A cylindrical battery gripping rotary composite gripper and its working method

Abstract

This invention discloses a cylindrical battery gripping and rotating composite gripper and its working method, including a driving component and an execution component. The driving component includes a servo motor, an electric cylinder, and a linear rotary cam. The servo motor drives the linear rotary cam to perform linear motion through the electric cylinder. The execution component includes a rotating fixing component, a gripper, and a gripper fixing component. The rotating fixing component and the gripper fixing component are fixedly connected, and the gripper is fixedly mounted on the gripper fixing component. The rotating groove of the linear rotary cam and the protrusion on the rotating fixing component cooperate with each other. When the linear rotary cam performs linear motion, it drives the rotating fixing component to rotate, thereby driving the gripper to grip and rotate. This invention adopts a control method of servo electric cylinder drive and linear rotary cam braking to control three evenly distributed gripping execution components to achieve the clamping and rotation of the cylindrical battery, realizing multiple functions such as cylindrical battery transfer, precise positioning, tray assembly, precise adjustment of the filling port position, and rotation of the QR code to the scanning area.

Description

Technical Field

[0001] This invention relates to the field of battery gripping device technology, specifically to a cylindrical battery gripping rotary composite gripper and its working method. Background Technology

[0002] Cylindrical batteries, as an important and earliest type of power battery, are seeing increasing demand in the rapidly growing new energy vehicle and energy storage sectors. Mass production of cylindrical batteries continues to advance. Striving for maximum production capacity and minimizing production losses have become consistent goals in every stage of cylindrical battery production. The transfer, precise positioning, stacking, and fine-tuning of QR code and electrolyte inlet positions within and between cylindrical battery equipment all require efficient and stable clamping and rotating mechanisms.

[0003] Currently, the industry commonly employs the following methods: pneumatic grippers are used for transfer, precise positioning and placement, and tray assembly; servo + pneumatic grippers are used for fine-tuning the positions of QR codes and injection ports; and rotary clamping cylinders achieve coarse rotational positioning. Among these, pneumatic grippers have poor positioning accuracy and a high failure rate; rotary clamping cylinders can only perform coarse rotational positioning, which cannot meet the usage requirements, and their adjustment is not flexible enough to achieve multi-angle and multi-demand rotation; servo + pneumatic grippers can achieve multi-angle and multi-demand rotation, but the accuracy of the execution end is substandard, and the multi-drive mechanism is complex and prone to failure. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a cylindrical battery gripping and rotating composite gripper and its working method. It adopts a control method of servo electric cylinder drive and linear rotary cam braking to control three evenly distributed gripping actuators to achieve the clamping and rotation of the cylindrical battery, realizing multiple functions such as cylindrical battery transfer, precise positioning, tray assembly, precise adjustment of the liquid filling port position, and rotation of the QR code to the scanning area.

[0005] The technical solution of the present invention is as follows:

[0006] In a first aspect of the invention, a cylindrical battery gripping rotary composite gripper is provided, comprising a drive assembly and an execution assembly;

[0007] The drive assembly includes a servo motor, an electric cylinder, and a linear rotary cam. The servo motor drives the linear rotary cam to perform linear motion via the electric cylinder.

[0008] The execution component includes a rotating fixing member, a gripper, and a gripper fixing member, wherein the rotating fixing member and the gripper fixing member are fixedly connected, and the gripper is fixedly mounted on the gripper fixing member;

[0009] The linear rotary cam is provided with a rotary groove, and the rotary fixing component is provided with a protrusion. The protrusion and the rotary groove cooperate with each other. When the linear rotary cam moves in a linear motion, it drives the rotary fixing component to rotate, which in turn drives the gripper to rotate.

[0010] In some embodiments of the present invention, the servo motor is connected to the electric cylinder via a speed transmission unit, the ejection shaft of the electric cylinder is connected to one end of a linear rotary cam via a floating joint, and the other end of the linear rotary cam is sequentially connected to a fixing member and a linear actuator.

