An adaptive gripper

Abstract

The application relates to the technical field of grippers and discloses a self-adaptive gripper, which comprises a gripper base; two groups of claw finger mechanisms are installed on the inner top of the gripper base close to a motor transmission assembly; a pressure sensor is installed on the inner wall of a claw core; and a visual camera is installed at the central position of the inner top of the gripper base. Through cooperation of the soft rubber claw sleeve and the visual camera, the gripper can be self-adaptive to products with different shapes, the frequency of replacing the gripper is greatly reduced, and the production efficiency is improved; through intelligent regulation and control of the pressure sensor and an AI chip in an external control system, the gripper can guarantee sufficient gripping force while avoiding excessive gripping force from causing product damage, the product quality and safety are improved, the self-adaptive gripping of the gripper to products with different shapes is realized, sufficient gripping force can be provided in the gripping process, excessive gripping force can be prevented from causing product damage, and therefore the production efficiency and safety are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grippers, in particular to a self-adaptive gripper. BACKGROUND

[0002] Lithium batteries are batteries that use non-aqueous electrolyte solutions with lithium metal or lithium alloy as positive and negative electrode materials. With the rapid development of the lithium battery industry, the requirements for lithium battery production, detection and recycling are becoming higher and higher. Traditional manual operation methods have been unable to meet the efficient, accurate and reliable production requirements. Therefore, more and more enterprises have begun to use automatic equipment lithium battery grippers to improve production efficiency and quality.

[0003] Most existing grippers are designed with only one fixed shape claw, which is suitable for single type workpieces and cannot adapt to different types and shapes of products. This limitation leads to the need to frequently replace different grippers when facing workpieces with various shapes, increasing the maintenance cost and downtime of the production line. In addition, for heavy and easily damaged products such as lithium batteries, the existing grippers cannot guarantee the gripping force while avoiding damage to the products, which not only affects the production efficiency but also may cause safety hazards.

[0004] Therefore, the present application provides a self-adaptive gripper. SUMMARY

[0005] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background art.

[0006] The present application provides a self-adaptive gripper, which comprises a gripper base, a motor transmission assembly is installed inside the gripper base, two groups of claw finger mechanisms are installed on the inner top of the gripper base near the motor transmission assembly, in order to realize clamping of lithium batteries, the claw finger mechanism comprises a claw core and a claw sleeve, three groups of claw cores are installed on both sides of the bottom of the gripper base, a claw sleeve is wrapped and installed on the outside of each claw core, a motor transmission assembly is connected between every two groups of the three groups of claw cores, a pressure sensor is installed on the inner wall of the claw core, in order to monitor the stress condition of the claw finger mechanism during grabbing of lithium batteries, a visual camera is installed at the central position of the inner top of the gripper base, in order to monitor the clamping end of the gripper, through the cooperation of the soft rubber claw sleeve and the visual camera, the gripper can adapt to different shaped products, through the pressure sensor and the external control system, the claw finger mechanism can guarantee sufficient gripping force while avoiding product damage caused by excessive gripping force.

[0007] Preferably, in order to better adapt to clamping of lithium batteries with different shapes, the claw sleeve is provided with a sawtooth part on the outer surface between the two groups of claw cores, and the clamping surface of the claw sleeve is provided with a protruding block.

[0008] Preferably, in order to realize the cooling of the clamped lithium battery and the processing of the clamping surface, a processing mechanism is installed on the inner top of the gripper base.

[0009] Preferably, the processing mechanism comprises a fan assembly, a guide pipe and a guide plate, the fan assembly is installed on the inner top of the gripper base, the output end of the fan assembly is provided with the guide pipe, and the guide plates are installed on the inner top of the gripper base near the two ends of the guide pipe.

[0010] Preferably, in order to improve the cooling effect and area of the device on the lithium battery, a cooling pipe is installed on the outer side of the guide pipe.

