An integrated gripper

Abstract

The present application relates to the technical field of clamping jaw, and particularly relates to an integrated clamping jaw. The integrated clamping jaw comprises two groups of hook jaw mechanisms and a flat jaw mechanism. The hook jaw mechanism comprises a hook jaw assembly, a pressing block assembly, a connecting rod and a brake piece. The hook jaw assembly and the pressing block assembly are connected through the connecting rod, and the hook jaw assembly can slide along the connecting rod. The hook jaw assembly is arranged outside the pressing block assembly, and the bottom of the hook jaw assembly is provided with at least one hook jaw. The pressing block assembly comprises an elastic pressing block and a pressing block driving piece. The pressing block driving piece is in transmission connection with the elastic pressing block. The elastic pressing block is arranged opposite to the hook jaw along the height direction and above the hook jaw. When the brake piece is in a loose brake state, the flat jaw mechanism drives the hook jaw assemblies and the pressing block assemblies of the two hook jaw mechanisms to simultaneously approach or move away from each other along a first direction. When the brake piece is in a brake state, the flat jaw mechanism drives the hook jaw assemblies of the two hook jaw mechanisms to simultaneously approach or move away from each other along the first direction. The clamping step of the product is simplified, and the clamping efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of gripper technology, and more particularly to an integrated gripper. Background Technology

[0002] When handling products, such as battery cells, suction cups are typically used to pick up lighter battery cells, while heavier battery cells, which are difficult to pick up, are handled by robotic arms or grippers.

[0003] In related technologies, gripper mechanisms are commonly used to grasp and transport heavy battery cells. First, a robotic arm drives the gripper mechanism to descend. The lower hook component of the gripper mechanism holds the battery cell, while the upper pressure block component presses down to hold the product. The hook component and the pressure block component together clamp the battery cell. This results in too many clamping steps, prolonging the time required to complete the clamping action and reducing production line efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated gripper to simplify the product clamping process, reduce the time required to complete product clamping, and improve clamping efficiency.

[0005] To achieve this objective, the technical solution adopted by the present invention is as follows: An integrated gripper includes a flat gripper mechanism and two sets of hook gripper mechanisms slidably connected to the flat gripper mechanism, wherein the two sets of hook gripper mechanisms are arranged opposite to each other along a first direction. Each set of hook and claw mechanisms includes a hook and claw assembly, a pressure block assembly, a connecting rod, and a brake component. The top ends of the hook and claw assembly and the pressure block assembly are slidably connected to the flat claw mechanism. The hook and claw assembly and the pressure block assembly are connected by the connecting rod, which extends along a first direction, and the hook and claw assembly is slidable along the connecting rod. The hook and claw assembly is located outside the pressure block assembly, and the bottom of the hook and claw assembly has at least one hook. The pressure block assembly includes an elastic pressure block, which is arranged opposite to the hook and claw along the height direction and is located above the hook and claw. The driving end of the flat claw mechanism is connected to the hook claw assembly, and the brake is located at the top of the pressure block assembly. When the brake is in the released state, the flat claw mechanism drives the hook claw assembly and the pressure block assembly to move simultaneously along the first direction. When the brake is in the braked state, the pressure block assembly and the flat claw mechanism are relatively fixed, and the flat claw mechanism drives the hook claw assembly to move along the first direction on the connecting rod.

[0006] As an alternative to the integrated gripper, the flat gripper mechanism includes a slide rail arranged along a first direction; The hook mechanism further includes a sliding member, which is provided at the top of both the hook assembly and the pressure block assembly, and is slidably mounted on the slide rail.

[0007] As an optional solution for the integrated gripper, the slide rail includes two slide rods extending along a first direction, the two slide rods being spaced apart along a second direction, and the first direction and the second direction being perpendicular to the height direction. The slider has a groove on its outer periphery at the middle of its height direction, and the slider is engaged between the two slider rods through the groove.

