Multi-cell gripper for cell feeding

Abstract

The utility model relates to a multi-cell gripper for cell feeding, which comprises a first connecting plate, a second connecting plate is fixed on the lower surface of the first connecting plate through a fixing plate, the first connecting plate is positioned right above the center position of the second connecting plate, a first camera is fixed on the left side of the front end of the second connecting plate, and a second camera is fixed on the right side of the front end of the second connecting plate. A second camera is fixed to the right side of the rear end of the second connecting plate, a distance measuring instrument is fixed to the right side of the second camera, a plurality of gripper pieces are fixed to the lower surface of the second connecting plate and arranged in double rows, and photoelectric sensors are arranged on the gripper pieces. According to the double-row module battery cell grabbing mechanism, double-row module battery cells can be grabbed at a time, and supplied battery cells can be grabbed at a time.

Description

Technical Field

[0001] The utility model relates to the technical field of multi-row battery core grabbing, in particular to a battery core feeding multi-battery core grabber. Background Art

[0002] The new energy industry is currently developing rapidly, and batteries are being used more and more widely in people's lives. New energy batteries are gradually becoming an important part of the new energy industry. During the production process of batteries such as hot pressing, battery cells often need to be transferred. The existing multi-cell grippers generally grab a few or a single row of battery cells at a time, which makes the operation cumbersome when moving multiple rows of battery cells and affects production capacity. Utility Model Content

[0003] The utility model aims to provide a multi-cell gripper for cell feeding, which can complete the grabbing of double-row module cells at one time and grab the incoming cells at one time.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multi-cell gripper for battery cell loading, comprising a first connecting plate, a second connecting plate being fixed to the lower surface of the first connecting plate via a fixing plate, the first connecting plate being located directly above the center position of the second connecting plate, a first camera being fixed to the left side of the front end of the second connecting plate, a second camera being fixed to the right side of the rear end of the second connecting plate, a rangefinder being fixed to the right side of the second camera, a plurality of gripping members being fixed to the lower surface of the second connecting plate, the plurality of gripping members being arranged in double rows, and a photoelectric sensor being arranged on the gripping member.

[0005] Furthermore, the gripper member includes a support plate, a fixing rod is fixed to the front and rear ends of the support plate, a plurality of openings opposite to the fixing rod are opened on the second connecting plate, the fixing rod is fixed in the opening through a linear bearing, a spring is sleeved on the fixing rod, and the spring is located between the linear bearing and the support plate, a clamping cylinder is fixed to the lower surface of the support plate, and a first proximity sensor and a second proximity sensor are fixed to the side edge of one side of the support plate through a first L-shaped sheet metal, and the first proximity sensor and the second sensor are arranged opposite to each other on the left and right.

[0006] Furthermore, the photoelectric sensor is fixed to one side of the support plate through an L-shaped strip.

[0007] Furthermore, a small pressure gauge for detecting the pressure at the gripper of the clamping cylinder is provided at a position of the first connecting plate corresponding to the gripper.

[0008] Furthermore, a first rubber block in a mesh shape is fixed to the inner side end of the gripper of the clamping cylinder, and a second rubber block is fixed to the inner top end of the gripper of the clamping cylinder.

[0009] Furthermore, the fixing rod is fixed to the support plate by a first flip bolt, a second L-shaped sheet metal is provided on the side of the support plate below the first flip bolt, the gripper of the clamp cylinder is fixed to the output end of the clamp cylinder by a second flip bolt, and a third L-shaped sheet metal is provided on the gripper of the clamp cylinder below the second flip bolt.

[0010] Furthermore, a valve island and a network module are arranged on the second connecting plate.

[0011] Furthermore, the second connecting plate has front and rear sides fixed with through-beam sensors via connecting strips.

[0012] The beneficial effects of the utility model are as follows: the multi-cell gripper can grasp double-row cells at the same time. Compared with the existing cell gripper, the multi-cell gripper can grasp the incoming cells at the same time by using double-row and multiple cell grippers in one row. In the grasping process, two cameras and a rangefinder are used to take pictures and measure the distance of the incoming cells, obtain the accurate position information of the incoming materials, and transmit it to the control system; at the same time, multiple sensors are used to detect the incoming cell conditions and the grasping action of each cell gripper in real time; by installing L-shaped sheet metal to hold the inverted bolts in place, the risk of bolts falling can be effectively prevented; by using mesh PU glue to increase friction to clamp the cells, the risk of cells falling can be reduced; at the same time, during the grasping process, PU glue blocks are used to block the cell poles to prevent the cell poles from connecting to form a passage. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the utility model;

[0014] Figure 2 It is a top view of the utility model;

[0015] Figure 3 It is the front view of the utility model;

[0016] Figure 4 for Figure 3 The enlarged view of point A in the middle;

[0017] Figure 5 It is a structural schematic diagram of the gripper in the utility model;

[0018] Figure 6 for Figure 5 A left side view of the gripper member shown;

[0019] Figure 7 for Figure 5 A right side view of the gripper is shown.

