Battery cell feeding clamping jaw device based on sliding block structure and control method of battery cell feeding clamping jaw device

Abstract

The invention discloses a battery cell feeding clamping jaw device based on a sliding block structure and a control method of the battery cell feeding clamping jaw device. The battery cell feeding clamping jaw device comprises a mounting base, a linear driving mechanism, a force transmission mechanism, a sliding rail assembly and a clamping jaw arm assembly. And the linear driving mechanism is assembled on the mounting base. And the force transmission mechanism is connected with the linear driving mechanism. The sliding rail assembly comprises a guide rail, a first sliding block and a second sliding block, the guide rail is fixedly connected with the mounting base, the first sliding block and the second sliding block are embedded in the guide rail and connected with the force transmission mechanism, and the linear driving mechanism drives the first sliding block and the second sliding block to move in the opposite direction or the opposite direction along the guide rail through the force transmission mechanism. The clamping jaw arm assembly comprises a first clamping jaw arm and a second clamping jaw arm which are oppositely arranged, the first clamping jaw arm is connected with the first sliding block, and the second clamping jaw arm is connected with the second sliding block. Movement synchronism of the first clamping jaw arm and the second clamping jaw arm can be effectively provided, and it is guaranteed that the two sides of a battery cell are evenly stressed.

Description

Technical Field

[0001] This invention relates to the field of lithium battery technology, and in particular to a cell loading gripper device based on a slider structure and its control method. Background Technology

[0002] In the lithium-ion battery production process, cell loading is one of the key steps on the cell assembly line. Traditional cell loading grippers widely use cylinder-driven parallel pneumatic grippers (such as SMC type parallel opening and closing grippers). This structure usually adopts a single-sided cantilever drive method: the cylinder body is fixed to one side of the base, and the piston rod directly drives the two gripping fingers to move in opposite directions or away from each other through a hinge.

[0003] The following technical problems exist in practical use: Traditional grippers have two gripping arms driven by the same cylinder via a hinge mechanism. Due to the fit gap at the hinge and the fact that the driving force only acts on one side, the two gripping arms are prone to asynchronous displacement during movement due to resistance differences (i.e., one gripping arm contacts the battery cell first, while the other lags behind). This results in uneven force on the battery cell, offset of the gripping center, and potential damage to the battery cell surface or micro-deformation of the internal structure. Furthermore, the asymmetrical force transmission path of the unilateral drive makes it difficult to ensure that the two gripping arms always move symmetrically relative to the center of the base.

[0004] Because the cylinder piston rod and the clamping arm are hinged, the slight oscillation of the cylinder rod, the clearance at the hinge, and the asymmetry of force from unilateral drive are directly transmitted to the clamping fingers, making it difficult for the clamping fingers to maintain strict parallelism throughout the closing process. Battery cells (especially fragile pouch cells) are sensitive to clamping parallelism; even small angular deviations can lead to uneven clamping force distribution, and localized stress concentrations may cause dents in the cell casing or misalignment of internal electrodes.

[0005] During long-term use, the hinged parts are prone to unilateral wear due to the fit clearance, which can cause the clamping center to continuously shift under the action of overturning torque. This requires frequent adjustment and maintenance, affecting the equipment's uptime. Summary of the Invention

[0006] The problem solved by this invention is to provide a battery cell loading gripper device based on a slider structure and its control method.

[0007] In a first aspect, the present invention discloses a battery cell loading gripper device based on a slider structure, comprising: Mounting base; A linear drive mechanism is mounted on the mounting base; A force transmission mechanism is connected to the linear drive mechanism; A slide rail assembly includes a guide rail, a first slider, and a second slider. The guide rail is fixedly connected to the mounting base. The first slider and the second slider are embedded in the slide rail and connected to the force transmission mechanism. The linear drive mechanism drives the first slider and the second slider to move in opposite directions or in opposite directions along the guide rail via the force transmission mechanism. The gripper arm assembly includes a first gripper arm and a second gripper arm disposed opposite to each other, the first gripper arm being connected to the first slider and the second gripper arm being connected to the second slider.

[0008] In some embodiments, the linear drive mechanism includes a first piston rod and a second piston rod on the same straight line, and the first piston rod and the second piston rod move in opposite directions; the first piston rod is driven to the first slider through the force transmission mechanism, and the second piston rod is driven to the second slider through the force transmission mechanism.

[0009] In some embodiments, the force transmission mechanism includes a first embedding block and a second embedding block disposed opposite to each other. The first embedding block is connected to the first piston rod, the second embedding block is connected to the second piston rod, the first embedding block is also connected to the first slider, and the second embedding block is also connected to the second slider.

[0010] In some embodiments, the linear drive mechanism further includes a housing, the first piston rod and the second piston rod are disposed within the housing, the housing is provided with a first embedding hole and a second embedding hole, the first embedding block is embedded in the first embedding hole, the second embedding block is embedded in the second embedding hole, and the length of the first embedding hole is greater than the length of the first embedding block, and the length of the second embedding hole is greater than the length of the second embedding block.