[0008] As an optional solution for the integrated gripper, the flat gripper mechanism also includes a rack arranged along the first direction; The hook mechanism also includes gears, and the top of the hook assembly and the top of the pressure block assembly are both provided with gears, which mesh with the rack.

[0009] As an optional solution for the integrated gripper, the axial direction of the gear is parallel to the height direction, the gear is a cylindrical helical gear, and the rack is a corresponding helical rack. When the cylindrical helical gear meshes with the helical rack, it has an axial component force that is upward along the height direction.

[0010] As an optional integrated gripper, the hook assembly and the pressure block assembly are connected by a laterally arranged connecting rod; the pressure block assembly is fixedly connected to the connecting rod. The flat claw mechanism includes a linear motor, which includes a moving part and a stator that cooperate with each other. The moving part is connected to the top of the hook assembly, and the stator is fixed inside the flat claw mechanism. The moving part is used to drive the hook assembly to move laterally, and the lateral movement is parallel to the first direction.

[0011] As an optional solution for the integrated gripper, the hook mechanism also includes a variable damping element, which is disposed between the hook assembly and the connecting rod to adjust the damping force between the hook assembly and the connecting rod. When the brake is in the released state, the frictional force between the hook assembly and the connecting rod is greater than the frictional force between the pressure block assembly and the flat claw mechanism.

[0012] As an optional solution for the integrated gripper, the pressing block assembly also includes a pressing block drive component, which is connected to the elastic pressing block to drive the elastic pressing block to move up and down in the height direction.

[0013] As an optional solution for the integrated gripper, the elastic pressure block includes a pressure head and an elastic element. The elastic element is disposed between the pressure head and the pressure block drive member. The pressure head is elastically connected to the output end of the pressure block drive member through the elastic element. When the end of the pressure head is subjected to an external force, the elastic element is compressed to cause the pressure head to contract in the opposite direction. After the external force disappears, the elastic element rebounds to reset the pressure head.

[0014] As an alternative to the integrated gripper, the bend of the hook extends toward the pressure block assembly in a first direction, so that the bends of the two opposing hook assemblies are positioned opposite each other.

[0015] The beneficial effects of this invention are as follows: This invention proposes an integrated gripper. When the brake is in the released state, a flat claw mechanism drives the hook assemblies of two hook mechanisms and the pressure block assembly to simultaneously move closer or further apart along a first direction. This adjusts the spacing between the two pressure block assemblies along the first direction according to the product's length, ensuring that the spacing matches the product's length. After the integrated gripper descends to the height of the product, the elastic pressure block presses against the top of the product, the brake switches to the brake state, and the flat claw mechanism drives the hook assemblies of the two hook mechanisms to simultaneously move closer together along the first direction. This positions the hooks below the bottom of the product and supports it, allowing the elastic pressure block and hooks to jointly grip the product. This simplifies the product gripping process, reduces the time required to complete product gripping, and improves gripping efficiency.

[0016] The product is clamped and controlled by hooks and elastic blocks, improving the convenience and stability of product handling. Furthermore, the elastic blocks provide cushioning, preventing excessive clamping between the hooks and blocks, thus avoiding product damage and enhancing the stability and safety of the clamping process. Attached Figure Description

[0017] Figure 1 This is a front view of the integrated gripper provided in an embodiment of the present invention; Figure 2 This is a cross-sectional view of the integrated gripper provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the integrated gripper provided in an embodiment of the present invention; Figure 4 yes Figure 3 A magnified view of a section at point A in the middle; Figure 5 This is a top view of the integrated gripper provided in an embodiment of the present invention.

