Battery cell transfer gripper

Abstract

The battery cell transfer gripper comprises the four-axis robot, the variable pitch assembly, the rotating assembly, the battery cell clamping jaw assembly, the code scanner assembly, the limiting pin positioning piece and the rotating air cylinder positioning piece, the limiting pin positioning piece and the rotating air cylinder positioning piece are used for positioning the position precision of a limiting pin and a rotating air cylinder correspondingly, offset is prevented, and therefore the position precision in the battery cell transfer process is guaranteed; according to the battery cell clamping device, the variable-pitch assembly, the rotating assembly, the battery cell clamping jaw assembly and the four-axis robot are arranged, the variable-pitch assembly can achieve the required clamping distance between two battery cells, the rotating assembly can guarantee the polarity position when the battery cells are placed, the battery cell clamping reliability in the transferring process is guaranteed through mutual cooperation and cooperation work, automatic operation is achieved in the whole process, and safety is high.

Description

Technical Field

[0001] The invention relates to a transfer device technology, in particular to a battery cell transfer gripper. Background Art

[0002] In the production process of new energy batteries, the battery cells need to be transported to relevant workstations for work such as gluing and testing, so as to achieve the connection between the transported battery cells and each workstation. Currently, battery cell transportation is mostly done by manual handling or other forms of transportation devices, but during use, the battery cell positioning accuracy and transportation reliability cannot be met. Therefore, in order to ensure the reliability and accuracy of battery cell transportation, it is necessary to develop a battery cell transportation device. Summary of the invention

[0003] The purpose of the present invention is to provide a battery cell transfer gripper, which realizes the accuracy and reliability of the battery cell transfer process, automated operation and high safety.

[0004] The technical solution of the present invention is: a battery cell transfer gripper comprises a robot, wherein the robot is a four-axis robot, and further comprises:

[0005] A variable distance assembly, wherein the variable distance assembly comprises a mounting base extending in a horizontal direction, one side of the mounting base is connected to the power output end of the four-axis robot, and the opposite side is provided with a reference block and a variable distance assembly, wherein the variable distance assembly comprises a linear guide rail, a slide rail connecting plate is slidably mounted on the linear guide rail, the slide rail connecting plate is driven by a first cylinder to reciprocate along the horizontal direction close to or away from the reference block, and a slide rail connecting plate stopper, wherein the slide rail connecting plate stopper is used to limit the end point of the movement stroke of the slide rail connecting plate away from the reference block along the horizontal direction;

[0006] A rotating assembly, the rotating assembly includes a first rotating assembly and a second rotating assembly with the same structure, each of the rotating assemblies includes a transition connecting plate, a limit cylinder, a limit pin, a rotating cylinder, and a rotating cylinder connecting plate, the limit cylinder is arranged on the transition connecting plate and its power output end reciprocates along the vertical direction, the limit pin is installed on the power output end of the limit cylinder, the rotating cylinder is installed on the transition connecting plate and can rotate along the vertical direction as an axis, and its rotation angle is limited by the limit pin; it also includes a limit pin positioning member and a rotating cylinder positioning member, which are respectively used to position the position accuracy of the limit pin and the rotating cylinder to prevent offset;

[0007] The transition connecting plate of the first rotating assembly is fixedly connected to the reference block, and the transition connecting plate of the second rotating assembly is connected to the slide rail connecting plate;

[0008] A battery cell clamp assembly, the battery cell clamp assembly comprises a first clamp assembly and a second clamp assembly of the same structure, each of the clamp assemblies comprises a clamp cylinder connecting plate, a clamp cylinder, a first clamp, and a second clamp, the clamp cylinder is mounted on the clamp cylinder connecting plate and arranged in a horizontal direction, and the first clamp and the second clamp are driven to open or close by the clamp cylinder;

[0009] The barcode scanner component is arranged on the clamping cylinder connecting plate and is used to scan the battery cell grasped by the battery cell clamping claw assembly.

[0010] Optionally, a probe connection plate is provided on the transition connection plate, and a probe for performing OCV detection on the battery cell is provided on the probe connection plate.

[0011] Optionally, the probe connecting plate is provided with a probe plug hole and a probe adjusting locking piece.

[0012] Optionally, a tester assembly electrically connected to the probe is further included, and the tester assembly is arranged on the four-axis robot base.