[0011] Preferably, an air diffuser plate is installed at the bottom of the fan assembly, and the air diffuser plate is in communication with the air outlet end of the fan assembly.

[0012] Preferably, in order to realize the auxiliary monitoring function when the claw finger mechanism clamps the lithium battery, a through pipe is installed in the claw core, and air bags are installed on the two sides of the through pipe.

[0013] Preferably, a connecting pipe is installed on the top of the through pipe, a valve is installed on the outer side of the connecting pipe, and the other end of the connecting pipe is connected with the guide plate.

[0014] 1、The beneficial effects of the present application are that the self-adaptive gripper cooperates with the claw core, the claw sleeve, the pressure sensor and the visual camera, cooperates with the soft rubber claw sleeve and the visual camera, the gripper can adapt to different shapes of products, greatly reduces the frequency of replacing the gripper, improves the production efficiency, the pressure sensor and the AI chip in the external control system are intelligently controlled, so that the gripper can ensure sufficient gripping force while avoiding excessive gripping force to cause product damage, improves the product quality and safety, so as to realize the self-adaptive gripping of the gripper on different shaped products, ensures that sufficient gripping force can be provided in the gripping process, and prevents excessive gripping force from causing product damage, thereby improving the production efficiency and safety.

[0015] 2、The self-adaptive gripper cooperates with the sawtooth part and the protrusion, the protrusion can increase the friction force of the claw sleeve clamping surface, the claw sleeve part between every two claw cores is designed in a sawtooth shape, the deformation ability of the claw finger mechanism is enhanced, the claw finger mechanism can better adapt to clamping different shaped products, the number of claw cores is increased and the claw sleeve is optimized, the gripper can adapt to more complex workpiece shapes, the application range is expanded, the deformation ability of the claw finger is enhanced, and the gripper better adapts to different shaped products.

[0016] 3. The self-adaptive gripper, by cooperating the fan assembly, the guide pipe and the air guide plate, the wind is delivered to the inside of the guide pipe through the working of the fan assembly, when the wind is blown out from the inside of the guide pipe and the air guide plate, the lithium battery clamped in the device can be cooled, at the same time, the clamping surface of the lithium battery can be treated, so that the foreign matters adhered to the surface of the lithium battery are avoided, the clamping effect of the device on the lithium battery is affected, thereby, the lithium battery is prevented from overheating and catching fire in the process of clamping the battery by the gripper, and the clamping and carrying of the lithium battery by the gripper are not affected.

[0017] 4. The self-adaptive gripper, by cooperating the cooling pipe and the air expansion plate, the wind can be cooled through the cooling pipe, the wind is conveniently cooled to the lithium battery in the later period, the wind generated by the fan assembly part is delivered to the inside of the air expansion plate, when the wind is sent out from the inside of the air expansion plate, the cooling area of the device on the lithium battery can be increased, thereby, the cooling effect of the device on the lithium battery can be improved.

[0018] 5. The self-adaptive gripper, by cooperating the through pipe, the air bag, the connecting pipe and the valve, when the valve is opened, the wind in the inside of the air guide plate is delivered to the inside of the air bag through the connecting pipe and the through pipe, at this time, two groups of air bags are inflated, when the claw finger mechanism clamps and grabs the lithium battery, one group of air bags is extruded, and the other group of air bags is gradually inflated, the worker compares whether the inflation sizes of the several groups of air bags are synchronous or not, to intuitively know the detection condition of the pressure sensor, if synchronous, there is no fault, if asynchronous, there is a fault, the worker can directly know which group of pressure sensor on the claw core exists fault and is maintained, thereby, the operation of the worker is facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the perspective view of the embodiment of the present application;

[0020] Figure 2 is the perspective view of the bottom of the embodiment of the present application;

[0021] Figure 3 is the internal structure schematic view of the guide pipe part in the present application;

[0022] Figure 4 is the structure schematic view of the claw finger mechanism in the present application;

[0023] Figure 5 is the structure schematic view of the claw core in the present application;

[0024] Figure 6 is the gas flow schematic view of the fan assembly in the present application.