[0011] In some embodiments, the force transmission mechanism further includes a first connecting block and a second connecting block; the first embedding block is connected to the first slider through the first connecting block, and the first gripper arm is connected to the first slider through the first connecting block; the second embedding block is connected to the second slider through the second connecting block, and the second gripper arm is connected to the second slider through the second connecting block.

[0012] In some embodiments, the cell loading gripper based on the slider structure further includes a flexible gripping head assembly, which includes a first gripping head and a second gripping head. The first gripping head is detachably connected to the side of the first gripper arm near the second gripper arm, and the second gripping head is detachably connected to the side of the second gripper arm near the first gripper arm.

[0013] In some embodiments, the cell loading gripper based on the slider structure further includes a position sensor assembly, which includes a first position sensor and a second position sensor. The first position sensor is disposed on the first gripper arm, and the second position sensor is disposed on the second gripper arm.

[0014] In some embodiments, the linear drive mechanism, the force transmission mechanism, the slide rail assembly, and the gripper arm assembly are all configured as two sets.

[0015] Secondly, the present invention also discloses a control method for a battery cell loading gripper device, applied in the controller of the battery cell loading gripper device described in the first aspect; a first position sensor is provided on the first gripper arm, and a second position sensor is provided on the second gripper arm; the first position sensor and the second position sensor are electrically connected to the controller, and the controller is also electrically connected to the linear drive mechanism; the control method includes: The position signals detected by the first position sensor and the second position sensor are acquired in real time to determine the real-time distance value between the first gripper arm and the second gripper arm. Based on the relationship between the real-time spacing value and the preset target spacing value, the intake pressure of the linear drive mechanism is adjusted in real time to control the clamping force of the two gripper arms on the battery cell.

[0016] In some embodiments, adjusting the intake pressure of the linear drive mechanism in real time based on the relationship between the real-time spacing value and the preset target spacing value to control the clamping force of the two gripper arms on the battery cell includes: When the real-time spacing value is greater than the first threshold, the linear drive mechanism is controlled to drive the two gripper arms to quickly approach the battery cell with the first pressure value. When the real-time spacing value decreases to between the first threshold and the second threshold, the intake pressure of the linear drive mechanism is dynamically reduced to the second pressure value, so that the two gripper arms approach the surface of the battery cell at a preset low speed. When the real-time spacing value is equal to or less than the second threshold, the intake pressure of the linear drive mechanism is adjusted to a third pressure value corresponding to the cell specification and kept constant.

[0017] The beneficial effects of this invention: This invention discloses a battery cell loading gripper device and its control method based on a slider structure. The slider-based battery cell loading gripper device includes a mounting base, a linear drive mechanism, a force transmission mechanism, a slide rail assembly, and a gripper arm assembly. The linear drive mechanism is mounted on the mounting base. The force transmission mechanism is connected to the linear drive mechanism. The slide rail assembly includes a guide rail, a first slider, and a second slider. The guide rail is fixedly connected to the mounting base. The first and second sliders are embedded in the slide rail and connected to the force transmission mechanism. The linear drive mechanism drives the first and second sliders to move in opposite directions or backward along the guide rail via the force transmission mechanism. The gripper arm assembly includes a first gripper arm and a second gripper arm arranged opposite to each other. The first gripper arm is connected to the first slider, and the second gripper arm is connected to the second slider.

[0018] The linear motion of the cylinder piston rod is converted into the synchronous, opposite motion of the two sliders. Because the guide rail is fixed, the first and second sliders are embedded in it, and the transmission between the sliders and the guide rail is rigid. This effectively ensures the synchronicity of the movement of the first and second gripper arms, guaranteeing uniform force on both sides of the battery cell. Furthermore, the translational movement of the first and second sliders on the guide rail, constrained by the rail, ensures the parallelism of their movements, thus maintaining the parallelism of the gripping. In contrast, traditional cylinder-driven gripper closure schemes rely solely on the cylinder rod for gripper movement; therefore, even slight oscillations of the cylinder rod can compromise the parallelism of the gripping. The battery cell loading gripper device based on a slider structure provided in this embodiment, with a fixed guide rail and rigid transmission between the slider and the guide rail, and the slider connected to the cylinder piston rod via a force transmission mechanism, ensures the parallel movement of the slider and, conversely, constrains the cylinder piston rod, ensuring only linear movement and preventing oscillations. Furthermore, the wear of the slider and the guide rail is small and uniform, that is, the wear of the first slider and the second slider are almost the same, which significantly reduces the sway amplitude of the battery cell loading gripper device during high-speed movement, improves the loading positioning accuracy, solves the problem that the hinge part in the traditional gripper is prone to unilateral wear under the action of overturning torque, resulting in continuous offset of the clamping center, and improves the service life of the battery cell loading gripper device. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1This is an overall structural diagram of the battery cell loading gripper device based on a slider structure provided in an embodiment of the present invention; Figure 2 This is a structural diagram from another perspective of the battery cell loading gripper device based on a slider structure provided in an embodiment of the present invention; Figure 3 Another structural view of the cell loading gripper device based on a slider structure provided in an embodiment of the present invention; Figure 4 A partial structural diagram of the battery cell loading gripper device based on a slider structure provided in an embodiment of the present invention; Figure 5 This is a partial structural diagram from another perspective of the battery cell loading gripper device based on a slider structure provided in an embodiment of the present invention. Figure 6 A flowchart of the control method for the battery cell loading gripper device provided in an embodiment of the present invention.

