Cell transfer gripper

Abstract

The battery cell transfer gripper of the present invention includes a four-axis robot, a variable pitch assembly, a rotary assembly, a battery cell gripper assembly, a barcode scanner assembly, and a limit pin positioning component and a rotary cylinder positioning component, which are respectively used to position the limit pin and the rotary cylinder to ensure positional accuracy and prevent offset, thereby ensuring positional accuracy during battery cell transfer. The variable pitch assembly, rotary assembly, battery cell gripper assembly and four-axis robot, the variable pitch assembly can realize the required distance for gripping two battery cells, the rotary assembly can ensure the polarity position when placing the battery cell, and the cooperation between them ensures the reliability of battery cell gripping during the transfer process. The whole process is automated and highly safe.

Description

Technical Field

[0001] This invention relates to transfer device technology, specifically a battery cell transfer gripper. Background Technology

[0002] In the production process of new energy batteries, the cells need to be transported to relevant work stations for tasks such as applying adhesive and testing, so as to achieve communication between the transported cells and various work stations. Currently, cell transport is mostly done manually or by other forms of transport devices, but these methods cannot meet the requirements for cell positioning accuracy and transport reliability. Therefore, in order to ensure the reliability and accuracy of cell transport, it is necessary to develop a cell transport device. Summary of the Invention

[0003] The purpose of this invention is to provide a battery cell transfer gripper that achieves high precision and reliability, automated operation, and high safety in the battery cell transfer process.

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

[0005] The variable pitch assembly includes 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 a reference block and a variable distance component are provided on the opposite side. The variable distance component includes a linear guide rail, on which a slide rail connecting plate is slidably mounted. The slide rail connecting plate is driven by a first cylinder to reciprocate along the horizontal direction towards or away from the reference block, and a slide rail connecting plate stop block, which is used to limit the end point of the slide rail connecting plate's movement away from the reference block along the horizontal direction.

[0006] A rotating assembly includes a first rotating component and a second rotating component with identical structures. Each rotating component includes a transition connecting plate, a limiting cylinder, a limiting pin, a rotating cylinder, and a rotating cylinder connecting plate. The limiting cylinder is disposed on the transition connecting plate and its power output end reciprocates vertically. The limiting pin is installed on the power output end of the limiting cylinder. The rotating cylinder is installed on the transition connecting plate and rotates along a vertical axis, with its rotation angle limited by the limiting pin. The assembly also includes a limiting pin positioning component and a rotating cylinder positioning component, used to position the limiting pin and rotating cylinder with high accuracy, respectively, to prevent misalignment.

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

[0008] A battery cell gripper assembly, comprising a first gripper assembly and a second gripper assembly with identical structures, each gripper assembly comprising a gripper cylinder connecting plate, a gripper cylinder, a first gripper, and a second gripper, wherein the gripper cylinder is mounted on the gripper cylinder connecting plate and arranged in a horizontal direction, and the first gripper and the second gripper are opened or closed by the gripper cylinder;

[0009] A barcode scanner assembly is disposed on the gripper cylinder connecting plate and is used to scan the barcodes of the battery cells gripped by the battery cell gripper assembly.

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

[0011] Optionally, the probe connection plate is equipped with a probe socket and a probe adjustment and locking component.

[0012] Optionally, it also includes a tester assembly electrically connected to the probe, the tester assembly being mounted on the four-axis robot base.

[0013] Optionally, the gripper cylinder connecting plate is equipped with a diffuse reflection sensor and a proximity switch.

[0014] Optionally, it also includes a scanner adjustment component for adjusting the angle of the scanner to the desired position.

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

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

[0017] Optionally, the limiting pin positioning component is a flanged bushing, which is disposed on the transition connecting plate. The limiting pin passes through the flanged bushing, and the flanged bushing locks the fixed part of the limiting cylinder to prevent positional displacement.

[0018] The rotary cylinder limiting component is a limiting ring, which is installed on the transition connecting plate and is adapted to the stop of the fixed part of the rotary cylinder to limit the fixed part of the rotary cylinder to avoid positional displacement.

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

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

[0021] Optionally, the slide rail connecting plate stop is provided on the mounting base, and the slide rail connecting plate stop is provided with an adjusting member, which is within the movement stroke of the slide rail connecting plate.