[0018] The component names and labels in the diagram are as follows: 1. Flat claw mechanism; 11. Slide rail; 111. Slide rod; 12. Rack; 13. Linear motor; 2. Hook and claw assembly; 21. Hook and claw; 211. Bend; 22. Slider; 23. Elastic buffer; 3. Pressure block assembly; 31. Elastic pressure block; 311. Pressure head; 312. Elastic element; 32. Pressure block drive element; 4. Connecting rod; 5. Sliding element; 51. Groove; 6. Gear. Detailed Implementation

[0019] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0020] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0023] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0024] like Figure 1 and Figure 2 As shown, this embodiment proposes an integrated gripper, which includes a flat gripper mechanism 1 and two sets of hook gripper mechanisms slidably connected to the flat gripper mechanism 1. The two sets of hook gripper mechanisms are arranged opposite to each other along a first direction. Each set of hook gripper mechanisms includes a hook gripper assembly 2, a pressure block assembly 3, a connecting rod 4, and a brake component (not shown in the figure). The top ends of both the hook gripper assembly 2 and the pressure block assembly 3 are slidably connected to the flat gripper mechanism 1. The hook gripper assembly 2 and the pressure block assembly 3 are connected by the connecting rod 4, which extends along the first direction, and the hook gripper assembly 2 can slide along the connecting rod 4. The hook gripper assembly 2 is disposed on the outside of the pressure block assembly 3, and the bottom of the hook gripper assembly 2 has at least one hook 21. The pressure block assembly 3 includes an elastic pressure block 31 and a pressure block drive member 32. The pressure block drive member 32 is drively connected to the elastic pressure block 31 to drive the elastic pressure block 31 to move up and down along the height direction (the vertical direction in the figure). The elastic pressure block 31 and the hook 21 are arranged opposite to each other along the height direction and are located above the hook 21. The driving end of the flat claw mechanism 1 is connected to the hook claw assembly 2 for transmission. The brake member has a released state when the pressure block assembly 3 is released and a locked state when the pressure block assembly 3 is locked. When the brake member is in the released state, the flat claw mechanism 1 drives the hook claw assembly 2 and the pressure block assembly 3 to move simultaneously along the first direction; when the brake member is in the locked state, the pressure block assembly 3 and the flat claw mechanism 1 are relatively fixed, and the flat claw mechanism 1 drives the hook claw assembly 2 to move along the first direction on the connecting rod 4.

[0025] When the brake is in the released state, the flat claw mechanism 1 drives the hook claw assembly 2 and the pressure block assembly 3 of the two hook claw mechanisms to move closer or further apart along the first direction, so as to adjust the distance between the two pressure block assemblies 3 along the first direction according to the length of the product, so as to ensure that the distance between the two pressure block assemblies 3 along the first direction is compatible with the length of the product; the pressure block drive 32 drives the elastic pressure block 31 to move up and down along the height direction, so as to adjust the distance between the elastic pressure block 31 and the hook 21 below along the height direction according to the thickness of the product, so as to ensure that the distance between the elastic pressure block 31 and the hook 21 along the height direction is compatible with the thickness of the product. After the integrated gripper descends to the height of the product, the elastic pressure block 31 presses against the top of the product, the brake switch switches to the brake state, and the flat gripper mechanism 1 drives the hook assemblies 2 of the two hook mechanisms to move closer to each other in the first direction, so that the hook 21 is located below the bottom of the product and supports the product. The elastic pressure block 31 and the hook 21 jointly clamp the product, simplifying the product clamping steps, reducing the time required to complete product clamping, and improving clamping efficiency.

[0026] Furthermore, the product is clamped and limited by the hook 21 and the elastic pressure block 31, which improves the convenience and stability of product clamping. Moreover, the elastic pressure block 31 has an elastic buffering effect, which prevents the hook 21 and the elastic pressure block 31 from clamping too tightly, thereby avoiding product damage and improving the stability and safety of the clamping process.

[0027] The brake component in this embodiment can be an electromagnetic brake component, a mechanical self-locking brake assembly, or a pneumatic air-lock brake component, as long as it can lock and release the pressure block assembly 3. Since the brake component is existing technology, its specific structure and working principle will not be described in detail. The pressure block drive component 32 in this embodiment is a cylinder, which has a simple structure and is easy to install and maintain. In other embodiments, the pressure block drive component 32 can also be a linear motor or a stepper motor. The drive end of the pressure block drive component 32 is connected to the elastic pressure block 31 to drive the elastic pressure block 31 to move up and down along the height direction, thereby adjusting the longitudinal position of the elastic pressure block 31. By adjusting the longitudinal position of the elastic pressure block 31, the distance between the elastic pressure block 31 and the hook 21 (bend 211) below along the height direction is changed, thereby adapting to workpieces of different thicknesses. Ideally, the distance between the elastic pressure block 31 and the hook 21 along the height direction is exactly the same as the thickness of the workpiece.