[0021] Reference numerals in the figures: 1. Mounting base; 2. Linear drive mechanism; 21. Housing; 211. First embedding hole; 212. Second embedding hole; 3. Force transmission mechanism; 31. First embedding block; 32. Second embedding block; 33. First connecting block; 34. Second connecting block; 4. Slide rail assembly; 41. Guide rail; 42. First slider; 43. Second slider; 44. Third connecting block; 5. Gripper arm assembly; 51. First gripper arm; 52. Second gripper arm; 511. Connecting part; 512. Clamping part; 6. Gripper head assembly; 61. First gripper head; 62. Second gripper head; 7. Position sensor assembly; 71. First position sensor; 72. Second position sensor. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and, or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and, or collections thereof.

[0024] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0025] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] It should also be further understood that the terms “and” and “or” as used in this specification and the appended claims refer to any combination of one or more of the associated listed items and all possible combinations, and include such combinations.

[0027] like Figures 1 to 5 As shown, Figure 1 This is an overall structural diagram of the battery cell loading gripper device based on a slider structure provided in an embodiment of the present invention; Figure 2 This is a structural diagram from another perspective of the battery cell loading gripper device based on a slider structure provided in an embodiment of the present invention; Figure 3 Another structural view of the cell loading gripper device based on a slider structure provided in an embodiment of the present invention; Figure 4 A partial structural diagram of the battery cell loading gripper device based on a slider structure provided in an embodiment of the present invention; Figure 5 This is a partial structural diagram from another perspective of the battery cell loading gripper device based on a slider structure provided in an embodiment of the present invention. The present invention discloses a battery cell loading gripper device based on a slider structure, used for clamping battery cells during battery cell-related production and processing, such as the automated loading process of square aluminum-cased battery cells, soft-pack battery cells, and cylindrical battery cells; the transfer process of battery cells from the buffer platform to the assembly line; the transfer of battery cells between formation and capacity testing processes; and the loading and positioning during battery cell module assembly.

[0028] The cell loading gripper device based on a slider structure includes a mounting base 1, a linear drive mechanism 2, a force transmission mechanism 3, a slide rail assembly 4, and a gripper arm assembly 5. The linear drive mechanism 2 is mounted on the mounting base 1. The force transmission mechanism 3 is connected to the linear drive mechanism 2. The slide rail assembly 4 includes a guide rail 41, a first slider 42, and a second slider 43. The guide rail 41 is fixedly connected to the mounting base 1. The first slider 42 and the second slider 43 are embedded in the slide rail and connected to the force transmission mechanism 3. The linear drive mechanism 2 drives the first slider 42 and the second slider 43 to move in opposite directions or backward along the guide rail 41 via the force transmission mechanism 3. The gripper arm assembly 5 includes a first gripper arm 51 and a second gripper arm 52 arranged opposite to each other. The first gripper arm 51 is connected to the first slider 42, and the second gripper arm 52 is connected to the second slider 43.

[0029] In this embodiment, the mounting base 1 can be a relatively flat cuboid plate, which can be connected to the end of the feeding mechanism or feeding robot through the connecting shaft at its top. The mounting base 1 serves as the mounting base for other components of the battery cell feeding gripper device. When the feeding mechanism or feeding robot moves the mounting base 1, it moves the battery cell feeding gripper device. The linear drive mechanism 2 specifically includes a cylinder, which controls the piston rod to extend or retract linearly by controlling the air pressure inside. The force transmission mechanism 3 is connected to the linear drive mechanism 2, specifically to the piston rod of the linear drive mechanism 2. The linear drive mechanism 2 drives the first slider 42 and the second slider 43 to move in opposite directions or away from each other through the force transmission mechanism 3. Since the first slider 42 is connected to the first gripper arm 51 and the second slider 43 is connected to the second gripper arm 52, the first gripper arm 51 and the second gripper arm 52 are driven to move in opposite directions or away from each other to grip or release the gripped target, i.e., the battery cell. In this way, the linear motion of the cylinder piston rod is converted into the synchronous reverse motion of the two sliders. Since the guide rail 41 is fixed, the first slider 42 and the second slider 43 are embedded in the guide rail 41. The sliders and the guide rail 41 are rigidly connected, effectively ensuring the synchronicity of the movement of the first gripper arm 51 and the second gripper arm 52, guaranteeing uniform force distribution on both sides of the battery cell. The overall structure of this battery cell loading gripper device forms a closed force flow frame consisting of mounting base 1, guide rail 41, sliders, gripper arms, and mounting base 1. Its rigidity is far superior to traditional cantilever grippers, enabling stable clamping of large-mass, long-sized battery cells without tipping or wobbling. Furthermore, the translational movement of the first slider 42 and the second slider 43 on the guide rail 41, whereby their movement is constrained by the guide rail 41, ensures the parallelism of their movements, thus maintaining the parallelism of the clamping. In contrast, the traditional cylinder-driven clamping finger closure scheme relies solely on the cylinder rod for its movement trajectory. Consequently, maintaining the parallelism of the clamping becomes difficult when the cylinder rod experiences slight oscillations. In the battery cell loading clamping device based on a slider structure provided in this embodiment, the guide rail 41 is fixed, and the slider rigidly transmits power to the guide rail 41. The slider is also connected to the cylinder piston rod via a force transmission mechanism. Therefore, while ensuring the parallel movement of the slider, it can conversely constrain the cylinder piston rod, causing it to move only in a straight line and preventing oscillations. Furthermore, the wear of the slider and the guide rail 41 is small and uniform, that is, the wear of the first slider 42 and the second slider 43 is almost the same, which significantly reduces the sway amplitude of the battery cell loading gripper device during high-speed movement, improves the loading positioning accuracy, and solves the problem that the hinge part in the traditional gripper is prone to unilateral wear under the action of overturning torque due to the fit gap, resulting in continuous offset of the clamping center. Therefore, the service life of the battery cell loading gripper device can be improved.

