In the embodiment, the movement of the first fixed rod 24 drives the pawl 26 to move up and down. During the movement, the pawl 26 will drive the teeth 29 to rotate, thereby driving the clamping claw 23 to rotate, so as to change the included angle between the two groups of clamping claws 23. The size of the included angle determines the auxiliary clamping of the auxiliary discharging assembly 12 to the battery cell.

[0043] Working principle: during use, the robot 1 drives the gripper 2 to the position above the battery cell, the electromagnetic valve 5 controls the jaw cylinder 9 to work, the jaw 7 is opened, the robot 1 drives the gripper 2 to move down to the grabbing position, the electromagnetic valve 5 controls the jaw cylinder 9 to work, the jaw 7 clamps the pole of the battery cell, the electromagnetic valve 5 controls the sponge suction cup 10 position of the suction cup cylinder 11 to extend, the suction cup cylinder 11 telescopic rod with the sponge suction cup 10 down, when the sponge suction cup 10 contacts the battery cell, the electromagnetic valve 5 controls the vacuum generator 6 to start working, the compressed air enters the vacuum generator 6 to generate negative pressure, the sponge suction cup 10 tightly holds the battery cell, when the suction force of the sponge suction cup 10 reaches the set value, the electromagnetic valve 5 controls the telescopic rod of the suction cup cylinder 11 to stop extending, and then the compressed air blows the compressed air into the vacuum generator 6 all the time, so that the suction force of the sponge suction cup 10 is stable, and the grabbing is completed.

[0044] The robot with the gripper moves to the stacking table, the jaw 7 moves down to the stacking position above the fixture production line, and then moves down to the position above the stacking position by 1mm, and the robot stops moving down.

[0045] The electromagnetic valve 5 controls the jaw cylinder 9 to work, the jaw 7 is opened, the output shaft end of the suction cup cylinder 11 of the sponge suction cup 10 continues to extend until the battery cell almost contacts the tray, the electromagnetic valve 5 controls the vacuum generator 6 to work reversely, the compressed air enters the sponge suction cup 10, the sponge suction cup 10 is vacuumized, the suction force gradually disappears, until the sponge suction cup 10 is filled with gas and the suction force disappears, the electromagnetic valve 5 controls the suction cup cylinder 11 of the sponge suction cup 10 to move and retract, and the robot 1 drives the jaw 7 to reset.

[0046] In the operation process, when the moment of "the battery cell almost contacts the tray" is encountered, there is a certain stroke when the suction of the suction cup and the release are switched, if the battery cell and the tray are completely in contact, the suction cup is released at the moment, and a pressure is applied to the battery cell, if the battery cell and the tray are not completely in contact, when the sponge suction cup 10 is released, a certain impact force will be generated due to the falling of the battery cell, therefore, in the operation process, the working state of the sponge suction cup 10 determines the working state of the auxiliary discharging assembly 12, the sponge suction cup 10 is controlled by the electromagnetic valve 5, the micro cylinder 22 is started at the moment of releasing the gas, the battery cell is clamped, when the clamping plate 702 is opened and prepares to put down the battery cell, the gear 13 is reversed, the lead screw 15 is driven to move down, the battery cell is completely placed on the surface of the tray, the micro cylinder 22 is released, and is driven away from the tray by the robot 1, so that the battery cell is not affected by any external force, and the transfer is completed.

[0047] It should be noted that the robot 1, the jaw cylinder 9 and the suction cup cylinder 11 are devices or equipment existing in the prior art or devices or equipment that can be realized in the prior art, and the power supply, specific composition and principle thereof are clear to those skilled in the art, and therefore will not be described in detail.

[0048] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be made without departing from the spirit and scope of the present application, which is defined by the following claims and their equivalents.