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] 1, grab base; 101, motor drive assembly; 2, claw finger mechanism; 201, claw core; 202, claw sleeve; 2021, sawtooth part; 2022, protruding block; 3, pressure sensor; 4, visual camera; 5, processing mechanism; 501, fan assembly; 502, lead pipe; 5021, cooling pipe; 503, air guide plate; 6, air expansion plate; 7, through pipe; 701, valve; 702, air bag; 703, connecting pipe. DETAILED DESCRIPTION

[0027] The subject matter described herein will now be discussed with reference to example implementations. It should be understood that discussions of these implementations are merely provided to enable those skilled in the art to better understand so as to implement the subject matter described herein, and variations of elements discussed can be made by one skilled in the art, without departing from the scope of the present specification. Various examples can omit, substitute, or add various procedures or components as appropriate, and the methods described can not require the particular order described, where appropriate. Also, features described with respect to some examples can be combined in other examples.

[0028] Example one

[0029] The technical solutions of the present application will be further described in detail below in combination with the accompanying drawings and specific examples. Please refer to Figures 1 to 6 , the self-adaptive grabber provided in the present application, please refer to Figure 1 , Figure 2 , Figure 4 and Figure 5 , the inside of the grab base 1 is installed with the motor drive assembly 101, the motor drive assembly 101 is composed of a DC servo motor and a transmission mechanism, the inner top of the grab base 1 close to the motor drive assembly 101 is installed with two sets of claw finger mechanisms 2, the claw finger mechanism 2 includes a claw core 201 and a claw sleeve 202, three sets of claw cores 201 are installed on both sides of the bottom of the grab base 1, the claw sleeve 202 is wrapped and installed on the outside of the claw core 201, one set of motor drive assembly 101 is connected between every two sets of three sets of claw cores 201, the inner wall of the claw core 201 is installed with the pressure sensor 3, the detection end of the pressure sensor 3 extends outside the claw core 201, the pressure sensor 3 is a thin film pressure sensor, the visual camera 4 is installed at the central position of the inner top of the grab base 1, the visual camera 4 is a high-definition CMOS camera.

[0030] Specifically, in order to realize the clamping of the lithium battery, the claw finger mechanism 2 is composed of three groups of claw cores 201 and claw sleeves 202. The claw core 201 and the claw sleeve 202 are driven to move by the motor transmission assembly 101, so that the claw core 201 and the claw sleeve 202 clamp and grab the lithium battery. If greater clamping force or clamping of more complex shaped products is required, the number of claw cores 201 can be increased to improve the flexibility and gripping force of the gripper. At the same time, the stress condition of the claw finger mechanism 2 during the grabbing of the lithium battery can be monitored by the pressure sensor 3. Through the pressure sensor 3 and the external system control, the gripper can ensure sufficient gripping force while avoiding excessive gripping force that may damage the product, thereby improving product quality and safety. The clamping end of the gripper can be monitored by the visual camera 4 to see if the soft rubber claw sleeve 202 fits the outer surface of the lithium battery. Through the cooperation of the soft rubber claw sleeve 202 and the visual camera 4, the gripper can adapt to different shaped products, greatly reducing the frequency of replacing the gripper and improving production efficiency. Through the pressure sensor 3 and the external control system, the claw finger mechanism 2 can ensure sufficient gripping force while avoiding excessive gripping force that may damage the product, thereby improving product quality and safety.

[0031] Please refer to Figure 1 and Figure 4 , the outer surface of the claw sleeve 202 close to the two groups of claw cores 201 is provided with a sawtooth part 2021, and the clamping surface of the claw sleeve 202 is provided with a protrusion 2022.