[0013] Optionally, a diffuse reflection sensor and a proximity switch are provided on the clamping jaw cylinder connecting plate.

[0014] Optionally, a barcode scanner adjustment component is also included, which is used to adjust the angle of the barcode scanner to a desired position.

[0015] Optionally, the barcode scanner adjustment assembly includes a first fixed adjustment clamp, a first adjustment shaft, a second fixed adjustment clamp, and a second adjustment shaft;

[0016] One end of the first adjusting shaft penetrates into the first fixed adjusting clamp and is locked, and the other end is connected to the clamp cylinder connecting plate through the barcode scanner connecting plate. One end of the second adjusting shaft also penetrates into the first fixed adjusting clamp and is locked. The first adjusting shaft and the second adjusting shaft are arranged vertically, and the other end penetrates into the second fixed adjusting clamp and is locked. The barcode scanner is connected to the second fixed adjusting clamp.

[0017] Optionally, the limit pin positioning member is a flanged bushing, the flanged bushing is arranged on the transition connecting plate, the limit pin passes through the flanged bushing, and the flanged bushing locks the fixed part of the limit cylinder to prevent position deviation;

[0018] The rotary cylinder limiting member is a limiting ring, which is mounted on the transition connecting plate and is adapted to the stopper of the fixed part of the rotary cylinder, and is used to limit the fixed part of the rotary cylinder to avoid position deviation;

[0019] The transition connecting plate is provided with a limit pin block.

[0020] Optionally, a floating joint is provided on the slide rail connecting plate, and the floating joint is connected to the power output end of the first cylinder.

[0021] Optionally, the slide rail connecting plate stopper is arranged on the mounting base, and an adjusting member is provided on the slide rail connecting plate stopper, and the adjusting member is within the movement range of the slide rail connecting plate.

[0022] By adopting the above technical solution, the beneficial effects of the present invention are:

[0023] The battery cell transfer gripper of the present invention includes a four-axis robot, a variable pitch assembly, a rotating assembly, a battery cell clamping jaw assembly, a barcode scanner component, a limit pin positioning piece and a rotating cylinder positioning piece, which are respectively used to position the position accuracy of the limit pin and the rotating cylinder to prevent bias, thereby ensuring the position accuracy during battery cell transfer. The variable pitch assembly, the rotating assembly, the battery cell clamping jaw assembly and the four-axis robot, the variable pitch assembly can achieve the required clamping distance between two battery cells, the rotating assembly can ensure the polarity position when placing the battery cell, and the coordinated operation between them ensures the reliability of battery cell clamping during the transfer process. The whole process is automated and highly safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of an embodiment of the present invention;

[0025] Figure 2 It is a structural schematic diagram of a pitch-variable assembly in an embodiment of the present invention;

[0026] Figure 3 It is a left side view and a top view of the rotating assembly in the embodiment of the present invention;

[0027] Figure 4 is an axonometric view of a rotating assembly according to an embodiment of the present invention;

[0028] Figure 5 The front view and isometric view of the battery cell clamp assembly in the embodiment of the present invention;

[0029] Figure 6 The left view and the front view of the barcode scanner assembly in the embodiment of the present invention are shown;

[0030] Figure 7 This is an axonometric diagram of a barcode scanner assembly in an embodiment of the present invention; as shown in the figure:

[0031]

[0032] DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0034] like Figures 1 to 7 As shown in FIG. 1 , the battery cell transfer gripper includes a robot, which is a four-axis robot 1, and further includes:

[0035] A variable distance assembly 2, wherein the variable distance assembly 2 comprises a mounting base 20 extending in a horizontal direction, wherein one side of the mounting base 20 is connected to the power output end of the four-axis robot 1, and an opposite side is provided with a reference block 21 and a variable distance assembly 22, wherein the variable distance assembly 22 comprises a linear guide rail 220, wherein a slide rail connecting plate 221 is slidably mounted on the linear guide rail 220, wherein the slide rail connecting plate 221 is driven by a first cylinder 222 to reciprocate along the horizontal direction close to or away from the reference block 21, and a slide rail connecting plate stopper 23, wherein the slide rail connecting plate stopper 23 is used to limit the end point of the movement stroke of the slide rail connecting plate 221 along the horizontal direction away from the reference block 21;