[0028] In this embodiment, the integrated gripper is suitable for battery production line operations, which also includes a robotic arm and a placement table. The robotic arm is fixedly connected to the flat gripper mechanism 1 of the integrated gripper to drive the integrated gripper to move as a whole, for example, laterally (moving in the left-right direction as shown in the figure) or longitudinally (moving up and down in the up-down direction as shown in the figure). The placement table is used to place workpieces. The robotic arm drives the integrated gripper to hold the workpieces on the placement table and move them to the next station or execute the next instruction. It should be noted that the placement table is a hollow platform or a platform surface smaller than the workpiece surface, so that the edges of the workpiece protrude from the placement table, facilitating the lifting of the workpiece by the hooks 21 of the integrated gripper.

[0029] like Figure 1 and Figure 2 As shown, the claw assembly 2 and the pressure block assembly 3 are connected by a laterally arranged connecting rod 4. The pressure block assembly 3 is fixedly connected to the connecting rod 4. The flat claw mechanism 1 includes a linear motor 13, which includes a cooperating mover and a stator. The mover is connected to the top of the claw assembly 2, and the stator is fixed inside the flat claw mechanism 1. The mover is used to drive the claw assembly 2 to move laterally, which is parallel to the first direction. In this embodiment, the mover is connected to the slider 22 of the claw assembly 2 to drive the claw assembly 2 to move left and right along the first direction, thereby realizing the mutual approach or distance of the two claw assemblies 2.

[0030] Specifically, one end of the connecting rod 4 is connected to the pressure block drive 32 of the pressure block assembly 3 by a screw to achieve a fixed connection between the connecting rod 4 and the pressure block drive 32. The slider 22 at the top of the hook assembly 2 is slidably sleeved on the connecting rod 4 so that the hook assembly 2 can slide independently along the connecting rod 4 relative to the pressure block assembly 3; or, the hook assembly 2, the pressure block assembly 3, and the connecting rod 4 move synchronously along the first direction. The pressure block assembly 3 is not directly connected to the linear motor 13, that is, the linear motor 13 indirectly drives the pressure block assembly 3 to move synchronously through the hook assembly 2 and the connecting rod 4 to adapt to workpieces of different lengths. When the two hook mechanisms are adjusted to the position along the first direction, the elastic pressure heads 311 in the two pressure block assemblies 3 correspond exactly to the two opposite edge positions of the top of the workpiece along the first direction.

[0031] It should be noted that the hook mechanism also includes a variable damping element (not shown in the figure). The variable damping element is disposed between the hook assembly 2 and the connecting rod 4 to adjust the damping force between the hook assembly 2 and the connecting rod 4. When the brake is in the released state, the frictional force between the hook assembly 2 and the connecting rod 4 is greater than the frictional force between the pressure block assembly 3 and the flat claw mechanism 1, so that when the brake is in the released state, the hook assemblies 2 of the two hook mechanisms simultaneously move closer or further apart along the first direction. By setting the variable damping element, the damping force between the hook assembly 2 and the connecting rod 4, i.e., the frictional force between the slider 22 and the connecting rod 4, can be flexibly adjusted according to the clamping requirements. Through the coordinated operation of the brake and the variable damping element, the independent movement of the hook assembly 2 along the first direction and the synchronous movement of the hook assembly 2 and the pressure block assembly 3 along the first direction can be achieved.