[0032] Specifically, in order to better adapt to the clamping of different shaped product lithium batteries, the protrusion 2022 can increase the friction of the clamping surface of the claw sleeve 202, making the clamping more stable. By designing the claw sleeve 202 part between every two claw cores 201 as a sawtooth part 2021, the deformation ability of the claw finger mechanism 2 can be enhanced, better adapting to the clamping of different shaped product lithium batteries.

[0033] Please refer to Figure 2 and Figure 3 , the inner top of the gripper base 1 is provided with a processing mechanism 5, and the processing mechanism 5 includes a fan assembly 501, a guide pipe 502 and a guide plate 503. The inner top of the gripper base 1 is provided with the fan assembly 501, and the fan assembly 501 is composed of a fan and a shell. The output end of the fan assembly 501 is provided with the guide pipe 502, and the inner top of the gripper base 1 close to the two ends of the guide pipe 502 is provided with the guide plate 503.

[0034] Specifically, in order to realize the cooling of the clamped lithium battery and the treatment of the clamping surface, the fan assembly 501 works to deliver air to the inside of the guide pipe 502, and the guide air port at the bottom of the guide air plate 503 is aligned with the clamping surface of the device. When the air blows out from the inside of the guide pipe 502 and the guide air plate 503, it can not only cool the lithium battery clamped in the device, but also treat the clamping surface of the lithium battery to avoid foreign matter adhering to the surface and affecting the clamping effect of the device on the lithium battery.

[0035] Please refer to Figure 2 and Figure 3 The outer side of the guide pipe 502 is provided with a cooling pipe 5021, the outer surface of the cooling pipe 5021 is composed of heat insulation material, the inside of the cooling pipe 5021 contains cooling liquid, and the outer side of the cooling pipe 5021 is connected with two groups of pipelines to circulate and deliver the cooling liquid in the cooling pipe 5021.

[0036] Please refer to Figure 2 The bottom of the fan assembly 501 is provided with an air diffuser plate 6, the air diffuser plate 6 is in communication with the air outlet end of the fan assembly 501, and the air outlet end of the fan assembly 501 is connected with two groups of guide pipes 502 and the air diffuser plate 6.

[0037] Specifically, in order to improve the cooling effect and area of the device on the lithium battery, the air can be cooled by the cooling pipe 5021 when the air passes through the inside of the cooling pipe 5021, which facilitates the cooling of the lithium battery by the air in the later stage, and the air generated by the fan assembly 501 is delivered to the inside of the air diffuser plate 6. When the air is sent out from the inside of the air diffuser plate 6, the cooling area of the device on the lithium battery can be increased, and the cooling effect of the device on the lithium battery can be improved.

[0038] Please refer to Figure 5 The inside of the claw core 201 is provided with a through pipe 7, and the two sides of the through pipe 7 are provided with air bags 702.

[0039] Please refer to Figure 1 and Figure 2 The top of the through pipe 7 is provided with a connecting pipe 703, the outer side of the connecting pipe 703 is provided with a valve 701, and the other end of the connecting pipe 703 is connected with the guide air plate 503.

[0040] Specifically, in order to realize the auxiliary monitoring function of the claw finger mechanism 2 when clamping the lithium battery, the valve 701 is opened, the air in the inner part of the air guide plate 503 will be transported to the inside of the air bag 702 through the connecting pipe 703 and the through pipe 7, at this time, the two groups of air bags 702 will be inflated, when the claw finger mechanism 2 clamps and grabs the lithium battery, one group of air bags 702 will be extruded, so that the gas in the extruded air bag 702 flows along the through pipe 7 to the inside of the other group of air bags 702, at this time, this group of air bags 702 will gradually inflate, then the pressure sensor 3 can be assisted to monitor, avoid the pressure sensor 3 failure cannot feedback signal in time, the worker can directly observe the inflation size of the air bag 702, the worker compares whether the inflation sizes of several groups of air bags 702 are synchronous or not, to intuitively know the detection condition of the pressure sensor 3, if synchronous, there is no fault, if asynchronous, there is a fault, at the same time, the worker can directly know which group of claw core 201 has a fault pressure sensor 3, and maintain, avoid that when the lithium battery automatic production multiple grippers clamp the lithium battery at the same time, the worker cannot conveniently and intuitively know the position of the fault pressure sensor 3.