[0020] Among them: 1. The first camera; 2. The first connecting plate; 3. The small pressure gauge; 4. The second connecting plate; 5. The valve island; 6. The network module; 7. The rangefinder; 8. The gripper; 81. The support plate; 82. The fixing rod; 83. The linear bearing; 84. The spring; 85. The clamping cylinder; 86. The first L sheet metal; 87. The first proximity sensor; 88. The second sensor; 9. The second camera; 10. The photoelectric sensor; 11. The L-shaped strip; 12. The first high-strength rubber block; 13. The second L-shaped sheet metal; 14. The third L-shaped sheet metal; 15. The through-beam sensor; 16. The fixing plate; 17. The connecting strip; 18. The second high-strength rubber block. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings. For better understanding, the orientation of the present invention is described according to the orientation shown in the accompanying drawings and cannot be understood as a limitation of the present application; the following terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0022] See also Figures 1 to 7 The utility model provides an embodiment: a multi-cell gripper for cell feeding, comprising a first connecting plate 2, a second connecting plate 4 is fixed to the lower surface of the first connecting plate 2 through a fixing plate 16, the first connecting plate 2 is located directly above the center of the second connecting plate 4, a first camera 1 is fixed to the left side of the front end of the second connecting plate 4, a second camera 9 is fixed to the right side of the rear end of the second connecting plate 4, a rangefinder 7 is fixed to the right side of the second camera 9, a plurality of grippers 8 are fixed to the lower surface of the second connecting plate 4, the plurality of grippers 8 are arranged in double rows, and a photoelectric sensor 10 is arranged on the gripper 8. The double-row cell gripper is used to grab the cells at the same time, and the incoming cells are grabbed at one time. The first camera 1, the second camera 9 and the rangefinder 7 installed on the second connecting plate 4 can accurately locate the position of the incoming cells, and the photoelectric sensor 10 can perform secondary sensing on the cells when grabbing the cells, so as to prevent the gripping cylinder in the cell gripper from grabbing empty cells.

[0023] Please continue reading Figure 1 , Figures 5 to 7As shown, in one embodiment of the utility model, the gripper 8 includes a support plate 81, and a fixing rod 82 is fixed at the front and rear ends of the support plate 81. The second connecting plate 4 is provided with a plurality of openings opposite to the fixing rod 82. The fixing rod 82 is fixed in the opening through a linear bearing 83. A spring 84 is sleeved on the fixing rod 82, and the spring 84 is located between the linear bearing 83 and the support plate 81. A clamping cylinder 85 is fixed on the lower surface of the support plate 81. A first proximity sensor 87 and a second proximity sensor are fixed on one side of the support plate 81 through a first L sheet metal 86. The first proximity sensor 87 and the second sensor 88 are arranged opposite to each other on the left and right. The spring 84 can play a buffering role when the battery gripper descends to grab the battery cell to prevent the battery cell from being damaged. The clamping cylinder 85 can drive the gripper on the clamping cylinder 85 to grab the battery cell. The proximity sensor can detect whether the state of the clamping cylinder 85 is open or clamped.

[0024] Please continue reading Figures 5 to 7 As shown, in one embodiment of the utility model, the photoelectric sensor 10 is fixed to one side of the support plate 81 through an L-shaped strip 11. A photoelectric sensor 10 is installed on each independent gripper 8 to sense the battery cell in each gripper, and the battery cell is sensed twice when the battery cell is grasped. Then, the gripper cylinder in the battery cell gripper drives the rubber block to be clamped synchronously, which can prevent the gripper cylinder in the battery cell gripper from being empty.

[0025] Please continue reading Figure 1 As shown, in one embodiment of the utility model, a small pressure gauge 3 for detecting the pressure at the grip of the clamping cylinder 85 is provided at the position corresponding to the gripping member of the first connecting plate 2. The small pressure gauge is used to detect the pressure of each cylinder in the process of opening and clamping in real time.

[0026] Please continue reading Figure 5 As shown, in one embodiment of the utility model, a first mesh-shaped rubber block 12 is fixed to the inner side end of the gripper of the clamping claw cylinder 85, and a second rubber block 18 is fixed to the inner top end of the gripper of the clamping claw cylinder 85. By using mesh rubber to increase friction to clamp the battery cell, the risk of the battery cell falling can be reduced.

[0027] Please continue reading Figure 5As shown, in one embodiment of the utility model, the fixing rod 82 is fixed to the support plate 81 by a first flip bolt, a second L-shaped sheet metal 13 located below the first flip bolt is provided on the side of the support plate 81, the gripper of the clamping jaw cylinder 85 is fixed to the output end of the clamping jaw cylinder 85 by a second flip bolt, and a third L-shaped sheet metal 14 located below the second flip bolt is provided on the gripper of the clamping jaw cylinder 85. By using the second L-shaped sheet metal 13 and the third L-shaped sheet metal 14 to hold the inverted first flip bolt and the second flip bolt in place, the inverted first flip bolt and the second flip bolt are effectively prevented from falling off, as well as other risks caused by them.

