Grabbing mechanism and material taking robot

Abstract

The invention provides a grabbing mechanism and a material taking robot, and relates to the technical field of photovoltaic cells. The grabbing mechanism comprises a mounting beam which extends in the first direction and is used for being mounted at the grabbing end of a mechanical arm of the material taking robot; the grabbing parts are arranged at intervals in the first direction, each grabbing part comprises a top plate and clamping plates installed on the two sides of the top plate in the first direction, and at least one of the two clamping plates is connected with the top plate through a telescopic mechanism so as to adjust the size of a clamping space formed between the two clamping plates in the first direction; the ends, deviating from the mounting beam, of the adjusting parts are rotationally connected with the top plates of the grabbing parts through rotating mechanisms correspondingly, and the adjusting parts are used for adjusting the distances between the grabbing parts and the mounting beam correspondingly; the at least one first detection piece is used for detecting the polarity direction of the battery monomers clamped in the clamping spaces of the plurality of grabbing parts; and the control part is used for receiving a detection signal of the first detection piece and sending control signals to the multiple adjusting parts, the telescopic mechanism and the rotating mechanism.

Description

Technical Field

[0001] The present disclosure relates to the technical field of photovoltaic cells, and in particular to a grasping mechanism and a material-grabbing robot. Background Art

[0002] During the battery assembly process, the batteries are manually loaded onto a fixed pallet, the pallet is then transported to the feed port, and then a group of batteries are grabbed by a picking robot for subsequent operations.

[0003] During manual operation, operators may incorrectly place the polarity direction of the battery, which will affect the subsequent production process after the material-picking robot performs normal grasping operations and will also have an adverse effect on overall production efficiency and quality control. Summary of the invention

[0004] A technical problem to be solved by the present disclosure is that if the operator places the polarity direction of the battery incorrectly, after the material picking robot performs a normal grasping operation, it will have an adverse impact on the subsequent production process as well as the overall production efficiency and quality control.

[0005] To solve the above technical problems, an embodiment of the present disclosure provides a gripping mechanism, which comprises: a mounting beam extending along a first direction and used to be mounted on a gripping end of a mechanical arm of a material-retrieving robot;

[0006] A plurality of gripping parts are arranged at intervals along a first direction, the gripping parts comprising: a top plate and clamping plates installed on both sides of the top plate in the first direction, at least one of the two clamping plates is connected to the top plate through a telescopic mechanism to adjust the size of the clamping space formed between the two clamping plates in the first direction;

[0007] A plurality of adjusting parts, the plurality of adjusting parts are installed on the mounting beam at intervals along a first direction, and the ends of the plurality of adjusting parts away from the mounting beam are respectively connected to the top plates of the plurality of grabbing parts through a rotating mechanism, and are respectively used to adjust the spacing between the grabbing parts and the mounting beam;

[0008] At least one first detection member, mounted on the mounting beam or the gripping portion, for detecting the polarity direction of the battery cells clamped in the clamping spaces of the plurality of gripping portions; and

[0009] A control unit, connected to at least one first detection member, a plurality of adjustment members, a telescopic mechanism, and a rotating mechanism, for receiving a detection signal from the first detection member and sending control signals to the plurality of adjustment members, the telescopic mechanism, and the rotating mechanism;

[0010] The first direction is perpendicular to the rotation axis of the rotating mechanism.

[0011] In some embodiments, the first detection member includes: a first probe and a second probe, respectively used to abut against two poles of the battery cell;

[0012] The number of the first detecting members is equal to the number of the grabbing parts, and the first detecting members are arranged on the top plates of the corresponding grabbing parts facing the clamping spaces.

[0013] In some embodiments, the first detection member is also used to detect the charge level of the battery cell clamped in the clamping space. When the charge level is lower than the charge threshold, the control unit controls the size of the clamping space formed between the two clamps to increase in the first direction to allow the battery cell to detach from the gripping unit.

[0014] In some embodiments, a first image acquisition component is further provided on the surface of the top plate facing the clamping space for acquiring a surface image of the battery cell clamped in the clamping space, and the control unit is used to identify surface defects of the battery cell based on the surface image.