[0022] The battery cell transfer gripper of the present invention comprises a four-axis robot, a variable pitch assembly, a rotary assembly, a battery cell gripper assembly, a barcode scanner assembly, and positioning components such as limit pins and rotary cylinders. These components are used to position the limit pins and rotary cylinders to ensure positional accuracy and prevent misalignment, thereby guaranteeing positional accuracy during battery cell transfer. The variable pitch assembly, rotary assembly, battery cell gripper assembly, and four-axis robot work together to ensure reliable battery cell gripping during transfer. The variable pitch assembly can achieve the required distance for gripping two battery cells, and the rotary assembly can ensure the polarity position when placing the battery cell. The coordinated operation of these components ensures the reliability of battery cell gripping during transfer. The entire process is automated and highly safe. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the variable pitch assembly in an embodiment of the present invention;

[0025] Figure 3 These are the left and top views of the rotating assembly in an embodiment of the present invention;

[0026] Figure 4 This is an axonometric view of the rotating assembly in an embodiment of the present invention;

[0027] Figure 5 These are the front view and axonometric view of the battery cell gripper assembly in an embodiment of the present invention;

[0028] Figure 6 These are the left and front views of the barcode scanner component in an embodiment of the present invention;

[0029] Figure 7 This is an isometric view of the barcode scanner assembly in an embodiment of the present invention;

[0030] As shown in the figure:

[0031] Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0033] like Figures 1 to 7 As shown in the diagram, the battery cell transfer gripper includes a robot, specifically a four-axis robot 1, and further includes:

[0034] The variable pitch assembly 2 includes a mounting base 20 extending in a horizontal direction. One side of the mounting base 20 is connected to the power output end of the four-axis robot 1, and the opposite side is provided with a reference block 21 and a variable distance component 22. The variable distance component 22 includes a linear guide rail 220, on which a slide rail connecting plate 221 is slidably mounted. The slide rail connecting plate 221 is driven by a first cylinder 222 to reciprocate along the horizontal direction towards or away from the reference block 21. The slide rail connecting plate stop 23 is used to limit the end point of the movement of the slide rail connecting plate 221 away from the reference block 21 in the horizontal direction.

[0035] The rotating assembly 3 includes a first rotating component 30 and a second rotating component 31 with identical structures. Each rotating component includes a transition connecting plate 300, a limiting cylinder 301, a limiting pin 302, a rotating cylinder 303, and a rotating cylinder connecting plate 304. The limiting cylinder 301 is disposed on the transition connecting plate 300 and its power output end reciprocates along the vertical direction. The limiting pin 302 is installed on the power output end of the limiting cylinder 301. The rotating cylinder 303 is installed on the transition connecting plate 300 and rotates along the vertical direction around an axis, with its rotation angle limited by the limiting pin 302. The assembly also includes a limiting pin positioning component and a rotating cylinder positioning component, used to position the limiting pin 302 and the rotating cylinder 303 with high accuracy, respectively, to prevent misalignment.

[0036] The transition connecting plate 300 of the first rotating component 30 is fixedly connected to the reference block 21, and the transition connecting plate of the second rotating component 31 is connected to the slide rail connecting plate 221;

[0037] The battery cell gripper assembly 4 includes a first gripper assembly 40 and a second gripper assembly 41 with identical structures. Each gripper assembly includes a gripper cylinder connecting plate 400, a gripper cylinder 401, a first gripper 402, and a second gripper 403. The gripper cylinder 401 is mounted on the gripper cylinder connecting plate 400 and arranged in a horizontal direction. The first gripper 402 and the second gripper 403 are opened or closed by the gripper cylinder 401.

[0038] The barcode scanner assembly 5 is disposed on the gripper cylinder connecting plate and is used to scan the barcodes of the battery cells gripped by the battery cell gripper assembly 4.

[0039] The battery cell transfer gripper of the present invention comprises a four-axis robot 1, a pitch-changing assembly 2, a rotary assembly 3, a battery cell gripper assembly 4, a barcode scanner assembly, and five limit pin positioning components and rotary cylinder positioning components. These components are used to position the limit pins and rotary cylinders to ensure their accuracy and prevent misalignment, thereby guaranteeing the positional accuracy during battery cell transfer. The pitch-changing assembly 2, rotary assembly 3, and battery cell gripper assembly 4 work in conjunction with the four-axis robot 1. The pitch-changing assembly 2 can achieve the required distance for gripping two battery cells, and the rotary assembly 3 can ensure the angular position between the two gripped battery cells. The coordinated operation of these components ensures the reliability of battery cell gripping during the transfer process. The entire process is automated and highly safe.