[0036] The rotating assembly 3 includes a first rotating assembly 30 and a second rotating assembly 31 of the same structure, each of the rotating assemblies includes a transition connecting plate 300, a limit cylinder 301, a limit pin 302, a rotating cylinder 303, and a rotating cylinder connecting plate 304, the limit cylinder 301 is arranged on the transition connecting plate 300 and its power output end reciprocates along the vertical direction, the limit pin 302 is installed on the power output end of the limit cylinder 301, the rotating cylinder 303 is installed on the transition connecting plate 300 and can rotate along the vertical direction as an axis, and its rotation angle is limited by the limit pin 302; it also includes a limit pin positioning member and a rotating cylinder positioning member, which are respectively used to position the position accuracy of the limit pin 302 and the rotating cylinder 303 to prevent offset;

[0037] The transition connecting plate 300 of the first rotating assembly 30 is fixedly connected to the reference block 21, and the transition connecting plate of the second rotating assembly 31 is connected to the slide rail connecting plate 221;

[0038] The battery cell clamp assembly 4 includes a first clamp assembly 40 and a second clamp assembly 41 of the same structure. Each of the clamp assemblies includes a clamp cylinder connecting plate 400, a clamp cylinder 401, a first clamp 402, and a second clamp 403. The clamp cylinder 401 is installed on the clamp cylinder connecting plate 400 and arranged in the horizontal direction. The first clamp 402 and the second clamp 403 are driven to open or close by the clamp cylinder 401.

[0039] The barcode scanner component 5 is arranged on the clamping cylinder connecting plate and is used to scan the battery cell grasped by the battery cell clamping assembly 4.

[0040] The battery cell transfer gripper of the present invention includes a four-axis robot 1, a variable pitch assembly 2, a rotating assembly 3, a battery cell clamping claw assembly 4, a barcode scanner component and 5 limit pin positioning parts and a rotating cylinder positioning parts, which are respectively used to position the position accuracy of the limit pin and the rotating cylinder to prevent bias, thereby ensuring the position accuracy during battery cell transfer. The variable pitch assembly 2, the rotating assembly 3, the battery cell clamping claw assembly 4 and the four-axis robot 1, the variable pitch assembly 2 can achieve the required clamping distance between two battery cells, and the rotating assembly 3 can ensure the angular position between two clamped battery cells. The coordinated operation between them ensures the reliability of battery cell clamping during the transfer process. The whole process is automated and highly safe.

[0041] Furthermore, a probe connection plate 3000 is provided on the transition connection plate 300 of the present invention, and a probe 3001 for performing OCV detection on the battery cell is provided on the probe connection plate 3000.

[0042] Specifically, in this embodiment, the probe connecting plate 3000 is provided with a probe plug hole and a probe adjusting locking member 3002 (such as Figure 4 As shown in the figure, the probe adjustment locking member includes a first locking block and a second locking block arranged opposite to each other, and the two locking blocks are locked by a fastener)

[0043] In order to display the test results and operate the probe 3001 , the present invention further includes a tester assembly 6 electrically connected to the probe, and the tester assembly 6 is disposed on the base 10 of the four-axis robot 1 .

[0044] In order to detect whether the gripper cylinder 401 has moved to the correct position and whether the gripper has clamped the battery cell, a diffuse reflection sensor 4000 and a proximity switch 4001 are provided on the gripper cylinder connecting plate 400 in the present invention.

[0045] Furthermore, the present invention also includes a barcode scanner adjustment component for adjusting the angle of the barcode scanner to a desired position.

[0046] Specifically, in this embodiment, the barcode scanner adjustment assembly includes a first fixed adjustment clamp 50, a first adjustment shaft 51, a second fixed adjustment clamp 52, and a second adjustment shaft 53;

[0047] One end of the first adjusting shaft 51 passes through the first fixed adjusting clamp 50 and is locked, and the other end is connected to the clamp cylinder connecting plate 400 through the barcode scanner connecting plate 54. One end of the second adjusting shaft 53 also passes through the first fixed adjusting clamp 50 and is locked. The first adjusting shaft 51 and the second adjusting shaft 53 are arranged vertically, and the other end passes through the second fixed adjusting clamp 52 and is locked. The barcode scanner 55 is connected to the second fixed adjusting clamp 52.