[0015] In some embodiments, the first probe and the second probe are spring-loaded probes.

[0016] In some embodiments, the first detection member includes: a second image acquisition component, the second image acquisition component is installed on the mounting beam through a mounting rod with a preset length, the second image acquisition component is at least used to capture the pole image of the battery cell clamped in the adjacent clamping space, and the control unit is used to determine the polarity direction of the battery cell based on the pole image.

[0017] In some embodiments, the gripping portion further comprises: two end plates, the two end plates being mounted on both sides of the top plate in the second direction, at least one of the two end plates having a sensor mounted on a surface facing the clamping space, and the controller being used to determine whether the battery cell is accurately clamped in the clamping space based on a detection signal measured by the sensor;

[0018] The second direction is respectively perpendicular to the first direction and the rotation axis of the rotation mechanism.

[0019] In some embodiments, the adjusting portion includes an adjusting rod and a driving motor, the adjusting rod movably passes through the mounting beam and one end of the adjusting rod is connected to the top plate, and the driving motor is connected to the adjusting rod through a transmission mechanism, and is used to drive the adjusting rod to reciprocate relative to the mounting beam;

[0020] The extending direction and the moving direction of the adjusting rod are in the same direction as the extending direction of the rotating axis of the rotating mechanism.

[0021] In some embodiments, the adjustment portion includes an electric telescopic rod fixed to the mounting beam, and the movable end of each electric telescopic rod is connected to the corresponding top plate.

[0022] The disclosed embodiment also provides a material picking robot, the material picking robot comprising: a robot body, which comprises a mechanical arm having at least one movable joint; and

[0023] The above-mentioned grasping mechanism is installed at the grasping end of the mechanical arm.

[0024] Through the above technical scheme, the gripping mechanism and material picking robot provided by the present invention can simultaneously or sequentially grip multiple battery cells of a battery assembly through multiple gripping parts of the gripping mechanism, and the first detection part detects the polarity direction of each battery cell after gripping. When the control part determines that the polarity of a battery cell gripped by a certain gripping part is wrong based on the detection signal of the first detection part, the control part will control the position adjustment of the gripping part to avoid it, and rotate it to adjust the polarity direction of the clamped battery cell to the correct direction, so as to avoid affecting the subsequent production process, which is helpful to improve the overall production efficiency and facilitate the control of production quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 is a structural schematic diagram of a grabbing mechanism disclosed in an embodiment of the present disclosure;

[0027] Figure 2 It is a structural schematic diagram of another grabbing mechanism disclosed in an embodiment of the present disclosure.

[0028] Description of reference numerals:

[0029] 1. Mounting beam; 2. Grasping part; 21. Top plate; 22. Clamping plate; 23. Telescopic mechanism; 24. End plate; 31. Adjusting rod; 32. Driving motor; 4. Rotating mechanism; 51. First probe; 52. Second probe; 53. Second image acquisition component; 6. Sensor; 7. Flange; x, first direction; y, second direction. DETAILED DESCRIPTION

[0030] The following is a further detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to exemplarily illustrate the principles of the present disclosure, but cannot be used to limit the scope of the present disclosure. The present disclosure can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

[0031] The present disclosure provides these embodiments to make the present disclosure thorough and complete, and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0032] It should be noted that, in the description of the present disclosure, unless otherwise specified, the meaning of "multiple" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0033] In addition, the words "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0034] It should also be noted that in the description of the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0035] All terms used in the present disclosure have the same meanings as those understood by those of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, for example, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined as such herein.