[0011] In some embodiments of the present invention, the servo motor, the speed transmission unit and the electric cylinder are fixedly installed inside the support connecting cover, and a rotary support fixing member is provided at the position opposite to the push-out shaft of the electric cylinder in the support connecting cover, and the linear rotary cam extends out of the support connecting cover from the rotary support fixing member.

[0012] In some embodiments of the present invention, a rotating component, a rotating fixing component, and a linear rotating cam are sequentially sleeved inside the rotating support fixing component. The outer wall surface of the rotating component is fixedly connected to the inner wall surface of the rotating support fixing component, and the inner wall surface of the rotating component is connected to the outer wall surface of the rotating fixing component through a bearing. A protrusion is provided on the inner wall surface of the rotating fixing component, and the protrusion cooperates with the rotating groove on the linear rotating cam.

[0013] In some embodiments of the present invention, the linear actuator is provided with a through hole, the gripper passes through the through hole, and the linear rotary cam drives the linear actuator to slide on the gripper when it moves linearly.

[0014] In some embodiments of the present invention, the gripper includes a first straight section, a clamping section, a second straight section, an inclined section, and a gripping contact section connected in sequence; wherein, the end of the first straight section is fixedly connected to the gripper fixing member.

[0015] In some embodiments of the present invention, the gripper is provided with three grippers, which are distributed at 120°, and the straight-moving section and the clamping section of the gripper are set at a certain angle.

[0016] In some embodiments of the present invention, the linear rotary cam is cylindrical in shape, and two evenly distributed rotary grooves are formed on the side wall of the linear rotary cam.

[0017] In some embodiments of the present invention, the rotating groove includes a straight section one, a rotating section and a straight section two that are connected in sequence.

[0018] In a second aspect of the present invention, a method for operating a cylindrical battery gripping rotary composite gripper is provided, comprising the following steps:

[0019] A servo motor drives a linear rotary cam to perform linear motion via an electric cylinder, causing a protrusion on the rotating fixed part to slide within a rotating groove on the linear rotary cam. Depending on the position of the protrusion on the rotating fixed part within the rotating groove of the linear rotary cam, the gripper performs different actions, specifically:

[0020] When the protrusion on the rotating fixed part slides into the straight section of the rotating groove on the linear rotating cam, the gripper picks up the actuator and clamps the cylindrical battery.

[0021] When the protrusion of the rotating fixed part slides into the rotation range of the rotating groove on the linear rotating cam, the gripper rotates the cylindrical battery.

[0022] One or more technical solutions of the present invention have the following beneficial effects:

[0023] (1) The cylindrical battery gripping and rotating composite gripper provided by the present invention adopts a clever combination of linear rotating cam and gripper to effectively realize the functions of single gripping and transporting, gripping and rotating of cylindrical batteries. This mechanism can not only realize the adjustment of the liquid inlet of cylindrical batteries and the accurate placement of QR codes into the scanning area, but also realize the precise positioning and transport of cylindrical batteries.

[0024] (2) The cylindrical battery gripping and rotating composite gripper provided by the present invention uses one kinetic energy input to realize two sets of actions: gripping and rotating, saving energy costs; reducing the number of equipment parts, reducing equipment complexity, and reducing equipment costs; by adopting the combination of gripping and rotating, the number of material handling times is reduced, the workstation cycle time is improved, which is conducive to improving the overall production capacity of the line, while reducing the equipment failure rate.

[0025] (3) The cylindrical battery gripping and rotating composite gripper provided by the present invention introduces a linear rotating cam and uses an electric cylinder to drive it, thereby achieving precise rotation of the target cylindrical battery and ensuring equipment compatibility with changes in battery height. The linear rotating cam with double rotating grooves improves the coaxiality of gripping and enhances the stability of gripping rotation.

[0026] (4) The cylindrical battery gripping rotary composite gripper provided by the present invention uses three evenly distributed gripping actuators and centering to improve the positional accuracy of cylindrical battery picking and placing, protecting the product while reducing the equipment failure rate; through the structural design of different sections of the gripper and the cooperation of the straight-line actuators, the gripper can grasp the cylindrical battery.