[0040] Furthermore, the transition connection plate 300 of the present invention is provided with a probe connection plate 3000, and the probe connection plate 3000 is provided with a probe 3001 for performing OCV detection on the battery cell.

[0041] Specifically, in this embodiment, the probe connecting plate 3000 is equipped with a probe insertion hole and a probe adjustment locking component 3002 (e.g., Figure 4 As shown, the probe adjusting locking component includes a first locking block and a second locking block disposed opposite to each other, and the two locking blocks are locked together by fasteners.

[0042] To enable the display of test results and the operation of probe 3001, the present invention also includes an electrical connection with the probe.

[0043] The tester assembly 6 is connected and is mounted on the base 10 of the four-axis robot 1.

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

[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 clip 50, a first adjustment shaft 51, a second fixed adjustment clip 52, and a second adjustment shaft 53;

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

[0048] To ensure the positional accuracy of the limit cylinder and the rotary cylinder and to avoid deviation, specifically in this embodiment, the limiting pin positioning component is a flanged bushing 305, which is provided on the transition connecting plate 300. The limiting pin 302 passes through the flanged bushing 305, and the flanged bushing 305 locks the fixed part of the limiting cylinder 301 to prevent positional deviation.

[0049] The rotary cylinder limiting component is a limiting ring 306. The limiting ring 306 is installed on the transition connecting plate 300 and is adapted to the stop (not shown in the figure) of the fixed part of the rotary cylinder 303, and is used to limit the fixed part of the rotary cylinder 303 to avoid positional displacement.

[0050] The transition connecting plate 300 is provided with a limit pin stop 307, which is used to cooperate with the limit pin to jointly position the required angle position of the rotary cylinder.

[0051] To ensure the flexibility of the connection of the first cylinder 222, in this invention, the slide rail connecting plate 221 is provided with a floating joint 223, which 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, wherein the slide rail connecting plate block 23 is provided on the mounting base 20, and the slide rail connecting plate block 23 is provided with an adjusting member 24 (such as an adjusting bolt), and the adjusting member 24 is within the movement stroke of the slide rail connecting plate 221.

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

[0054] First, the material frame carrying the battery cells arrives at the designated position from the roller conveyor. The limit cylinder 301 drives the limit pin 302 to descend into place. Then, the four-axis robot 1 rotates, and the rotary cylinder 303 drives the mechanism to rotate to a 90° position. At this time, the limit pin stop 307 hits the limit pin 302 to limit it. After that, the four-axis robot 1 drives the pitch-changing assembly, the rotary assembly, and the battery cell gripper assembly (hereinafter referred to as the mechanism) to the scanning position. At this time, the barcode scanner 55 in the barcode scanner assembly 5 scans the two battery cells to be gripped. After scanning, the four-axis robot 1 drives the mechanism to move to the battery cell gripping position. The gripper cylinder 401 of the first gripper assembly 40 and the gripper cylinder of the second gripper assembly 41 grip the corresponding battery cells. At the same time, the diffuse reflection sensor 4000 detects whether there is material being gripped. Then, the four-axis robot 1 drives the mechanism to move to the chain tray. During the movement, the first cylinder 222 pushes the slide rail connecting plate 221 to change the pitch until the position of the tray for placing the battery cells is met. The slide rail connecting plate stop 23 on the slide rail connecting plate 221 impacts the adjusting component 24 (here, a cylindrical head adjusting bolt) to complete the pitch change. When the four-axis robot 1 reaches the position above the tray, the rotary cylinder 303 of the first rotary assembly 30 on the transition connecting plate 300 rotates counterclockwise by 180°, and the rotary cylinder of the second rotary assembly 31 on the transition connecting plate 300 rotates clockwise by 180° (the specific rotation angles of the rotary cylinders corresponding to the first and second rotary assemblies can be determined according to the polarity of the placed battery cell). Then, the four-axis robot 1 descends and places the battery cell on the tray. The gripper cylinders 401 of the first gripper assembly 40 and the second gripper assembly 41 open respectively. The proximity switch 4001 detects that the two gripper cylinders have moved into position. Afterward, the four-axis robot 1 lifts up and moves to the OCV testing position. The four-axis robot 1 descends and drives the probe 3001 to perform OCV testing on the battery cell, feeding back the test results to the tester assembly 6 for direct viewing of the test data and results. After the test is completed, the four-axis robot 1 returns to its original position, and the subsequent cycle repeats to complete the battery cell gripping and testing process.