[0028] Please continue reading Figure 1 As shown, in one embodiment of the utility model, a valve island 5 and a network module are arranged on the second connection plate 4. The valve island 5 and the network module 6 can integrate the gas circuit and the circuit respectively.

[0029] Please continue reading Figure 3 , Figure 4 As shown, in one embodiment of the utility model, the front and rear sides of the second connecting plate 4 are fixed with a beam sensor 15 through a connecting strip 17. A row of cells is equipped with a beam sensor 15, and the beam sensor 15 detects whether the positions of all the cell grippers are in place when the robot controls the gripper to descend and grab the cell.

[0030] The utility model has the following working principle: first, the robot controls the entire battery cell gripper to move to the incoming material position foam pallet, the error of the battery cell on the foam is 2mm on one side, and the battery cell incoming material on the foam pallet is photographed and measured by the first camera, the second camera and the rangefinder. The first camera 1 and the second camera are distributed at diagonal positions, and the box is photographed at the same time to reduce the photographing time, and the robot action is optimized accordingly to provide the production line rhythm; after the first positioning is completed, the robot controls the battery cell gripper to come to the top of the battery cell, and the parallel clamping claws in the gripping cylinder in the gripping piece of the double-row battery cell drive the upper rubber block to open synchronously, and the clamping claw stroke is 20mm, and the single-side stroke 10mm, eliminate the error of the battery cell on the foam tray, and accurately grasp the battery cell; then the robot controls the battery cell gripper of the utility model to descend, and uses the shooting sensors 15 on both sides of the battery cell gripper to detect whether all the battery cell grippers are in place, which reduces the number of shooting sensors 15 that need to be equipped on each gripper, and the alarm for whether the gripper has touched the battery cell by mistake; after it is in place, the gripper descends again, and through the buffering effect of the spring, the rubber block is pressed against the battery cell pole, and the photoelectric sensor senses the battery cell in each gripper, and then the gripper cylinder 85 in the battery cell gripper drives the rubber block to clamp synchronously, grab the battery cell, and then the robot moves the battery cell to the next station. During this period, the proximity sensor is used to detect whether the state of the gripper cylinder is open or clamped, and the small pressure gauge detects the pressure of each cylinder in the opening and clamping process in real time. The second L-shaped sheet metal and the third L-shaped sheet metal prevent the inverted bolts on the battery cell gripper from falling off, and the valve island and network module integrate the gas path and circuit respectively.

[0031] The above description is only a preferred embodiment of the present utility model and cannot be understood as a limitation of the present application. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the present utility model.

Claims

1. A multi-cell gripper for cell feeding, characterized in that: It includes a first connecting plate, a second connecting plate is fixed to the lower surface of the first connecting plate via a fixing plate, the first connecting plate is located directly above the center position of the second connecting plate, a first camera is fixed to the left side of the front end of the second connecting plate, a second camera is fixed to the right side of the rear end of the second connecting plate, a rangefinder is fixed to the right side of the second camera, a plurality of grippers are fixed to the lower surface of the second connecting plate, the plurality of grippers are arranged in double rows, and a photoelectric sensor is provided on the grippers.

2. A multi-cell gripper for cell feeding according to claim 1, characterized in that: The gripper member includes a support plate, a fixing rod is fixed at the front and rear ends of the support plate, a plurality of openings opposite to the fixing rod are opened on the second connecting plate, the fixing rod is fixed in the opening through a linear bearing, a spring is sleeved on the fixing rod, and the spring is located between the linear bearing and the support plate, a clamping cylinder is fixed to the lower surface of the support plate, and a first proximity sensor and a second proximity sensor are fixed to one side edge of the support plate through a first L-shaped sheet metal, and the first proximity sensor and the second sensor are arranged opposite to each other on the left and right.

3. A multi-cell gripper for cell feeding according to claim 2, characterized in that: The photoelectric sensor is fixed to one side of the support plate through an L-shaped strip plate.

4. A multi-cell gripper for cell feeding according to claim 2, characterized in that: A small pressure gauge for detecting the pressure at the gripper of the clamping claw cylinder is arranged at a position corresponding to the gripper member of the first connecting plate.

5. The multi-cell gripper for cell feeding according to claim 2, characterized in that: A first rubber block in a mesh shape is fixed to the inner side end of the gripper of the clamping claw cylinder, and a second rubber block is fixed to the inner top end of the gripper of the clamping claw cylinder.

6. A multi-cell gripper for cell feeding according to claim 2, characterized in that: The fixing rod is fixed to the support plate by a first flip bolt, a second L-shaped sheet metal is provided on the side of the support plate below the first flip bolt, the gripper of the clamp cylinder is fixed to the output end of the clamp cylinder by a second flip bolt, and a third L-shaped sheet metal is provided on the gripper of the clamp cylinder below the second flip bolt.

7. The multi-cell gripper for cell feeding according to claim 1, characterized in that: The second connecting plate is provided with a valve island and a network module.

8. The multi-cell gripper for cell feeding according to claim 1, characterized in that: The front and rear sides of the second connecting plate are fixed with through-beam sensors via connecting strips.

Images