[0036] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0037] Embodiment 1

[0038] Reference Figure 1 and attached Figure 2 The first embodiment of the present invention provides a gripping mechanism, which comprises: a mounting beam 1, which extends along a first direction x and is used to be mounted on the gripping end of the mechanical arm of a material-grabbing robot; a plurality of gripping parts 2, which are arranged at intervals along the first direction x, and the gripping parts 2 comprise: a top plate 21 and clamping plates 22 installed on both sides of the top plate 21 in the first direction x, at least one of the two clamping plates 22 is connected to the top plate 21 through a telescopic mechanism 23 to adjust the size of the clamping space formed between the two clamping plates 22 in the first direction x; a plurality of adjusting parts, which are installed on the mounting beam 1 at intervals along the first direction x, and the ends of the plurality of adjusting parts away from the mounting beam 1 The parts are rotatably connected to the top plates 21 of the multiple gripping parts 2 one by one through the rotating mechanism 4, and are respectively used to adjust the distance between the gripping parts 2 and the mounting beam 1; at least one first detection member is installed on the mounting beam 1 or the gripping part 2, and is used to detect the polarity direction of the battery monomer clamped in the clamping space of the multiple gripping parts 2; and the control part is signal-connected with at least one first detection member, multiple adjustment parts, the telescopic mechanism 23 and the rotating mechanism 4, and is used to receive the detection signal of the first detection member and send control signals to the multiple adjustment parts, the telescopic mechanism 23 and the rotating mechanism 4 respectively; wherein the first direction x is perpendicular to the rotation axis of the rotating mechanism 4.

[0039] Specifically, the gripping mechanism provided in this embodiment is applied to the mechanical arm of the material-grabbing robot (not shown in the figure) to realize the gripping of each battery cell in the battery assembly. The structure of the gripping mechanism specifically includes: a mounting beam 1, a plurality of gripping parts 2 and a plurality of adjusting parts. The mounting beam 1 can be a long plate-like structure extending along the first direction x, and can be installed on the gripping end of the mechanical arm of the material-grabbing robot through a flange 7; the plurality of gripping parts 2 are arranged at intervals along the first direction x, and are respectively installed on the mounting beam 1 through adjusting parts. The number of gripping parts 2 is adapted to the number of battery cells contained in the battery assembly, and the whole group of battery assemblies can be gripped simultaneously or sequentially. The structure of the gripping part 2 includes: a top plate 21 and clamping plates 22 on both sides. The top plate 21 is fixed to the adjusting part. At least one of the two clamping plates 22 is connected to the top plate 21 through a telescopic mechanism 23. The telescopic direction of the telescopic mechanism 23 is the first direction x. The arrangement of the two clamping plates 22 The arrangement specifically includes the following two situations: one is that one clamping plate 22 is fixed to the top plate 21, and the other clamping plate 22 is connected to the top plate 21 through a telescopic mechanism 23. The telescopic mechanism 23 is used to adjust the size of the clamping space formed between the movable clamping plate 22 and the fixed clamping plate 22 in the first direction x, so as to realize the clamping or separation of the battery cell; the other is that the two clamping plates 22 are respectively connected to the top plate 21 through the telescopic mechanism 23. When clamping, the two clamping plates 22 are respectively contracted through the telescopic mechanism 23 to make them approach each other to clamp the battery cell, and vice versa to separate from the battery cell; the telescopic mechanism 23 here can be driven by one of electric, hydraulic or pneumatic means, for example: it can be an electric telescopic rod, a pneumatic telescopic rod, etc., but is not limited to this.