[0027] (5) The cylindrical battery gripping rotary composite gripper provided by the present invention can be used in all processes after winding, and can even be applied to the module pack process. By adjusting the shape, material and size of the linear rotary cam and the gripping actuator, the gripping rotary composite gripper mechanism can even be used in other industries to grip almost all spherical and cylindrical products.

[0028] (6) The cylindrical battery gripping and rotating composite gripper mechanism of the present invention adopts a control method of servo electric cylinder drive and linear rotary cam braking. It controls three evenly distributed gripping actuators to achieve the clamping and rotation of the cylindrical battery, realizing multiple functions such as cylindrical battery transfer, precise positioning, tray assembly, precise adjustment of the filling port position, and rotation of the QR code to the scanning area. The present invention uses electric cylinder control. For areas where precision is less important and cost reduction is required, pen-type cylinder drive can also be used. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the cylindrical battery gripping and rotating composite gripper of the present invention;

[0030] Figure 2 This is a schematic diagram of the cylindrical battery gripping and rotating composite gripper (excluding the support connecting cover) of the present invention;

[0031] Figure 3 This is a schematic diagram of the cylindrical battery gripping and rotating composite gripper (excluding the support connecting cover) of the present invention;

[0032] Figure 4 This is a schematic diagram of the cylindrical battery gripping and rotating composite gripper of the present invention (excluding the support connecting cover, gripper connector, and rotating fixing component);

[0033] Figure 5 This is a schematic diagram (sectional view) of the cylindrical battery gripping and rotating composite gripper of the present invention;

[0034] Figure 6 This is a schematic diagram of the clamping actuator of the present invention;

[0035] Figure 7 This is a schematic diagram of the linear rotary cam of the present invention.

[0036] In the diagram: 1-Cylindrical battery; 11-QR code; 12-Injection port;

[0037] 2-Cylindrical battery gripping and rotating composite gripper mechanism;

[0038] 21-Drive assembly; 211-Servo motor; 212-Speed ​​transmission unit; 213-Electric cylinder; 214-Ejection shaft; 215-Floating joint; 216-Linear rotary cam; 2161-First linear travel section; 2162-Rotation section; 2163-Second linear travel section; 2164-First rotation groove; 2165-Second rotation groove; 217-Fixing component; 218-Linear actuator;

[0039] 22-Execution component; 221-Support connection cover; 222-Rotating support fixing component; 223-Rotating component; 224-Rotating fixing component; 225-Gripper fixing component; 226-Gripper; 2261-Third straight section; 2262-Clamping section; 2263-Fourth straight section; 2264-Inclined section; 2265-Grip contact section. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0041] Example 1

[0042] like Figure 1 and Figure 3 As shown, the large QR code 11 and the liquid injection hole 12 on the cylindrical battery 1 are both located on the non-cylindrical central axis of the cylindrical battery 1. When the cylindrical battery 1 enters or leaves the equipment, it needs to be scanned, and the QR code 11 must be rotated to the scanning area. During liquid injection, formation, sealing nail welding, and helium testing, the liquid injection hole 12 needs to be precisely rotated to the designated position on the equipment. However, the existing battery gripping and rotating device has problems such as insufficient precision at the execution end and complex multi-drive mechanism with high failure rate.

[0043] To address the aforementioned problems, a typical embodiment of the present invention proposes a cylindrical battery gripping and rotating composite gripper, such as... Figure 1-7 As shown, it includes a driving component 21 and an execution component 22;

[0044] The drive assembly 21 includes a servo motor 211, an electric cylinder 213 and a linear rotary cam 216. The servo motor 211 drives the linear rotary cam to perform linear motion 216 through the electric cylinder 213.

[0045] The execution component 22 includes a rotating fixing member 224, a gripper 226 and a gripper fixing member 225. The rotating fixing member 224 and the gripper fixing member 225 are fixedly connected, and the gripper 226 is fixedly mounted on the gripper fixing member 225.