[0032] Specifically, when the brake is in the released state, the damping force between the hook assembly 2 and the connecting rod 4 is increased by the variable damping element. At this time, the friction between the slider 22 of the hook assembly 2 and the connecting rod 4 is considered to be infinite, so that the hook assembly 2, the pressure block assembly 3, and the connecting rod 4 move synchronously in the first direction. When the brake is in the braked state, the damping force between the hook assembly 2 and the connecting rod 4 is reduced by the variable damping element. At this time, the pressure block assembly 3 is locked and stationary, and the flat claw mechanism 1 can only drive the hook assembly 2 to move in the first direction.

[0033] like Figure 1 and Figure 2As shown, the elastic pressure block 31 includes a pressure head 311 and an elastic element 312. The elastic element 312 is disposed between the pressure head 311 and the pressure block drive member 32. The pressure head 311 is elastically connected to the output end of the pressure block drive member 32 through the elastic element 312. When the end of the pressure head 311 is subjected to an external force, the elastic element 312 compresses to cause the pressure head 311 to contract in the opposite direction; after the external force disappears, the elastic element 312 rebounds to reset the pressure head 311. By providing the elastic element 312, elastic pressure is achieved between the pressure head 311 and the workpiece, thereby achieving elastic clamping of the workpiece. The aforementioned elastic element 312 is a spring, which has a simple structure, is easy to install, and has a low cost. In other embodiments, the elastic element 312 can also be a spring sheet, etc.

[0034] It is important to note that both the pressure head 311 and the claw assembly 2 have flexible pads on their clamping surfaces. These clamping surfaces are the contact surfaces between the pressure head 311 and the claw assembly 2 and the workpiece. By providing flexible pads, the clamping force on the workpiece can be buffered; furthermore, the flexible pads can be made of non-slip material, ensuring the stability of the workpiece clamping and preventing slippage or displacement that could lead to clamping failure, thus improving the stability and reliability of the clamping process.

[0035] like Figure 1 and Figure 2 As shown, the curved portion 211 of the hook 21 extends towards the pressure block assembly 3 along the first direction, so that the curved portions 211 of the two opposing hook assemblies 2 are positioned opposite each other. This arrangement allows the curved portion 211 at the bottom of the hook 21 to stably support the bottom of the workpiece. The curved portions 211 of the two hook assemblies 2 can respectively support the left and right ends of the workpiece's bottom along the first direction, so that the pressure head 311 and the curved portion 211, which are positioned vertically opposite each other in the same hook assembly 2, jointly clamp the workpiece.

[0036] In this embodiment, the hook 21 has an L-shaped structure, specifically including a horizontal plate and a vertical plate connected as one piece. The horizontal plate and the vertical plate are arranged perpendicularly, and the top of the vertical plate is connected to the slider 22. The slider 22 is sleeved on the connecting rod 4 to slide left and right along the connecting rod 4. The horizontal plate is the bend 211 of the hook 21, which supports the product along the height direction, while the vertical plate limits the workpiece in the first direction. Multiple sets of hooks 21 in the hook assembly 2 are spaced apart along the second direction (the front-back direction in the figure) to reduce the material used for the hooks 21, while ensuring the stability of the workpiece support and reducing costs. The distance between the horizontal plate and the pressure head 311 along the height direction is equal to or slightly less than the thickness of the workpiece, so that the pressure head 311 and the hook 21 can firmly clamp the workpiece and ensure the clamping effect of the product. An elastic buffer 23, which is a spring, is provided between the top of the vertical plate of the hook 21 and the slider 22. The weight of the hook 21 is transmitted to the slider 22, applying pressure to the elastic buffer 23. When the bend 211 of the hook 21 holds the workpiece, the bend 211 flexibly limits the workpiece through the elastic buffer 23, preventing damage to the workpiece during clamping and improving the stability of the workpiece during clamping and movement, thereby ensuring the pass rate of the workpiece.