[0041] Working principle: Before use, check the working state of the motor drive assembly 101, the pressure sensor 3 and the visual camera 4, ensure that the parameters are normal, then install the gripper base 1 on the robot arm or other positioning device, ensure that the center of the gripper is aligned with the center of the target product, start the external gripper control system, the motor drive assembly 101 starts to drive the claw core 201 to shrink inward, preliminarily clamps the product, the visual camera 4 monitors the state of the claw finger and the shape of the product in real time, determines whether each claw core 201 is completely attached to the surface of the product through image processing algorithm, the claw core 201 that has been attached stops shrinking, the claw core 201 that has not been attached continues to shrink until it is attached, after all the claw cores 201 are attached, the motor drive assembly 101 continues to drive the claw core 201 to shrink, the pressure sensor 3 monitors the gripping force in real time to ensure that the gripping force is moderate, the AI chip in the external control system calculates the optimal gripping force value according to the data of the pressure sensor 3 and the image of the visual camera 4, dynamically adjusts the working state of the motor drive assembly 101, finally stably clamps the product, and finally the robot arm lifts the gripper to move the product to the designated position.

[0042] The above describes the embodiments of the specific embodiments, but the embodiments are not limited to the above specific embodiments, the above specific embodiments are only illustrative, not limiting, and those skilled in the art can make many forms under the inspiration of the embodiments, which all belong to the protection of the embodiments.

Claims

1. An adaptive gripper comprising a gripper base (1); characterized in that, The inside of the grab base (1) is provided with a motor drive assembly (101), two groups of claw finger mechanisms (2) are installed on the inner top of the grab base (1) close to the motor drive assembly (101), the claw finger mechanism (2) comprises a claw core (201) and a claw sleeve (202), three groups of claw cores (201) are installed on both sides of the bottom of the grab base (1), the same claw sleeve (202) is wrapped and installed on the outer side of the three groups of claw cores (201), among the six groups of claw cores (201) on both sides, a group of motor drive assemblies (101) are connected between each group of claw cores (201) on the left and right sides, a pressure sensor (3) is installed on the inner wall of the claw core (201), a visual camera (4) is installed at the central position of the inner top of the grab base (1). The claw sleeve (202) is provided with a sawtooth part (2021) on the outer surface between the two groups of claw cores (201), and the clamping surface of the claw sleeve (202) is provided with a protruding block (2022).

2. The adaptive gripper of claim 1, wherein: The inner top of the grab base (1) is provided with a processing mechanism (5). The processing mechanism (5) comprises a fan assembly (501), a guide pipe (502) and an air guide plate (503), the fan assembly (501) is installed on the inner top of the grab base (1), the output end of the fan assembly (501) is provided with the guide pipe (502), and the air guide plate (503) is installed on both ends of the guide pipe (502) on the inner top of the grab base (1).

3. A self-adapting gripper according to claim 2, wherein: The outer side of the guide pipe (502) is provided with a cooling pipe (5021).

4. The adaptive gripper of claim 2, wherein: The bottom of the fan assembly (501) is provided with an air diffuser (6), and the air diffuser (6) is in communication with the air outlet end of the fan assembly (501).

5. The adaptive gripper of claim 2, wherein: The inside of the claw core (201) is provided with a through pipe (7), and the both sides of the through pipe (7) are provided with air bags (702).

6. A self-adapting gripper according to claim 5, wherein: The top of the through pipe (7) is provided with a connecting pipe (703), the outer side of the connecting pipe (703) is provided with a valve (701), and the other end of the connecting pipe (703) is connected with the air guide plate (503).

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