[0046] The linear rotary cam 216 is provided with a rotary groove, and the rotary fixing member 224 is provided with a protrusion. The protrusion and the rotary groove cooperate with each other. When the linear rotary cam 216 moves in a linear motion, it drives the rotary fixing member 224 to rotate, which in turn drives the gripper 226 to grasp and rotate.

[0047] In this embodiment, the driving component 21 provides power to the cylindrical battery 2 gripping and rotating composite gripper mechanism, and controls the gripping and rotating execution component 22 to clamp and rotate.

[0048] like Figure 1-4As shown, the servo motor 211 is connected to the electric cylinder 213 through the speed transmission unit 212. The push-out shaft 214 of the electric cylinder 213 is connected to one end of the linear rotary cam 216 through the floating joint 215. The other end of the linear rotary cam 216 is connected to the fixing member 217 and the linear actuator 218 in sequence.

[0049] The variable speed transmission unit 212 enables the output shaft of the servo motor 211 to be transmitted to the electric cylinder 213 after speed adjustment. The variable speed transmission unit 212 adopts an existing structure, such as a variable speed gear. The ejection shaft 214 of the electric cylinder 213 can only achieve linear motion and cannot rotate; that is, the ejection shaft 214 has only one degree of freedom: linear motion. The floating joint 215 is set to connect the ejection shaft 214 and the linear rotary cam 216, which can solve the problem of coaxial alignment between the ejection shaft 214 and the linear rotary cam 216; the floating joint 215 does not have a rotation function.

[0050] Furthermore, such as Figure 5 As shown, the servo motor 211, the speed transmission unit 212 and the electric cylinder 213 are fixedly installed inside the support connection cover 221. The support connection cover 221 is provided with a rotary support fixing member 222 at a position opposite to the push-out shaft 214 of the electric cylinder 213. The linear rotary cam 216 extends out of the support connection cover 221 from the rotary support fixing member 222.

[0051] In this embodiment, the support connection cover 221 adopts a rectangular shell structure. The drive component 21 and the execution component 22 provide fixation and support. At the same time, the support connection cover 221 can also realize the fixed connection between the cylindrical battery gripping and rotating composite gripper mechanism and the operating platform through the threaded holes on the bottom and sides.

[0052] Furthermore, a rotating component 223, a rotating fixing component 224, and a linear rotating cam 216 are sequentially sleeved inside the rotating support fixing component 222. The outer wall surface of the rotating component 223 is fixedly connected to the inner wall surface of the rotating support fixing component 222. The inner wall surface of the rotating component 223 is connected to the outer wall surface of the rotating fixing component 224 through a bearing. A protrusion is provided on the inner wall surface of the rotating fixing component 224, and the protrusion cooperates with the rotating groove on the linear rotating cam.

[0053] The rotating component 223 has a built-in bearing. The outside of the rotating component 223 is fixedly connected to the rotating support fixing component 222, and the inside is connected to the rotating fixing component 224 through the bearing, so that the rotating fixing component 224 does not affect the support connection cover 221 and the rotating support fixing component 222 when it rotates.

[0054] In this embodiment, the rotating fixing member 224, the gripper fixing member 225, and the gripper 226 are fixedly connected to each other in sequence.

[0055] Furthermore, the linear actuator 218 is provided with a through hole, through which the gripper 226 passes. When the linear rotary cam 216 moves linearly, it drives the linear actuator to slide on the gripper 226. The gripper 226 can slide smoothly through the through hole of the linear actuator 218; the through hole and the gripper 226 are in a clearance fit with very small clearance, therefore the 226 gripping the actuator cannot rotate within the slot of the linear actuator 218.

[0056] In this embodiment, the protrusions on the rotating fixing member 224 are two keys evenly distributed in the circumferential direction, which are fixed on the inner wall of the rotating fixing member 224 and can slide in the first rotating groove 21604 and the second rotating groove 21605 of the linear rotating cam 216.

[0057] like Figure 6 The gripper 226 includes a third straight section 22601, a clamping section 2262, a fourth straight section 2263, an inclined section 2264, and a gripping contact section 2265 connected in sequence; wherein, the end of the third straight section 2261 is fixedly connected to the gripper fixing member 225.