[0030] Specifically, the guide rail 41 has a recess and a protrusion on both sides. The protrusion is connected to the lower end of the recess, that is, the protrusion is closer to the lower end of the guide rail 41 than the recess, while the recess is located in the middle of the side of the guide rail 41. The top center of the first slider 42 and the second slider 43 is recessed downward to form a groove. The shape of the groove is adapted to the shape of the recessed and protruding parts on both sides of the guide rail 41 and the shape of the lower end, so that the first slider 42 and the second slider 43 are embedded on the guide rail 41. The distance from the first side of the guide rail 41 to the first side of the first slider 42 (second slider 43) is equal to the distance from the second side of the guide rail 41 to the second side of the first slider 42 (second slider 43), so that the friction force received on both sides of the guide rail 41 is as equal as possible. Thus, even if the slider and the guide rail 41 experience minor wear, it is uniform. That is, in this battery cell feeding gripper device, not only is the wear of the first slider 42 and the second slider 43 uniform, but the wear of each side of the two sliders is also uniform, thereby ensuring that the battery cell is subjected to uniform force on both sides and the parallelism of the gripping during the clamping process.

[0031] In one embodiment, the linear drive mechanism 2 includes a first piston rod and a second piston rod on the same straight line, and the first piston rod and the second piston rod move in opposite directions. The cylinders driving the first piston rod and the cylinders driving the second piston rod are arranged in opposite directions. The first piston rod is connected to the first slider 42 through the force transmission mechanism 3, and the second piston rod is connected to the second slider 43 through the force transmission mechanism 3. When the end of the first piston rod approaches the end of the second piston rod, the gripper arm assembly performs a cell clamping action.

[0032] In this embodiment, the linear drive mechanism 2 includes a first piston rod and a second piston rod on the same straight line. That is, the linear drive mechanism 2 may include two identical cylinders arranged in opposite directions, with one cylinder having the first piston rod and the other having the second piston rod. This ensures that the driving force of the first piston rod on the first slider 42 and the driving force of the second piston rod on the second slider 43 are the same, thereby ensuring that the pressure on both sides of the battery cell is the same. The first piston rod and the second piston rod can be on the same horizontal straight line. Specifically, the linear drive mechanism 2 also includes a housing 21. Two cylinders arranged in opposite directions are integrated within the housing 21. The opposite arrangement means that when the first and second piston rods extend, the ends of the first and second piston rods are moving away from each other rather than approaching each other. This allows the main bodies of the two cylinders to be positioned close together, saving space inside the housing 21. If the two cylinders were arranged facing each other, meaning that when the first and second piston rods extend, the ends of the first and second piston rods would approach each other, then the housing 21 would need to provide extra space for the entire movement of the two piston rods. Furthermore, the space occupied by the force transmission mechanism 3 connected to the piston rods, as well as its entire movement space, would also have to be located within the housing 21, leading to an increase in the volume of the housing 21, and thus an increase in the overall volume of the linear drive mechanism 2. By arranging the two cylinders in opposite directions within the housing 21, the force transmission mechanism 3 can move outwards from the housing 21 when the first and second piston rods extend (see the detailed description of the force transmission mechanism 3 in the following embodiments).

[0033] Therefore, arranging the two cylinders in opposite directions facilitates their integration within a single housing 21, improving integration performance, reducing the overall size of the linear drive mechanism 2, and increasing the available space for the mounting base 1. Figure 1 As shown, in this embodiment, two sets of linear drive mechanisms 2 can be installed on the mounting base 1, so that the gripper arm assembly 5 can clamp the battery cell. That is, without increasing the size of the mounting base 1, two battery cells can be clamped at the same time, thus improving work efficiency.

[0034] In one embodiment, the force transmission mechanism 3 includes a first embedding block 31 and a second embedding block 32 disposed opposite to each other. The first embedding block 31 is connected to the first piston rod, and the second embedding block 32 is connected to the second piston rod. The first embedding block 31 is also connected to the first slider 42, and the second embedding block 32 is also connected to the second slider 43.