Claims

1. A LCTP high-precision anti-falling gripper, comprising a robot (1) and a gripper (2), the gripper (2) being fixed to the working end of the robot (1), characterized in that: The gripper (2) comprises a clamp jaw (7) capable of clamping the battery cell and a sponge suction cup (10) capable of adsorbing the battery cell, the clamp jaw (7) is symmetrically arranged on both sides of the sponge suction cup (10), and the inner bottom surface of the clamp jaw (7) is provided with an auxiliary discharging assembly (12); the auxiliary discharging assembly (12) can provide a relative stroke clamping effect during the falling of the battery cell, so that the battery cell is completely released after falling on the platform, and the battery cell is completely separated from the gripper, so that the battery cell is not impacted during falling; ​ The auxiliary discharging assembly (12) comprises an inner threaded sleeve (16) rotatably installed in the clamp jaw (7), the inner threaded sleeve (16) is internally threadedly connected with a lead screw (15), the bottom of the lead screw (15) is connected with two groups of clamping claws (23) through elastic connecting members, and a clamping driving assembly is arranged between the two groups of clamping claws (23); the opening and closing of the two groups of clamping claws (23) are controlled through the clamping driving assembly, and the taking and placing of the battery cell are assisted; The clamp jaw (7) comprises a fixed cross brace (701) and a clamping plate (702) sliding on one end of the cross brace (701), a rack guide groove (17) is formed in the inner bottom surface of the cross brace (701), a rack (14) is slidingly installed in the rack guide groove (17), and a gear (13) is fixedly connected to the surface of the inner threaded sleeve (16) below the cross brace (701); the gear (13) is engaged with the rack (14). The bottom end of the lead screw (15) is slidingly connected with a bracket (21) through an elastic connecting member, the clamping claw (23) is rotatably connected in the bracket (21), a pawl (26) is slidingly installed in the center position of the bracket (21), and a plurality of teeth (29) are annularly arranged on the rotating shaft surface of the clamping claw (23); the clamping claw (23) is engaged with the pawl (26) through the teeth (29); the elastic connecting member comprises a guide rod (19) and a compression spring (18) sleeved on the outer surface of the guide rod (19); the compression spring (18) is connected to the bottom end of the lead screw (15) and the upper side of the bracket (21); a hollow guide sleeve (20) is fixedly installed on the upper side of the bracket (21); one end of the guide rod (19) is fixedly connected to the bottom end of the lead screw (15), and the other end of the guide rod (19) is slidingly installed in the guide sleeve (20).

2. The LCTP high-precision anti-drop gripper according to claim 1, characterized in that: The robot (1) is provided as a full-automatic mechanical arm, and the robot (1) comprises a base (101), a pivoting arm (102) and a supporting arm (103); the pivoting arm (102) is rotatably installed on the base (101); and the supporting arm (103) is rotatably connected with the pivoting arm (102).

3. The LCTP high-precision anti-drop gripper according to claim 2, characterized in that: The gripper (2) comprises a mounting flange (3) and a mounting seat (31) fixedly connected to the bottom of the mounting flange (3); the mounting flange (3) is fixedly connected with the supporting arm (103); the mounting seat (31) is provided with a clamp jaw cylinder (9) and a suction cup cylinder (11) respectively; the clamp jaw (7) is symmetrically arranged on the extension rod end on both sides of the clamp jaw cylinder (9); and the sponge suction cup (10) is fixedly connected to the bottom of the suction cup cylinder (11).

4. The LCTP high-precision anti-drop gripper according to claim 3, characterized in that: The mounting seat (31) is provided with a photoelectric sensor (33) on one side, the photoelectric sensor (33) can be positioned to the position of the battery cell to be grabbed, and the mounting seat (31) is provided with an electrical module (4) and a solenoid valve (5) symmetrically on both sides, the electrical module (4) is electrically connected with the control system of the robot (1), the clamping jaw cylinder (9) and the suction cup cylinder (11) respectively, and the solenoid valve (5) is provided in communication with the clamping jaw cylinder (9) and the suction cup cylinder (11) respectively.

5. The LCTP high-precision anti-drop gripper according to claim 4, characterized in that: The air supply rod end of the suction cup cylinder (11) is fixedly connected in communication with a suction cup mounting rack (34), the sponge suction cup (10) is fixedly connected to one side of the bottom of the suction cup mounting rack (34), the mounting size of the suction cup mounting rack (34) can ensure that the mounting position of the sponge suction cup (10) is located between the two groups of clamping jaws (7), the inner wall of the clamping plate (702) is detachably mounted with a clamping plate (703), the clamping plate (703) can be replaced according to the size of the battery cell, so as to ensure the stability of clamping, and the one side of the cross brace (701) is provided with a scale (36).

6. The LCTP high-precision drop-preventing gripper according to claim 5, characterized in that: The mounting seat (31) is provided with a vacuum generator (6) on both sides, the vacuum generator filter (35) is fixedly installed on the upper surface of the suction cup mounting rack (34) on both sides of the suction cup cylinder (11), the vacuum generator filter (35) and the vacuum generator (6) are provided in communication, and the vacuum generator filter (35) can filter the vacuum generator (6).

7. The LCTP high-precision drop-preventing gripper according to claim 6, characterized in that: The support plate (30) is provided on both sides of the bracket (21) symmetrically, the micro cylinder (22) is fixedly installed on the upper surface of the support plate (30), the output shaft end of the micro cylinder (22) is fixedly connected with the rod end of the first fixed rod (24) through the joint (25), and the claw (23) is rotatably installed in the bracket (21) through the second fixed rod (27).

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