[0040] During manual operation, the operator may place the polarity direction of the battery incorrectly. After the material-grabbing robot performs the grasping operation, it will affect the subsequent production process. In the technical solution adopted by the present invention, the adjustment part has an adjustment function. Specifically, the distance between the grasping part 2 and the mounting beam 1 can be adjusted by telescopic or positional movement, and the ends of the adjustment part away from the mounting beam 1 are respectively connected to the top plates 21 of multiple grasping parts 2 through the rotating mechanism 4. The rotation axis of the rotating mechanism 4 is perpendicular to the first direction x, and is perpendicular to the mounting beam 1 and the top plate 21; and the grasping mechanism provided in this embodiment also includes: at least one first detection part and a control part. The first detection part can be installed on the mounting beam 1, or can also be installed on the grasping part 2. It can be determined according to the type and detection method of the first detection part. The first detection part can be a probe or a camera, etc., which can detect the polarity direction of the battery monomer clamped in the clamping space of each grasping part 2. The control part is respectively connected to the first detection part, multiple adjustment parts, the telescopic mechanism 23 and the rotating mechanism 4 signals, and is used to receive The detection signal of the first detection member and the control signals respectively sent to multiple adjustment parts, telescopic mechanism 23 and rotating mechanism 4, the specific control process can be: the controller sends a control signal to multiple grasping parts 2, controls the two clamping plates 22 of each grasping part 2 to cooperate to stably clamp the corresponding battery monomer in the clamping space, and the first detection member starts to detect each battery monomer. When the controller receives the detection signal of the first detection member and determines that the polarity direction of the battery monomer clamped in the clamping space of one of the grasping parts 2 is wrong, the controller controls the adjustment part corresponding to the grasping part 2 to adjust, increase the distance between the grasping part 2 and the mounting beam 1, so as to avoid interference with the adjacent grasping part 2, and the controller then controls the rotating mechanism 4 corresponding to the grasping part 2 to rotate 180 degrees to adjust the polarity direction of the clamped battery monomer to the correct direction, and finally the adjustment part can be controlled again to adjust the grasping part 2 to a position flush with the remaining grasping parts 2; wherein the control part can be a programmable logic controller or a PC-side control system, which is not specifically limited here.

[0041] It should be noted that when the grasping mechanism grasps, the grasping part 2 may not be adjusted by the adjusting part to make it reach the contact position with the battery cell, but may be achieved by the movement of the robot arm of the robot body, but is not limited thereto.

[0042] According to the above, an embodiment of the present invention proposes a grasping mechanism, which grasps multiple battery cells of a battery assembly simultaneously or sequentially through multiple grasping parts 2, and the first detection part detects the polarity direction of each battery cell after grasping. When the control part determines that the polarity direction of a battery cell grasped by a certain grasping part 2 is wrong based on the detection signal of the first detection part, the control part will control the position adjustment of the grasping part 2 to avoid it, and rotate it to adjust the polarity direction of the clamped battery cell to the correct direction to avoid affecting the subsequent production process.

[0043] For further information, see Attachment Figure 2 In a specific implementation, the first detection member includes: a first probe 51 and a second probe 52, which are respectively used to abut against two poles of the battery cell; the number of the first detection members is equal to the number of the gripping parts 2, and the first detection member is arranged on the top plate 21 of the corresponding gripping part 2 facing the clamping space.

[0044] Specifically, in order to realize the detection of the polarity direction of the battery cell by the first detection member, in the technical solution adopted by the present invention, the first detection member may include a first probe 51 and a second probe 52. When the battery cell is clamped in the clamping space, the first probe 51 and the second probe 52 are respectively used to abut against the two poles of the battery cell, where the two poles refer to the positive pole and the negative pole, so that the polarity direction of the battery cell can be detected; when the first probe 51 and the second probe 52 are used to constitute the first detection member, the number of the first detection members is equal to the number of the gripping parts 2, and the first detection member is installed on the top plate 21 of the corresponding gripping part 2 facing the clamping space.

[0045] The first probe 51 and the second probe 52 are spring-type probes, and their specific structures are not limited here. The setting of the spring can ensure that the first probe 51 and the second probe 52 are pressed against the two poles of the battery cell at the same time to improve the reliability and efficiency of the detection.

[0046] Specifically, in the case where the first probe 51 and the second probe 52 are used to form the first detection member, when the first probe 51 and the second probe 52 abut against the two poles of the battery cell, in addition to being able to reflect the polarity direction of the battery cell, the battery cell can also be charged. In order to improve the overall quality of the battery assembly, in the technical solution adopted by the present invention, when the control unit obtains the detection signal of the first detection member and determines that the battery level is lower than the battery level threshold, the control unit can control the clamping space formed between the two clamps 22 to increase in size in the first direction x, so that the battery cell is separated from the grasping portion 2. In this way, the battery cell with insufficient power in the battery assembly can be removed and replaced later to ensure the overall quality of the battery assembly.