[0035] In this embodiment, the first embedding block 31 and the second embedding block 32 can be T-shaped blocks of a certain length, and they are also arranged on the same horizontal straight line. The first piston rod and the second piston rod are arranged between the first embedding block 31 and the second embedding block 32. The end of the first piston rod away from the second piston rod is connected to the T-shaped side of the first embedding block 31 near the second embedding block 32, and the end of the second piston rod away from the first piston rod is connected to the T-shaped side of the second embedding block 32 near the first embedding block 31. Thus, the first piston rod in the linear drive mechanism 2 drives the first embedding block 31 to move linearly, and the second piston rod drives the second embedding block 32 to move linearly, thereby driving the first slider 42 and the second slider 43 to move linearly, and further driving the first gripper arm 51 and the second gripper arm 52 to move linearly. When the first piston rod and the second piston rod extend, the battery cell loading gripper device clamps the battery cell; when the first piston rod and the second piston rod retract, the battery cell loading gripper device releases the battery cell, thus completing the loading and unloading of the battery cell.

[0036] In one embodiment, the linear drive mechanism 2 further includes a housing 21, in which the first piston rod and the second piston rod are disposed. The housing 21 is provided with a first embedding hole 211 and a second embedding hole 212. The first embedding block 31 is embedded in the first embedding hole 211, and the second embedding block 32 is embedded in the second embedding hole 212. The length of the first embedding hole 211 is greater than the length of the first embedding block 31, and the length of the second embedding hole 212 is greater than the length of the second embedding block 32.

[0037] In this embodiment, two counter-arranged cylinders are integrated within the housing 21. A first embedding hole 211 and a second embedding hole 212 are respectively provided on two opposite sides of the housing 21. The shape and size of the first embedding hole 211 are adapted to the shape and size of the first embedding block 31, and the shape and size of the second embedding hole 212 are adapted to the shape and size of the second embedding block 32. Taking the first piston rod driving the first embedding block 31 as an example, when the first piston rod retracts (i.e., when clamping the battery cell), the first embedding block 31 can be completely embedded in the first embedding hole 211, i.e., retracted into the housing 21. When the first piston rod extends, the first embedding block 31 can partially protrude from the housing 21, i.e., partially located outside the housing 21. When the first piston rod drives the first embedding block 31 to move, the movement trajectory of the first embedding block 31 is not only affected by the first piston rod but also constrained by the first embedding hole 211. Since the length of the first embedding hole 211 is greater than the length of the first embedding block 31, the integrity of this constraint during the movement of the first embedding block 31 can be guaranteed. Furthermore, the outer casing 21 is fixedly connected to the mounting base 1, thus ensuring the guiding stability of the first embedded block 31. Combined with the guide rail 41 and the first slider 42 described in the above embodiment, this further ensures the guiding stability and anti-overturning torque capability of the first gripper arm 51, and conversely constrains the first piston rod to prevent it from shaking due to accidents, thereby ensuring the anti-overturning torque capability of the entire battery cell loading gripper device. The second piston rod drives the second embedded block 32 in the same way, and will not be described further here.

[0038] In one embodiment, the force transmission mechanism further includes a first connecting block 33 and a second connecting block 34; the first embedding block 31 is connected to the first slider 42 through the first connecting block 33, and the first gripper arm 51 is connected to the first slider 42 through the first connecting block 33; the second embedding block 32 is connected to the second slider 43 through the second connecting block 34, and the second gripper arm 52 is connected to the second slider 43 through the second connecting block 34.

[0039] In this embodiment, the lower ends of the first embedding block 31 and the second embedding block 32 protrude from the lower end of the outer shell 21. The upper end face of the first connecting block 33 is fixedly connected to the lower end face of the first embedding block 31, and the upper end face of the second connecting block 34 is fixedly connected to the lower end face of the second embedding block. Simultaneously, the area of ​​the upper end face of the first connecting block 33 is larger than the area of ​​the lower end face of the first embedding block 31, and another portion of the upper end face of the first connecting block 33 is fixedly connected to the lower end face of the first slider 42, thereby forming a connection between the first embedding block 31 and the first slider 42. The area of ​​the upper end face of the second connecting block 34 is larger than the area of ​​the lower end face of the second embedding block 32, and another portion of the upper end face of the second connecting block 34 is fixedly connected to the lower end face of the second slider 43, thereby forming a connection between the second embedding block 32 and the second slider 43. Furthermore, the upper end face of the first gripper arm 51 is connected to the lower end face of the first connecting block 33, thereby forming a connection between the first gripper arm 51 and the first slider 42; the upper end face of the second gripper arm 52 is connected to the lower end face of the second connecting block 34, thereby forming a connection between the second gripper arm 52 and the second slider 43. In this way, the linear drive mechanism 2 drives the first gripper arm 51 and the second gripper arm 52 to move in opposite directions or in opposite directions along the guide rail 41 through the force transmission mechanism 3.

[0040] Specifically, a third connecting block 44 is fixedly connected to the top of the guide rail 41. One side of the third connecting block 44 is fixedly connected to the side of the housing 21. Since the housing 21 is fixedly connected to the mounting base 1, a fixed connection is formed between the guide rail 41 and the mounting base 1.