[0037] like Figures 3-5 As shown, the flat claw mechanism 1 includes a slide rail 11 arranged along a first direction. The hook claw mechanism also includes a slider 5. The top end of the hook claw assembly 2 and the top end of the pressure block assembly (i.e., the pressure block drive member 32) are both provided with sliders 5, which are slidably disposed on the slide rail 11. Through the sliding engagement of the slide rail 11 and the slider 5, the sliding of the hook claw assembly 2 and the pressure block assembly 3 along the first direction is guided and limited, thereby improving the movement accuracy of the hook claw assembly 2 and the pressure block assembly 3 and improving the spacing adjustment accuracy of the two hook claw mechanisms along the first direction.

[0038] Specifically, such as Figure 3 and Figure 4 As shown, the slide rail 11 includes two slide rods 111 extending along a first direction. The two slide rods 111 are spaced apart along a second direction, and the first and second directions are perpendicular to the height direction. A groove 51 is provided on the outer periphery of the middle part of the sliding member 5 along the height direction. The sliding member 5 is engaged between the two slide rods 111 through the groove 51. The sliding engagement between the slide rods 111 and the groove 51 guides and limits the movement of the claw assembly 2 and the pressure block assembly 3 along the first direction, improving the accuracy and stability of their movement. Simultaneously, the two slide rods 111 also support the sliding member 5 to support the claw assembly 2 and the pressure block assembly 3. When the linear motor 13 drives the claw assembly 2 and the pressure block assembly 3 to move along the first direction, the sliding member 5 at the top of both the claw assembly 2 and the pressure block assembly 3 moves between the two slide rods 111.

[0039] It should be noted that the brake assembly is mounted on the sliding member 5 at the top of the pressure block drive 32. When the brake assembly is in the released state (not locked), there is little or no resistance between the sliding member 5 of the pressure block drive 32 and the slide rod 111. At this time, when the linear motor 13 drives the hook assembly 2 to move, it can simultaneously drive the pressure block assembly 3 to move synchronously. When the brake assembly is in the locked state (locked), the resistance between the sliding member 5 of the pressure block drive 32 and the slide rod 111 is considered to be infinite. The pressure block assembly 3 remains locked relative to the slide rail 11. At this time, the linear motor 13 can only drive the hook assembly 2 to move along the connecting rod 4.

[0040] Furthermore, such as Figure 3 and Figure 5 As shown, the flat claw mechanism 1 also includes a rack 12 arranged along the first direction. The hook claw mechanism also includes a gear 6. Gears 6 are also provided at the top of both the hook claw assembly 2 and the top of the pressure block assembly (i.e., the pressure block drive 32), and the gears 6 mesh with the rack 12. Through the meshing of the gears 6 and rack 12, the movement of the hook claw assembly 2 and the pressure block assembly 3 along the first direction is guided and limited, further improving the accuracy and stability of their movement along the first direction. Simultaneously, the meshing structure of the gears 6 and rack 12 has the characteristics of high load-bearing capacity, sufficient rigidity, and resistance to bending resonance over long distances, which helps to improve the smoothness of the movement of the hook claw assembly 2 and the pressure block assembly 3 along the first direction.

[0041] The axial direction of gear 6 is parallel to the height direction. Gear 6 is a cylindrical helical gear, and rack 12 is a corresponding helical rack. When the cylindrical helical gear and helical rack mesh, they have an upward axial component force along the height direction. Through the above arrangement, the meshing structure of gear 6 and rack 12 can provide an upward supporting force for the claw assembly 2 and the pressure block assembly 3, thereby improving the load-bearing capacity of the integrated gripper.

[0042] For ease of understanding, this embodiment takes a battery cell as an example. The specific handling process of the integrated gripper is as follows: The robotic arm controls the integrated gripper to move directly above the placement platform. The size of the battery cell is determined via external sensors or commands. When the length of the battery cell does not match the spacing between the pressure block assemblies 3 of the two hook mechanisms of the integrated gripper, the brake is switched to the released state (i.e., the brake is closed), ensuring minimal or no resistance between the sliding member 5 at the top of the pressure block drive 32 and the sliding rod 111 of the slide rail 11. The linear motor 13 drives the hook assembly 2 and the pressure block assembly 3 to move synchronously along the first direction until the spacing between the pressure block assemblies 3 of the two hook mechanisms matches the length of the battery cell (the length of the battery cell along the first direction).