[0058] In this embodiment, three grippers 226 are provided, and the three grippers are distributed at 120°. The third straight section 2261 of the grippers and the clamping section are set at a certain angle. The grippers 226 are made of a material with high wear resistance and toughness.

[0059] Specifically, the clamping section 2262 on the gripper 226 clamps the cylindrical battery, the fourth straight section 2263 rotates the cylindrical battery, the tilting section 2264 ensures that the gripper is in an open state in its natural state, and the gripping contact section 2265 is the contact area for gripping the cylindrical battery.

[0060] like Figure 7 As shown, the linear rotary cam 216 is cylindrical in shape, and two evenly distributed rotary grooves are formed on the side wall of the linear rotary cam, namely the first rotary groove 2164 and the second rotary groove 21605.

[0061] Furthermore, the rotating groove includes a first straight section 2161, a rotating section 2162, and a second straight section 2163 that are connected in sequence. The first straight section 2161 realizes the clamping of the gripper 226, and the rotating section 2162 realizes the rotation of the clamping.

[0062] The working principle of the cylindrical battery gripping and rotating composite jaws provided in this embodiment is as follows:

[0063] The servo motor 211, speed transmission unit 212, electric cylinder 213, ejection shaft 214, floating joint 215, linear rotary cam 216, rotary fixing part 217, and linear actuator 218 of the gripping rotary drive assembly 21 move in sequence to realize the extension of the linear actuator 218; the linear actuator 218 controls the clamping and rotation of the gripper 226 through the through hole. When the rotating fixing member 224 slides to the first straight-line interval 2161, the straight-line actuator 218 slides on the gripper 226 to the clamping interval 2262, and the gripper 226 clamps the cylindrical battery 1. When the rotating fixing member 224 slides to the rotating interval 2162, the straight-line actuator 218 slides on the gripper 226 to the second straight-line interval 2163, and the gripper 226 rotates the cylindrical battery 1. As needed, by having the rotating fixing member 224 slide to different intervals of the rotating interval 2162 and the straight-line actuator 218 slide to the corresponding interval of the second straight-line interval 2163 on the gripper 226, the cylindrical battery 1 can be rotated at different angles. When the straight-line actuator 218 retracts, the reverse action can be achieved.

[0064] Example 2

[0065] In a typical embodiment of the present invention, a method for using a cylindrical battery gripping and rotating composite gripper is provided, comprising the following steps:

[0066] The servo motor 2121 drives the linear rotary cam 216 to perform linear motion via the electric cylinder 213, causing the protrusion on the rotating fixed part 224 to slide within the rotating groove on the linear rotary cam 216. Depending on the different positions the protrusion on the rotating fixed part 224 slides within the rotating groove on the linear rotary cam 216, the gripper performs different actions, specifically:

[0067] When the protrusion on the rotating fixed part 224 slides into the straight section of the rotating groove on the linear rotating cam 216, the gripper clamps the actuator to clamp the cylindrical battery 1.

[0068] When the protrusion of the rotating fixing member 224 slides into the rotation range of the rotating groove on the linear rotating cam 216, the gripper rotates the cylindrical battery.

[0069] When the cylindrical battery 1 enters or exits the device and needs to be scanned, the detection component detects the position of the scanning area and transmits the position signal to the controller. The controller sends a control signal to the drive component, and the drive component 21 drives the execution component 22 to clamp the cylindrical battery 1 and rotate the position of the QR code 11 on the cylindrical battery 1 to the scanning area.

[0070] When the cylindrical battery 1 needs to be filled with liquid, the drive assembly 21 drives the execution assembly 21 to clamp the cylindrical battery and precisely rotate the filling hole 12 to the designated position of the device.

[0071] When the cylindrical battery 1 enters or exits the equipment, it needs to be scanned, and the QR code 11 must be rotated to the scanning area. During liquid injection, formation, sealing nail welding, and helium testing, the liquid injection hole 12 needs to be precisely rotated to the designated position on the equipment. The cylindrical battery gripping and rotating composite gripper mechanism can effectively achieve the above functions. Currently, some cylindrical battery 1 products have the liquid injection hole located on the central axis of the battery cylinder, and only the gripping function of this invention needs to be used.