[0041] In one embodiment, the cell loading gripper based on the slider structure further includes a flexible gripping head assembly 6, which includes a first gripping head 61 and a second gripping head 62. The first gripping head 61 is detachably connected to the side of the first gripper arm 51 near the second gripper arm 52, and the second gripping head 62 is detachably connected to the side of the second gripper arm 52 near the first gripper arm 51.

[0042] In this embodiment, taking the first gripper arm 51 as an example, the first gripper arm 51 includes a horizontally arranged connecting portion 511 and a clamping portion 512 perpendicular to the connecting portion 511. The top end of the clamping portion 512 is fixedly connected to the outer side of the connecting portion 511. Of course, the clamping portion 512 and the connecting portion 511 can be integrally formed. The top of the connecting portion 511 has a protrusion, and the lower end face of the first connecting block 33 has a groove. The protrusion of the connecting portion 511 can be embedded in the groove of the first connecting block 33, and the connection between the first connecting block 33 and the first gripper arm 51 is achieved by bolts or screws. That is, the first gripper arm 51 can also be detachably connected between the first connecting blocks 33. The second gripper arm 52 is symmetrically arranged with the first gripper arm 51, and its specific structure is the same as that of the first gripper arm 51, which will not be described again here. The first clamping head 61 and the second clamping head 62 can be flexible clamping pads to protect the battery cell and prevent the battery cell from being damaged. The first gripping head 61 is detachably connected to the side of the gripping portion 512 of the first gripper arm 51, and the second gripping head 62 is detachably connected to the side of the gripping portion 512 of the second gripper arm 52. Since the gripping head assembly 6 is detachably connected to the gripper arm assembly 5, it can adapt to different sizes of battery cells by replacing gripping pads of different specifications. That is, by setting up the modular gripping head assembly 6, the changeover time is shortened.

[0043] In one embodiment, the cell loading gripper device based on the slider structure further includes a position sensor assembly 7, which includes a first position sensor 71 and a second position sensor 72. The first position sensor 71 is disposed on the first gripper arm 51, and the second position sensor 72 is disposed on the second gripper arm 52.

[0044] In this embodiment, the clamping portion 512 of the first gripper arm 51 may have a through hole, and the first gripping head 61 on its inner side also has a through hole at the same position. The first position sensor 71 may be disposed on the clamping portion 512 of the first gripper arm 51, and the position of its through hole may be set so that the first position sensor 71 can acquire the position signal of the inner side of the first gripper arm 51. The second position sensor 72 is similar and will not be described in detail here. The position sensor assembly 7 can be used to detect the distance between the first gripper arm 51 and the second gripper arm 52 or to detect the distance between the gripper arm assembly 5 and the battery cell, thereby more accurately controlling the linear drive mechanism 2 to apply driving force stably and safely.

[0045] In one embodiment, the linear drive mechanism 2, the force transmission mechanism 3, the slide rail assembly 4, and the gripper arm assembly 5 are all configured as two sets.

[0046] In this embodiment, two sets of linear drive mechanisms 2 are symmetrically mounted on the mounting base 1 with respect to the center of the mounting base 1. Each set of linear drive mechanisms 2 is connected or cooperates with its corresponding force transmission mechanism 3, slide rail assembly 4, and gripper arm assembly 5 as described in the above embodiment. The cell loading gripper device based on the slider structure provided in this embodiment can simultaneously load two cells, improving work efficiency.

[0047] Compared to traditional cylinder grippers, the battery cell loading gripper device based on a slider structure provided by this invention has at least the following advantages: High synchronization accuracy: Through the rigid guidance of the slider guide rail and the synchronous design of the force transmission mechanism, the motion synchronization error of the gripper arms on both sides is less than 0.1mm, ensuring that the battery cell is subjected to uniform force and avoiding damage caused by off-center load.

[0048] Good motion stability: The clearance between the slider and the guide rail is adjustable and wear is small. The wobbling amplitude of the gripper during high-speed movement is reduced by more than 70%, which significantly improves the feeding and positioning accuracy (up to ±0.2mm).

[0049] Long service life: The wear of the guide rail slider structure is uniform, and its service life can be 3-5 times that of the traditional hinge structure, reducing maintenance frequency and downtime.

[0050] Highly adaptable: The clamping head adopts a modular design, and can be adapted to various sizes of battery cells by changing the clamping pads of different specifications, reducing the changeover time from the original 30 minutes to less than 5 minutes.

[0051] Cost advantage: While achieving similar precision to servo motor driven grippers, manufacturing costs are reduced by more than 40%, making it more suitable for large-scale industrial applications.

[0052] High safety: The clamping force can be precisely controlled by the cylinder pressure, and an overload protection mechanism is provided to avoid damage to the battery cells due to misoperation.

[0053] High rigidity: Significantly improved resistance to lateral loads: The overall structure forms a closed force flow frame, with rigidity far superior to traditional cantilever grippers, enabling stable clamping of large-mass, long-sized battery cells without tipping or shaking.