[0043] When the thickness of the battery cell does not match the distance between the hook 21 (bend 211) of the integrated gripper and the pressure head 311 along the height direction, the pressure block drive 32 is activated and drives the elastic pressure block 31 to move up and down along the height direction until the distance between the bend 211 of the hook 21 and the pressure head 311 along the height direction is consistent with the thickness of the battery cell.

[0044] When the length and thickness of the battery cell match the corresponding parameters of the integrated gripper, the robotic arm drives the integrated gripper to move directly above the placement platform. At this point, the clamping assembly 3 of the integrated gripper faces the battery cell on the placement platform, the hook assembly 2 is located outside the clamping assembly 3, and the distance between the hooks 21 of the two hook mechanisms is greater than the length of the battery cell. The robotic arm continues to drive the integrated gripper downwards along the height direction until the clamping head 311 of the clamping assembly 3 elastically contacts the upper end of the battery cell. At this point, the bend 211 of the hook 21 is flush with the lower end of the battery cell.

[0045] The robotic arm continues to move downwards, compressing the elastic element 312 of the pressure head 311 assembly. The pressure head 311 is then lifted upwards by the battery cell. Because the distance between the curved portion 211 of the hook 21 is greater than the length of the battery cell, it can continue to move downwards past the edge of the battery cell. When the curved portion 211 of the hook 21 is below the battery cell, that is, when the upper surface of the curved portion 211 of the hook 21 is flush with or lower than the lower end of the battery cell, the linear motor 13 drives the hook assemblies 2 to move closer to each other along the first direction until the curved portion 211 of the hook 21 supports the battery cell. At this point, the curved portion 211 of the hook 21 and the pressure head 311 of the elastic pressure block 31 clamp the battery cell, one above the other.

[0046] The robotic arm controls the integrated gripper to move upwards, and the battery cell is lifted by the bend 211 of the hook 21. During the lifting process of the battery cell, the elastic element 312 of the elastic block 31 will partially rebound, so that there is a certain pre-pressure between the pressure head 311 and the bend 211 of the hook 21. The magnitude of this pre-pressure can be flexibly adjusted by adjusting the material or deformation of the elastic element 312, so that the pre-pressure meets the pressure required to clamp the battery cell.

[0047] By utilizing the typical descent operation of the robotic arm when clamping battery cells, the existing three-step operation of robotic arm descent – ​​hook 21 moving to support the battery cell – pressure block assembly 3 pressing down to complete battery cell clamping is simplified into a two-step operation of robotic arm descent – ​​hook 21 moving to support the battery cell. This saves the pause time between clamping steps and eliminates the activation step of pressure block assembly 3, improving the overall continuity of the clamping action. The use of elastic pressure block 31 also avoids the risk of damage to the battery cell due to over-clamping. When the integrated gripper is subjected to external impact, the elastic pressure block 31 can also absorb part of the impact force, preventing the impact force from directly acting on the battery cell, thus improving the safety of the clamping process.

[0048] The above embodiments merely illustrate the basic principles and characteristics of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An integrated gripper, characterized in that, It includes a flat claw mechanism (1) and two sets of hook claw mechanisms slidably connected to the flat claw mechanism (1), the two sets of hook claw mechanisms being arranged opposite to each other along a first direction; Each set of hook mechanism includes a hook assembly (2), a pressure block assembly (3), a connecting rod (4) and a brake component. The top ends of the hook assembly (2) and the pressure block assembly (3) are slidably connected to the flat claw mechanism (1). The hook assembly (2) and the pressure block assembly (3) are connected by the connecting rod (4). The connecting rod (4) extends along a first direction, and the hook assembly (2) can slide along the connecting rod (4). The hook assembly (2) is disposed on the outside of the pressure block assembly (3), and the bottom of the hook assembly (2) has at least one hook (21). The pressure block assembly (3) includes an elastic pressure block (31). The elastic pressure block (31) and the hook (21) are disposed opposite each other in the height direction and are located above the hook (21). The driving end of the flat claw mechanism (1) is connected to the hook claw assembly (2) in a transmission manner, and the brake is located at the top of the pressure block assembly (3). When the brake is in the released state, the flat claw mechanism (1) drives the hook claw assembly (2) and the pressure block assembly (3) to move simultaneously in the first direction. When the brake is in the braked state, the pressure block assembly (3) and the flat claw mechanism (1) are relatively fixed, and the flat claw mechanism (1) drives the hook claw assembly (2) to move along the first direction on the connecting rod (4).