[0047] For further information, see Attachment Figure 1A first image acquisition component is also provided on the surface of the top plate 21 facing the clamping space, which is used to acquire a surface image of the battery cell clamped in the clamping space, and the control unit is used to identify surface defects of the battery cell based on the surface image.

[0048] Specifically, in order to further remove unqualified battery cells in the battery assembly, the technical solution adopted by the present invention can be provided with a first image acquisition component on the surface of the top plate 21 facing the clamping space. When a battery cell is clamped in the clamping space, the first image acquisition component can capture a real-time surface image of the battery cell clamped in the clamping space and transmit it to the control unit. The control unit can pre-store surface images of qualified battery cells. After receiving the real-time surface image, the control unit can identify surface defects of the battery cell based on the real-time surface image to determine whether the surface quality of the battery cell is qualified. If the surface quality of the battery cell is unqualified, the control unit can control the size of the clamping space formed between the two clamps 22 in the first direction x to increase so that the battery cell is separated from the grasping portion 2. In this way, the battery cell with unqualified surface quality and defects in the battery assembly can be removed.

[0049] For further information, see Attachment Figure 1 In a specific implementation, the first detection member includes: a second image acquisition component 53, the second image acquisition component 53 is installed on the mounting beam 1 through a mounting rod with a preset length, the second image acquisition component 53 is at least used to acquire the pole image of the battery cell clamped in the adjacent clamping space, and the control unit is used to determine the polarity direction of the battery cell based on the pole image

[0050] Specifically, in order to realize the detection of the polarity direction of the battery cell by the first detection member, the first detection member can adopt a solution including a first probe 51 and a second probe 52. In the technical solution adopted by the present invention, the first detection member can also adopt a second image acquisition component 53. The second image acquisition component 53 can be installed on the mounting beam 1 through a mounting rod with a preset length. The extension direction of the mounting rod is perpendicular to the mounting beam 1 and the top plate 21. When the gripping part 2 is not adjusted by the adjusting part, the height of the second image acquisition component 53 is lower than the gripping part 2. The second image acquisition part can at least capture the pole image of the battery cell clamped in the adjacent clamping space. The control part is used to collect the pole image based on the pole image. The specific process of judging the polarity direction of the battery cell can be as follows: after obtaining the pole image, the control unit uses the image processing algorithm to extract the key features in the pole image, such as the position and direction of the two poles. The control unit sets the algorithm for intelligent judgment to determine the correct direction of the positive and negative poles, which may include the following steps: 1. Read and preprocess the pole image, including conversion to a grayscale image and binarization; 2. Find the contours in the image and select the largest contour; 3. Calculate the convex hull of the largest contour and simplify it to a quadrilateral; 4. Calculate the geometric features of the quadrilateral, such as the center point position; 5. Preliminary judgment of the positive and negative pole directions of the battery assembly based on the center point position; 6. Draw the results on the image to visualize the detection effect. When the polarity direction of the battery cell is detected to be wrong, the control unit controls the gripping unit 2 to adjust the direction.

[0051] When the first detection element uses the second image acquisition component 53 to detect the polarity direction of the battery cell, the number of the first detection element can be one, as shown in the attached figure. Figure 1 As shown, the number of the first detection members may be multiple, so as to ensure that each battery cell can be detected. For example, multiple first detection members may be used, and each first detection member detects two adjacent battery cells.

[0052] For further information, see Attachment Figure 1 and attached Figure 2 In a specific implementation, the gripping portion 2 further includes: two end plates 24, the two end plates 24 are mounted on both sides of the top plate 21 in the second direction y, at least one of the two end plates 24 is mounted with a sensor 6 on a surface facing the clamping space, and the controller is used to determine whether the battery cell is accurately clamped in the clamping space based on the detection signal measured by the sensor 6; wherein the second direction y is respectively perpendicular to the first direction x and the rotation axis of the rotating mechanism 4.