[0048] In order to ensure the position accuracy of the limit cylinder and the rotating cylinder and avoid displacement, etc., specifically, in this embodiment, the limit pin positioning member is a flanged bushing 305, the flanged bushing 305 is arranged on the transition connecting plate 300, the limit pin 302 passes through the flanged bushing 305, and the flanged bushing 305 locks the fixed part of the limit cylinder 301 to avoid position displacement;

[0049] The rotary cylinder limiting member is a limiting ring 306, which is mounted on the transition connecting plate 300 and is adapted to a stopper (not shown) of the fixed part of the rotary cylinder 303, and is used to limit the fixed part of the rotary cylinder 303 to avoid position deviation;

[0050] The transition connecting plate 300 is provided with a limit pin stopper 307 for cooperating with the limit pin to jointly locate the required angular position of the rotary cylinder.

[0051] In order to ensure the flexibility of the connection of the first cylinder 222 , in the present invention, a floating joint 223 is provided on the slide rail connecting plate 221 , and the floating joint 223 is connected to the power output end of the first cylinder 222 .

[0052] Furthermore, the limiting structure of the slide rail connecting plate 221 of the present invention can be specifically selected as shown below: the slide rail connecting plate block 23 is arranged on the mounting base 20, and the slide rail connecting plate block 23 is provided with an adjusting member 24 (an adjusting bolt, etc. can be selected), and the adjusting member 24 is within the movement range of the slide rail connecting plate 221.

[0053] The working principle of the present invention is briefly described as follows:

[0054] First, the material frame with the battery cell arrives at the specified position from the roller conveyor line, and the limit cylinder 301 drives the limit pin 302 to drop into place, then the four-axis robot 1 rotates, and the rotating cylinder 303 drives the mechanism to rotate to a 90° position. At this time, the limit pin block 307 hits the limit pin 302 for limiting, and then the four-axis robot 1 drives the variable pitch assembly, the rotating assembly and the battery cell clamping jaw assembly (hereinafter referred to as the mechanism) to reach the code scanning position; at this time, the barcode scanner 55 in the barcode scanner assembly 5 scans the two battery cells to be grasped, and after scanning, the four-axis robot 1 drives the mechanism to move to the battery cell grasping position, and the clamping jaw cylinder 401 of the first clamping jaw assembly 40 and the clamping jaw cylinder of the second clamping jaw assembly 41 respectively grasp the corresponding battery cells, and at the same time, the diffuse reflection sensor 4000 detects whether there is material grasped, and then the four-axis robot 1 drives the mechanism to move to the chain pallet. During the movement, the first cylinder 222 pushes the slide rail connecting plate 221 to change the pitch to a position where the pallet can place the battery cells. The slide rail connecting plate stopper 23 on the slide rail connecting plate 221 hits the adjusting member 24 (here, a cylindrical head adjusting bolt) to complete the distance change. When the four-axis robot 1 reaches the position above the tray, the rotating cylinder 303 of the first rotating assembly 30 on the transition connecting plate 300 rotates 180° counterclockwise, and the rotating cylinder of the second rotating assembly 31 on the transition connecting plate 300 rotates 180° clockwise (the specific rotation angles of the rotating cylinders corresponding to the first rotating assembly and the second rotating assembly can be determined according to the polarity position of the placed battery cell). Then the four-axis robot 1 descends to place the battery cell on the tray, and the clamping cylinder 401 of the first clamping jaw assembly 40 and the clamping jaw cylinder of the second clamping jaw assembly 41 are opened respectively. The proximity switch 4001 detects that the two clamping jaw cylinders move to the position respectively. Then the four-axis robot 1 is lifted. After lifting, the four-axis robot 1 moves to the OCV test position, and the four-axis robot 1 descends, and drives the probe 3001 to perform OCV detection on the battery cell, and feeds back the detection results to the tester assembly 6, so as to directly view the detection data and results. After the test is completed, the four-axis robot 1 returns to its original position, and the subsequent reciprocating operation can complete the grabbing and testing process of the battery cell.