2. The integrated gripper according to claim 1, characterized in that, The flat claw mechanism (1) includes a slide rail (11) arranged along a first direction; The hook mechanism also includes a slider (5). The top end of the hook assembly (2) and the top end of the pressure block assembly (3) are both provided with the slider (5). The slider (5) is slidably disposed on the slide rail (11).

3. The integrated gripper according to claim 2, characterized in that, The slide rail (11) includes two slide rods (111) extending along a first direction. The two slide rods (111) are spaced apart along a second direction. The first direction and the second direction are perpendicular to the height direction. The slider (5) has a groove (51) on the outer periphery of the middle part along the height direction, and the slider (5) is engaged between the two slide rods (111) through the groove (51).

4. The integrated gripper according to claim 2, characterized in that, The flat claw mechanism (1) also includes a rack (12) arranged along the first direction; The hook mechanism also includes a gear (6), and the top of the hook assembly (2) and the top of the pressure block assembly (3) are also provided with the gear (6), and the gear (6) meshes with the rack (12).

5. The integrated gripper according to claim 4, characterized in that, The axial direction of the gear (6) is parallel to the height direction. The gear (6) is a cylindrical helical gear, and the rack (12) is a helical rack. When the cylindrical helical gear meshes with the helical rack, it has an axial component force that is upward along the height direction.

6. The integrated gripper according to claim 1, characterized in that, The hook assembly (2) and the pressure block assembly (3) are connected by a horizontally arranged connecting rod (4); the pressure block assembly (3) is fixedly connected to the connecting rod (4); The flat claw mechanism (1) includes a linear motor (13), which includes a moving part and a stator that cooperate with each other. The moving part is connected to the top of the hook assembly (2), and the stator is fixed inside the flat claw mechanism (1). The moving part is used to drive the hook assembly (2) to move laterally, and the lateral movement is parallel to the first direction.

7. The integrated gripper according to claim 6, characterized in that, The hook mechanism also includes a variable damping element, which is disposed between the hook assembly (2) and the connecting rod (4) to adjust the damping force between the hook assembly (2) and the connecting rod (4). When the brake is in the released state, the friction between the hook assembly (2) and the connecting rod (4) is greater than the friction between the pressure block assembly (3) and the flat claw mechanism (1).

8. The integrated gripper according to claim 1, characterized in that, The pressing block assembly (3) further includes a pressing block drive (32), which is connected to the elastic pressing block (31) to drive the elastic pressing block (31) to move up and down in the height direction.

9. The integrated gripper according to claim 8, characterized in that, The elastic block (31) includes a pressure head (311) and an elastic element (312). The elastic element (312) is disposed between the pressure head (311) and the block drive (32). The pressure head (311) is elastically connected to the output end of the block drive (32) through the elastic element (312). When the end of the pressure head (311) is subjected to an external force, the elastic element (312) is compressed so that the pressure head (311) contracts in the opposite direction. After the external force disappears, the elastic element (312) rebounds to reset the pressure head (311).

10. The integrated gripper according to claim 1, characterized in that, The bend (211) of the hook (21) extends toward the pressure block assembly (3) in a first direction so that the bends (211) of the two hook assemblies (2) are arranged opposite to each other.

Images