[0053] Specifically, in order to determine whether the battery cell is clamped in place in the clamping space, in the technical solution adopted by the present invention, two end plates 24 are relatively arranged on both sides of the top plate 21 in the second direction y, and a sensor 6 is installed on at least one of the two end plates 24 facing the surface of the clamping space. The specific setting can be based on the type of sensor 6. For example, when an ultrasonic sensor 6 is used, it includes a transmitting end and a receiving end, which are respectively arranged on the two end plates 24; the controller is used to determine whether the battery cell is accurately clamped in the clamping space based on the detection signal measured by the sensor 6, and then determine whether the grasping action of the grasping part 2 is effective; wherein the second direction y here is perpendicular to the first direction x and the rotation axis of the rotating mechanism 4, respectively.

[0054] For further information, see Attachment Figure 1 and attached Figure 2 In a specific implementation, the adjustment part includes an adjustment rod 31 and a drive motor 32. The adjustment rod 31 movably passes through the mounting beam 1 and one end is connected to the top plate 21. The drive motor 32 is connected to the adjustment rod 31 through a transmission mechanism to drive the adjustment rod 31 to reciprocate relative to the mounting beam 1. The extension direction and the movement direction of the adjustment rod 31 are in the same direction as the extension direction of the rotation axis of the rotating mechanism 4.

[0055] Specifically, in order to realize the adjustment of the spacing between the grabbing part 2 and the mounting beam 1 by the adjustment part, in the technical solution adopted by the present invention, the adjustment part may include an adjustment rod 31 and a drive motor 32, the adjustment rod 31 extends in a direction perpendicular to the mounting beam 1 and movably passes through the mounting beam 1, one end of the adjustment rod 31 is fixed to the top plate 21 of the grabbing part 2, the drive motor 32 can be installed on the mounting beam 1, and the adjustment rod 31 is connected to the drive motor 32 through a transmission mechanism, and the transmission method can be various, for example: the transmission mechanism can be a gear and a rotating shaft, the side of the adjustment rod 31 can be evenly provided with teeth to form a rack that cooperates with the gear, the rotating shaft and the gear are coaxially connected, the rotating shaft and the gear are driven by the drive motor 32 to rotate synchronously, and the rotation of the gear can be converted into a linear lifting motion of the adjustment rod 31 through the meshing of the gear and the teeth of the adjustment rod 31, but the structure of the transmission mechanism and the matching form with the adjustment rod 31 are not limited to this.

[0056] Furthermore, in a specific implementation, the adjustment portion includes an electric telescopic rod fixed to the mounting beam 1 , and the movable end of each electric telescopic rod is connected to the corresponding top plate 21 .

[0057] Specifically, in order to realize the adjustment of the distance between the grabbing part 2 and the mounting beam 1 by the adjustment part, in the technical solution adopted by the present invention, the adjustment part can also be configured to include an electric telescopic rod, a fixed end of which is fixed to the mounting beam 1, and a movable end is fixed to the top plate 21 of the corresponding grabbing part 2, and the distance between the grabbing part 2 and the mounting beam 1 is adjusted by the extension and retraction of the electric telescopic rod; the electric telescopic rod can be specifically driven by a motor, or pneumatic, or hydraulic drive to extend and retract, which is not specifically limited here.

[0058] Embodiment 2

[0059] A second embodiment of the present invention provides a material picking robot, which comprises: a robot body, which comprises a mechanical arm having at least one movable joint; and the above-mentioned grasping mechanism, which is installed at the grasping end of the mechanical arm.

[0060] Specifically, the material picking robot provided in this embodiment can grasp a group of battery components and perform subsequent actions through the flexible movement of the mechanical arm and in cooperation with the above-mentioned grasping mechanism; by applying the above-mentioned grasping mechanism, it can ensure that the polarity direction of the battery cells transferred to the subsequent production process is correct, which helps to improve the overall production efficiency and is facilitating the control of production quality.

[0061] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0062] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict.