[0054] Compact structure and easy integration: The device can be modularly designed, and its overall size is comparable to that of traditional grippers. It can directly replace the original grippers, making it convenient to upgrade and transform existing production lines.

[0055] See also Figure 6This invention also provides a control method for a battery cell loading gripper device, applied in the controller of the battery cell loading gripper device described in the above embodiments; a first position sensor is provided on the first gripper arm, and a second position sensor is provided on the second gripper arm. The first and second position sensors are electrically connected to the controller, which is also electrically connected to the linear drive mechanism. By receiving the position signals detected by the first and second position sensors, the air intake pressure of the linear drive mechanism is adjusted in real time to achieve flexible clamping of the battery cell. The control method includes steps S1 to S2.

[0056] S1. Acquire the position signals detected by the first position sensor and the second position sensor in real time, and determine the real-time distance value between the first gripper arm and the second gripper arm.

[0057] In this embodiment, the position signals detected by the first and second position sensors are acquired in real time to determine the real-time distance value D between the first gripper arm and the second gripper arm. Specifically, position signals P1 and P2 output by the first and second position sensors are received. Based on position signals P1 and P2, the absolute position coordinates X1 and X2 of the first and second gripper arms relative to a preset mechanical origin are calculated respectively. The preset mechanical origin is a fixed reference point on the mounting base (such as the midpoint or end point of the linear guide rail), which is set by a zero-point calibration program before the equipment leaves the factory. The calculation formulas for the absolute position coordinates X1 and X2 are: X1 = P1 × K1 + C1, X2 = P2 × K2 + C2, where K1 and K2 are the resolution coefficients of the sensors (unit: mm / pulse), and C1 and C2 are the zero-point offset compensation values. The real-time distance value D is calculated based on the absolute position coordinates X1 and X2. The real-time spacing value D is defined as the actual straight-line distance between the clamping surfaces of the two gripper arms, and the calculation formula is: D = |X1 - X2| - L0, where L0 is the initial spacing compensation value of the clamping surfaces of the two gripper arms. For example, if X1=150mm, X2=50mm, and L0=20mm, then the real-time spacing value D=|150-50|-20=80mm.

[0058] S2. Based on the relationship between the real-time spacing value and the preset target spacing value, adjust the intake pressure of the linear drive mechanism in real time to control the clamping force of the two gripper arms on the battery cell.

[0059] In this embodiment, the air intake pressure P of the linear drive mechanism is adjusted in real time according to the relationship between the real-time spacing value D and the preset target spacing value Dtarget, so as to control the clamping force F of the two gripper arms on the battery cell. The preset target spacing value Dtarget is an expected value corresponding to the thickness specification of the battery cell to be clamped. For example, when the thickness of the battery cell is 30mm, Dtarget can be set to 30mm~32mm (leaving a clamping deformation allowance of 0~2mm).

[0060] In one embodiment, adjusting the intake pressure of the linear drive mechanism in real time based on the relationship between the real-time spacing value and the preset target spacing value to control the clamping force of the two gripper arms on the battery cell includes: When the real-time distance value is greater than the first threshold, the linear drive mechanism is controlled to drive the two gripper arms to quickly approach the battery cell with a first pressure value; when the real-time distance value decreases to between the first threshold and the second threshold, the intake pressure of the linear drive mechanism is dynamically reduced to the second pressure value, so that the two gripper arms approach the surface of the battery cell at a preset low speed; when the real-time distance value is equal to or less than the second threshold, the intake pressure of the drive cylinder is adjusted to a third pressure value corresponding to the battery cell specifications and kept constant.

[0061] In this embodiment, when the real-time spacing value D is greater than the first threshold D1, the linear drive mechanism is controlled to drive the two gripper arms to quickly approach the battery cell with a first pressure value P1. The first threshold is the dividing value that distinguishes between the idle travel stage and the approach stage. According to the typical layout of the battery cell loading station, D1 can be set to 50mm~100mm, for example, 80mm. The first pressure value P1 is the rated working pressure of the linear drive mechanism, for example, 0.5MPa~0.7MPa. Under this pressure, the two gripper arms approach the battery cell quickly at a first speed V1, for example, 200mm / s, to improve work efficiency.

[0062] When the real-time spacing value D decreases to between the first threshold D1 and the second threshold D2 (i.e., D2 ≤ D ≤ D1), the intake pressure of the linear drive mechanism is dynamically reduced to the second pressure value P2, causing the two gripper arms to approach the cell surface at a preset low speed V2. The second threshold D2 is the dividing value between the approach stage and the contact stage, and can be set to be slightly greater than the cell thickness D. cell The value, for example, D2 = D cell + (2~5)mm, for a 30mm thick battery cell, D2 can be set to 32mm~35mm.

[0063] The second pressure value P2 is less than the first pressure value P1. For example, P2 can be set to 0.2 MPa to 0.3 MPa. At this pressure, the two jaw arms approach the battery cell slowly at a second speed V2, such as 20 mm / s to 50 mm / s, to avoid damaging the surface of the battery cell due to high-speed impact.