Claims

1. A cell transfer gripper, including a robot, characterized in that, The robot is a four-axis robot and also includes: The variable pitch assembly includes 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 a reference block and a variable distance component are provided on the opposite side. The variable distance component includes a linear guide rail, on which a slide rail connecting plate is slidably mounted. The slide rail connecting plate is driven by a first cylinder to reciprocate along the horizontal direction towards or away from the reference block, and a slide rail connecting plate stop block, which is used to limit the end point of the slide rail connecting plate's movement away from the reference block along the horizontal direction. A rotating assembly includes a first rotating component and a second rotating component with identical structures. Each rotating component includes a transition connecting plate, a limiting cylinder, a limiting pin, a rotating cylinder, and a rotating cylinder connecting plate. The limiting cylinder is disposed on the transition connecting plate and its power output end reciprocates vertically. The limiting pin is installed on the power output end of the limiting cylinder. The rotating cylinder is installed on the transition connecting plate and rotates along a vertical axis, with its rotation angle limited by the limiting pin. The assembly also includes a limiting pin positioning component and a rotating cylinder positioning component, used to position the limiting pin and rotating cylinder with high accuracy, respectively, to prevent misalignment. The transition connecting plate of the first rotating component is fixedly connected to the reference block, and the transition connecting plate of the second rotating component is connected to the slide rail connecting plate; A battery cell gripper assembly, comprising a first gripper assembly and a second gripper assembly with identical structures, each gripper assembly comprising a gripper cylinder connecting plate, a gripper cylinder, a first gripper, and a second gripper, wherein the gripper cylinder is mounted on the gripper cylinder connecting plate and arranged in a horizontal direction, and the first gripper and the second gripper are opened or closed by the gripper cylinder; A barcode scanner assembly is disposed on the gripper cylinder connecting plate and is used to scan the barcodes of the battery cells gripped by the battery cell gripper assembly. The limiting pin positioning component is a flanged bushing, which is provided on the transition connecting plate. The limiting pin passes through the flanged bushing, and the flanged bushing locks the fixed part of the limiting cylinder to prevent positional displacement. The rotary cylinder limiting component is a limiting ring, which is installed on the transition connecting plate and is adapted to the stop of the fixed part of the rotary cylinder to limit the fixed part of the rotary cylinder to avoid positional displacement. The transition connecting plate is provided with a limit pin stop.

2. The cell transfer 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 probes for OCV detection of the battery cell.

3. The cell transfer gripper according to claim 2, characterized in that, The probe connection plate has a probe insertion hole and a probe adjustment and locking component.

4. The cell transfer gripper according to claim 2, characterized in that, It also includes a tester assembly electrically connected to the probe, the tester assembly being mounted on the four-axis robot base.

5. The cell transfer gripper according to claim 1, characterized in that, The gripper cylinder connecting plate is equipped with a diffuse reflection sensor and a proximity switch.

6. The cell transfer 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 the desired position.

7. The cell transfer gripper according to claim 6, characterized in that, The barcode scanner adjustment assembly includes a first fixed adjustment clip, a first adjustment shaft, a second fixed adjustment clip, and a second adjustment shaft; One end of the first adjusting shaft is inserted into the first fixed adjusting clamp and locked, and the other end is connected to the gripper cylinder connecting plate through the barcode scanner connecting plate. One end of the second adjusting shaft is also inserted into the first fixed adjusting clamp and locked. The first adjusting shaft and the second adjusting shaft are arranged perpendicularly, and the other end is inserted into the second fixed adjusting clamp and locked. The barcode scanner is connected to the second fixed adjusting clamp.

8. The cell transfer gripper according to claim 1, characterized in that, The slide rail connecting plate is provided with a floating joint, which is connected to the power output end of the first cylinder.

9. The cell transfer gripper according to claim 1, characterized in that, The slide rail connecting plate stop is provided on the mounting base, and the slide rail connecting plate stop is provided with an adjusting component, which is within the movement stroke of the slide rail connecting plate.

Images