Claims

1. A gripping mechanism, characterized in that: include: A mounting beam (1) extending along a first direction (x) and used for mounting on a gripping end of a mechanical arm of a material retrieving robot; A plurality of gripping parts (2) are arranged at intervals along a first direction (x), the gripping parts (2) comprising: a top plate (21) and clamping plates (22) installed on both sides of the top plate (21) in the first direction (x), at least one of the two clamping plates (22) being connected to the top plate (21) via a telescopic mechanism (23) so as to adjust the size of a clamping space formed between the two clamping plates (22) in the first direction (x); A plurality of adjustment parts, the plurality of adjustment parts being installed on the mounting beam (1) at intervals along a first direction (x), and the ends of the plurality of adjustment parts away from the mounting beam (1) being rotatably connected to the top plates (21) of the plurality of gripping parts (2) through a rotation mechanism (4) respectively, and being used to adjust the spacing between the gripping parts (2) and the mounting beam (1); at least one first detection member, mounted on the mounting beam (1) or the gripping portion (2), and used to detect the polarity direction of the battery cells clamped in the clamping spaces of the plurality of gripping portions (2); and a control unit, connected to the at least one first detection member, the plurality of adjustment members, the telescopic mechanism (23) and the rotating mechanism (4) by signals, respectively, for receiving detection signals from the first detection member and sending control signals to the plurality of adjustment members, the telescopic mechanism (23) and the rotating mechanism (4) respectively; Wherein, the first direction (x) is perpendicular to the rotation axis of the rotating mechanism (4).

2. The gripping mechanism according to claim 1, characterized in that: The first detection member comprises: a first probe (51) and a second probe (52), which are respectively used to abut against two poles of the battery cell; The number of the first detection members is equal to the number of the gripping portions (2), and the first detection members are arranged on the top plate (21) of the corresponding gripping portion (2) facing the clamping space.

3. The gripping mechanism according to claim 2, characterized in that: The first detection member is also used to detect the charge level of the battery cell clamped in the clamping space. When the charge level is lower than a charge threshold, the control unit controls the clamping space formed between the two clamping plates (22) to increase its size in the first direction (x) so as to allow the battery cell to detach from the gripping portion (2).

4. The gripping mechanism according to claim 2, characterized in that: The surface of the top plate (21) facing the clamping space is also provided with a first image acquisition component for acquiring a surface image of the battery cell clamped in the clamping space, and the control unit is used to identify surface defects of the battery cell based on the surface image.

5. The gripping mechanism according to claim 2, characterized in that: The first probe (51) and the second probe (52) are spring-type probes.

6. The gripping mechanism according to claim 1, characterized in that: The first detection member comprises: a second image acquisition component (53), the second image acquisition component (53) being mounted on the mounting beam (1) via a mounting rod having a preset length, the second image acquisition component (53) being at least used for acquiring a pole image of a battery cell clamped in an adjacent clamping space, and the control unit being used for determining the polarity direction of the battery cell based on the pole image.

7. The gripping mechanism according to claim 1, characterized in that: The gripping portion (2) further comprises: two end plates (24), the two end plates (24) being mounted on both sides of the top plate (21) in the second direction (y), at least one of the two end plates (24) being mounted with a sensor (6) on a surface facing the clamping space, the controller being used to judge whether the battery cell is accurately clamped in the clamping space based on a detection signal measured by the sensor (6); The second direction (y) is respectively perpendicular to the first direction (x) and the rotation axis of the rotation mechanism (4).

8. The gripping mechanism according to claim 1, characterized in that: The adjusting portion comprises an adjusting rod (31) and a driving motor (32); the adjusting rod (31) movably passes through the mounting beam (1) and one end of the adjusting rod is connected to the top plate (21); and the driving motor (32) is connected to the adjusting rod (31) via a transmission mechanism and is used to drive the adjusting rod (31) to reciprocate relative to the mounting beam (1); The extension direction and the movable direction of the adjusting rod (31) are in the same direction as the extension direction of the rotation axis of the rotating mechanism (4).

9. The gripping mechanism according to claim 1, characterized in that: The adjustment part comprises an electric telescopic rod fixed to the mounting beam (1), and the movable end of each electric telescopic rod is connected to the corresponding top plate (21).

10. A material-retrieving robot, characterized in that: include: A robot body, comprising a robot arm having at least one movable joint; and The gripping mechanism as described in any one of claims 1 to 9, wherein the gripping mechanism is installed at the gripping end of the robotic arm.

Images