[0064] When the actual distance value D is equal to or less than the second threshold D2 (i.e., D ≤ D2), it is determined that the two jaw arms have contacted the surface of the battery cell. The intake pressure of the linear drive mechanism is adjusted to a third pressure value P3 corresponding to the battery cell specification and maintained constant to achieve stable clamping. The third pressure value P3 is the holding pressure preset according to the mechanical strength characteristics of the battery cell. Generally, P3 < P2 < P1. For example, for a soft-pack battery cell, P3 can be set to 0.1 MPa to 0.15 MPa, and for a square aluminum-shell battery cell, P3 can be set to 0.2 MPa to 0.4 MPa.

[0065] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A battery cell loading gripper device based on a slider structure, characterized in that, include: Mounting base; A linear drive mechanism, mounted on the mounting base, includes a first piston rod and a second piston rod on the same straight line, wherein the first piston rod and the second piston rod move in opposite directions. A force transmission mechanism is connected to the linear drive mechanism; The slide rail assembly includes a guide rail, a first slider, and a second slider. The guide rail is fixedly connected to the mounting base. The first slider and the second slider are embedded in the slide rail and connected to the force transmission mechanism. The linear drive mechanism drives the first slider and the second slider to move in opposite directions or in opposite directions along the guide rail through the force transmission mechanism. as well as The gripper arm assembly includes a first gripper arm and a second gripper arm disposed opposite to each other. The first gripper arm is connected to the first slider, and the second gripper arm is connected to the second slider. When the end of the first piston rod approaches the end of the second piston rod, the gripper arm assembly performs a cell clamping action.

2. The cell loading gripper device based on a slider structure according to claim 1, characterized in that, The first piston rod is connected to the first slider via the force transmission mechanism, and the second piston rod is connected to the second slider via the force transmission mechanism.

3. The cell loading gripper device based on a slider structure according to claim 2, characterized in that, The force transmission mechanism includes a first embedding block and a second embedding block disposed opposite to each other. The first embedding block is connected to the first piston rod, and the second embedding block is connected to the second piston rod. The first embedding block is also connected to the first slider, and the second embedding block is also connected to the second slider.

4. The cell loading gripper device based on a slider structure according to claim 3, characterized in that, The linear drive mechanism further includes a housing, in which the first piston rod and the second piston rod are disposed. The housing is provided with a first embedding hole and a second embedding hole. The first embedding block is embedded in the first embedding hole, and the second embedding block is embedded in the second embedding hole. The length of the first embedding hole is greater than the length of the first embedding block, and the length of the second embedding hole is greater than the length of the second embedding block.

5. The cell loading gripper device based on a slider structure according to claim 3, characterized in that, The force transmission mechanism further includes a first connecting block and a second connecting block; the first embedding block is connected to the first slider through the first connecting block, and the first gripper arm is connected to the first slider through the first connecting block; the second embedding block is connected to the second slider through the second connecting block, and the second gripper arm is connected to the second slider through the second connecting block.

6. The cell loading gripper device based on a slider structure according to claim 1, characterized in that, It also includes a flexible gripper head assembly, which includes a first gripper head and a second gripper head, wherein the first gripper head is detachably connected to the side of the first gripper arm near the second gripper arm, and the second gripper head is detachably connected to the side of the second gripper arm near the first gripper arm.

7. The cell loading gripper device based on a slider structure according to claim 1, characterized in that, It also includes a position sensor assembly, which includes a first position sensor and a second position sensor, wherein the first position sensor is disposed on the first gripper arm and the second position sensor is disposed on the second gripper arm.

8. The cell loading gripper device based on a slider structure according to claim 1, characterized in that, The linear drive mechanism, the force transmission mechanism, the slide rail assembly, and the gripper arm assembly are all configured in two sets.

9. A control method for a battery cell feeding gripper device, characterized in that, The control method is applied in the controller of the cell loading gripper device according to any one of claims 1-8; a first position sensor is provided on the first gripper arm, a second position sensor is provided on the second gripper arm, the first position sensor and the second position sensor are electrically connected to the controller, the controller is also electrically connected to the linear drive mechanism, and the control method includes: The position signals detected by the first position sensor and the second position sensor are acquired in real time to determine the real-time distance value between the first gripper arm and the second gripper arm. Based on the relationship between the real-time spacing value and the preset target spacing value, the intake pressure of the linear drive mechanism is adjusted in real time to control the clamping force of the two gripper arms on the battery cell.

10. The control method for the cell loading gripper device according to claim 9, characterized in that, The step of adjusting the intake pressure of the linear drive mechanism in real time according to the relationship between the real-time spacing value and the preset target spacing value to control the clamping force of the two gripper arms on the battery cell includes: When the real-time spacing value is greater than the first threshold, the linear drive mechanism is controlled to drive the two gripper arms to quickly approach the battery cell with the first pressure value. When the real-time spacing value decreases to between the first threshold and the second threshold, the intake pressure of the linear drive mechanism is dynamically reduced to the second pressure value, so that the two gripper arms approach the surface of the battery cell at a preset low speed. When the real-time spacing value is equal to or less than the second threshold, the intake pressure of the linear drive mechanism is adjusted to a third pressure value corresponding to the cell specification and kept constant.

Images