[0072] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A cylindrical battery gripping and rotating composite gripper, characterized in that, Includes driver components and execution components; The drive assembly includes a servo motor, an electric cylinder, and a linear rotary cam. The servo motor drives the linear rotary cam to perform linear motion via the electric cylinder. The execution component includes a rotating fixing member, a gripper, and a gripper fixing member, wherein the rotating fixing member and the gripper fixing member are fixedly connected, and the gripper is fixedly mounted on the gripper fixing member; The linear rotary cam is provided with a rotary groove, and the rotary fixing component is provided with a protrusion. The protrusion and the rotary groove cooperate with each other. When the linear rotary cam moves in a linear motion, it drives the rotary fixing component to rotate, which in turn drives the gripper to rotate.

2. The cylindrical battery gripping and rotating composite gripper as described in claim 1, characterized in that, The servo motor is connected to the electric cylinder via a speed transmission unit. The ejection shaft of the electric cylinder is connected to one end of a linear rotary cam via a floating joint. The other end of the linear rotary cam is connected to a fixing component and a linear actuator in sequence.

3. The cylindrical battery gripping and rotating composite gripper as described in claim 2, characterized in that, The servo motor, speed transmission unit, and electric cylinder are fixedly installed inside the support connection cover. A rotary support fixing member is provided at the position opposite to the ejection shaft of the electric cylinder in the support connection cover. The linear rotary cam extends out of the support connection cover from the rotary support fixing member.

4. The cylindrical battery gripping and rotating composite gripper as described in claim 3, characterized in that, The rotating support fixture is fitted with a rotating component, a rotating fixture, and a linear rotating cam in sequence. The outer wall of the rotating component is fixedly connected to the inner wall of the rotating support fixture. The inner wall of the rotating component is connected to the outer wall of the rotating fixture through a bearing. A protrusion is provided on the inner wall of the rotating fixture, and the protrusion cooperates with the rotating groove on the linear rotating cam.

5. The cylindrical battery gripping and rotating composite gripper as described in claim 2, characterized in that, The linear actuator is provided with a through hole, the gripper passes through the through hole, and when the linear rotary cam moves linearly, it drives the linear actuator to slide on the gripper.

6. The cylindrical battery gripping and rotating composite gripper as described in claim 5, characterized in that, The gripper includes a first straight section, a clamping section, a second straight section, an inclined section, and a gripping contact section connected in sequence; wherein, the end of the first straight section is fixedly connected to the gripper fixing member.

7. The cylindrical battery gripping and rotating composite gripper as described in claim 6, characterized in that, The gripper is provided with three grippers, which are distributed at 120°. The straight-moving section and the clamping section of the gripper are set at a certain angle.

8. The cylindrical battery gripping and rotating composite gripper as described in claim 1, characterized in that, The linear rotary cam is cylindrical in shape, and two evenly distributed rotary grooves are formed on the side wall of the linear rotary cam.

9. The cylindrical battery gripping and rotating composite gripper as described in claim 1, characterized in that, The rotating groove includes a straight section one, a rotating section, and a straight section two that are connected in sequence.

10. A method for operating a cylindrical battery gripping and rotating composite gripper as described in any one of claims 1-9, characterized in that, Includes the following steps: A servo motor drives a linear rotary cam to perform linear motion via an electric cylinder, causing a protrusion on the rotating fixed part to slide within a rotating groove on the linear rotary cam. Depending on the position of the protrusion on the rotating fixed part within the rotating groove of the linear rotary cam, the gripper performs different actions, specifically: When the protrusion on the rotating fixed part slides into the straight section of the rotating groove on the linear rotating cam, the gripper picks up the actuator and clamps the cylindrical battery. When the protrusion of the rotating fixed part slides into the rotation range of the rotating groove on the linear rotating cam, the gripper rotates the cylindrical battery.

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