Claims

1. A battery cell transfer gripper, including a robot, characterized in that: The robot is a four-axis robot, and further comprises: A variable distance assembly, wherein the variable distance assembly comprises a mounting base extending in a horizontal direction, one side of the mounting base is connected to the power output end of the four-axis robot, and the opposite side is provided with a reference block and a variable distance assembly, wherein the variable distance assembly comprises a linear guide rail, a slide rail connecting plate is slidably mounted on the linear guide rail, the slide rail connecting plate is driven by a first cylinder to reciprocate along the horizontal direction close to or away from the reference block, and a slide rail connecting plate stopper, wherein the slide rail connecting plate stopper is used to limit the end point of the movement stroke of the slide rail connecting plate away from the reference block along the horizontal direction; A rotating assembly, the rotating assembly includes a first rotating assembly and a second rotating assembly with the same structure, each of the rotating assemblies includes a transition connecting plate, a limit cylinder, a limit pin, a rotating cylinder, and a rotating cylinder connecting plate, the limit cylinder is arranged on the transition connecting plate and its power output end reciprocates along the vertical direction, the limit pin is installed on the power output end of the limit cylinder, the rotating cylinder is installed on the transition connecting plate and can rotate along the vertical direction as an axis, and its rotation angle is limited by the limit pin; it also includes a limit pin positioning member and a rotating cylinder positioning member, which are respectively used to position the position accuracy of the limit pin and the rotating cylinder to prevent offset; The transition connecting plate of the first rotating assembly is fixedly connected to the reference block, and the transition connecting plate of the second rotating assembly is connected to the slide rail connecting plate; A battery cell clamp assembly, the battery cell clamp assembly comprises a first clamp assembly and a second clamp assembly of the same structure, each of the clamp assemblies comprises a clamp cylinder connecting plate, a clamp cylinder, a first clamp, and a second clamp, the clamp cylinder is mounted on the clamp cylinder connecting plate and arranged in a horizontal direction, and the first clamp and the second clamp are driven to open or close by the clamp cylinder; The barcode scanner component is arranged on the clamping cylinder connecting plate and is used to scan the battery cell grasped by the battery cell clamping claw assembly.

2. The battery cell transport gripper according to claim 1, characterized in that: The transition connection plate is provided with a probe connection plate, and the probe connection plate is provided with a probe for performing OCV detection on the battery cell.

3. The battery cell transport gripper according to claim 2, characterized in that: The probe connecting plate is provided with a probe plug hole and a probe adjusting locking piece.

4. The battery cell transport gripper according to claim 2, characterized in that: It also includes a tester assembly electrically connected to the probe, and the tester assembly is arranged on the four-axis robot base.

5. The battery cell transport gripper according to claim 1, characterized in that: A diffuse reflection sensor and a proximity switch are arranged on the connecting plate of the clamping jaw cylinder.

6. The battery cell transport gripper according to claim 1, characterized in that: It also includes a barcode scanner adjustment component for adjusting the angle of the barcode scanner to a desired position.

7. The battery cell transport gripper according to claim 4, characterized in that: The barcode scanner adjustment assembly includes a first fixed adjustment clamp, a first adjustment shaft, a second fixed adjustment clamp, and a second adjustment shaft; One end of the first adjusting shaft penetrates into the first fixed adjusting clamp and is locked, and the other end is connected to the clamp cylinder connecting plate through the barcode scanner connecting plate. One end of the second adjusting shaft also penetrates into the first fixed adjusting clamp and is locked. The first adjusting shaft and the second adjusting shaft are arranged vertically, and the other end penetrates into the second fixed adjusting clamp and is locked. The barcode scanner is connected to the second fixed adjusting clamp.

8. The battery cell transport gripper according to claim 1, characterized in that: The limit pin positioning member is a flanged bushing, the flanged bushing is arranged on the transition connecting plate, the limit pin passes through the flanged bushing, and the flanged bushing locks the fixed part of the limit cylinder to prevent position deviation; The rotary cylinder limiting member is a limiting ring, which is mounted on the transition connecting plate and is adapted to the stopper of the fixed part of the rotary cylinder, and is used to limit the fixed part of the rotary cylinder to avoid position deviation; The transition connecting plate is provided with a limit pin block.

9. The battery cell transport gripper according to claim 1, characterized in that: A floating joint is provided on the slide rail connecting plate, and the floating joint is connected to the power output end of the first cylinder.

10. The battery cell transport gripper according to claim 1, characterized in that: The slide rail connecting plate stopper is arranged on the mounting base, and an adjusting member is arranged on the slide rail connecting plate stopper, and the adjusting member is within the movement stroke of the slide rail connecting plate.

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