Battery core composite gripper

Abstract

A battery core composite gripper comprises a frame, a plurality of clamping mechanisms are mounted on the inner top wall of the frame, each clamping mechanism comprises a clamping jaw seat mounted on the inner top wall of the frame, a pneumatic finger is movably mounted on one side of each clamping jaw seat through a buffer assembly, and two clamping jaws are slidably mounted at the bottom of each pneumatic finger; the position of a battery cell is detected and recognized through the three-dimensional recognition camera, the pneumatic finger drives the two clamping jaws to grab the two sides of the battery cell, the polyformaldehyde material is arranged on the inner walls of the clamping jaws, the battery cell is flexibly grabbed, the battery cell is prevented from being damaged by clamping, multiple sets of battery cells are grabbed at the same time, the battery cell grabbing device is suitable for grabbing multiple kinds of battery cells, the grabbing efficiency is high, and the grabbing efficiency is high. The air cylinder drives the bearing frame to descend, the suction cup is attached to the surface of the battery cell tray, the air pump provides suction force for the suction cup through the concentration valve, the suction cup adsorbs and grabs the battery cell tray, the battery cell tray can be carried conveniently after a battery cell is carried, the speed efficiency is greatly improved, and the working efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grippers, in particular to a battery core composite gripper. Background Art

[0002] As a new type of green and environmentally friendly battery, lithium-ion batteries represent the most advanced level of current chemical power source development. Due to the advantages of high specific energy, long cycle life, no memory effect, safety and pollution-free, and fast charging and discharging, lithium-ion batteries have been widely used in electronic devices such as cameras and laptops, and are gradually expanding their application scope to electric bicycles, electric vehicles and other fields. With the rapid increase in the use of lithium-ion batteries in the communication and energy storage industries, the performance requirements of batteries are getting higher and higher, requiring not only lithium-ion batteries to have excellent electrical properties, but also higher consistency and safety performance.

[0003] Existing lithium battery production lines all use manual labor to load battery cells, and manual labor can only carry one battery cell at a time, which is inefficient, labor-intensive and costly. Utility Model Content

[0004] In view of the above situation, in order to overcome the defects of the prior art, the purpose of the utility model is to provide a battery core composite gripper, which effectively solves the problem that the existing lithium battery production line uses manual battery cell loading, and manual operation can only carry one battery cell at a time, which is low in efficiency, high labor intensity and high cost.

[0005] The technical solution is a battery core composite gripper, comprising a frame, wherein the inner top wall of the frame is provided with a plurality of clamping mechanisms, and the clamping mechanisms are used to grasp the battery core;

[0006] The clamping mechanism comprises a clamping claw seat installed on the top wall of the frame, a pneumatic finger is movably installed on one side of the clamping claw seat through a buffer assembly, and two clamping claws are slidably installed on the bottom of the pneumatic finger, and the two clamping claws respectively grasp the two sides of the battery core;

[0007] Two groups of carriers are slidably mounted on both sides of the frame through a moving mechanism, a plurality of vacuum tubes are mounted on both sides of the carrier, a suction cup is mounted on the bottom of the plurality of vacuum tubes, a pneumatic assembly matched with the vacuum tube is arranged on the top of the frame, and the pneumatic assembly provides suction for the suction cup to absorb and grab the battery tray;

[0008] A protective mechanism is provided on one side of the clamping jaw, and the protective mechanism provides flexible protection for the battery core;

[0009] A detection mechanism is disposed on one side of the frame, and the detection mechanism is used to detect the position of the battery core.

[0010] Preferably, the buffer assembly includes two first guide rails installed on one side of the clamping jaw seat, a first slider is slidably installed on one side of the two first guide rails, a support seat is installed on the side of the two first sliders facing away from the first guide rail, the top of the pneumatic finger is installed on the bottom of the support seat, a spring rod is provided on the top of the support seat, a spring is provided on the outer sleeve of the spring rod, the bottom of the spring abuts against the top of the support seat, and the top of the spring abuts against one side of the clamping jaw seat.

[0011] Preferably, the moving mechanism includes two second guide rails installed on one side of the frame, a second slider is slidably installed on one side of the two second guide rails, one side of the supporting frame is installed on the side of the two second sliders facing away from the second guide rails, a cylinder is installed on one side of the frame, and the output end of the cylinder is connected to the top of the supporting frame.

[0012] Preferably, the protective mechanism includes a plurality of first flexible plates, a plurality of T-blocks are provided on the inner wall of the clamp, the plurality of first flexible plates are respectively clamped on the outside of the plurality of T-blocks, second flexible plates are installed on the front and rear sides of the clamp, a U-shaped frame is installed on one side of the pneumatic finger, and a third flexible plate is installed on the bottom of the U-shaped frame.

[0013] Preferably, the detection mechanism includes two fixing seats installed on the top of the frame, and a suspension plate is slidably installed on the top of the two fixing seats, and a three-dimensional recognition camera is installed on one side of the two suspension plates.

[0014] Preferably, the pneumatic component includes two connecting valves installed on one side of the supporting frame, and the two connecting valves are respectively connected to the top ends of the multiple vacuum tubes through multiple pipes. A central valve is installed on the top of the frame, and the central valve is connected to the input end of the connecting valve through an air pipe.

[0015] Preferably, sensor 1 is installed on one side of the clamping jaw seat and one side of the supporting seat, and sensor 2 is installed on one side of the clamping jaw.

[0016] Preferably, a flange is installed on the top of the frame.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. The utility model detects and identifies the position of the battery cell through a three-dimensional recognition camera. The pneumatic fingers drive two clamps to accurately grasp the two sides of the battery cell. The Saigang material is arranged on the inner wall of the clamp, which can flexibly grasp the battery cell to avoid pinching the battery cell. At the same time, multiple groups of battery cells can be grasped, and it is suitable for grasping multiple varieties of battery cells. The grasping efficiency is high, no manual operation is required, and the cost is effectively reduced.

[0019] 2. The utility model drives the carrier frame to descend through the cylinder so that its suction cup is attached to the surface of the battery tray. The external air pump provides suction to the suction cup through the centralized valve. The suction cup absorbs and grabs the battery tray, which is convenient for transporting the battery tray after the battery core is transported. The speed and efficiency are greatly improved, and the work efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the battery core composite gripper of the utility model from the first perspective.

[0021] Figure 2 It is a structural schematic diagram of the clamping mechanism of the utility model.

[0022] Figure 3 It is a structural schematic diagram of the clamping jaws of the utility model.

[0023] Figure 4 It is a structural schematic diagram of the mobile mechanism and the suction cup of the utility model.

[0024] Figure 5 It is a structural schematic diagram of the detection mechanism of the utility model.

[0025] Explanation of the symbols in the schematic diagram:

[0026] 1. Frame; 11. Flange;

[0027] 2. Gripper seat; 21. Pneumatic finger; 22. Gripper;

[0028] 3. Carrying frame; 31. Vacuum tube; 32. Suction cup;

[0029] 4. first guide rail; 41. first slider; 42. support seat; 43. spring;

[0030] 5. Second guide rail; 51. Second slider; 52. Cylinder;

[0031] 6. first flexible board; 61. T-shaped block; 62. second flexible board; 63. U-shaped frame; 64. third flexible board;

[0032] 7. Fixed seat; 71. Suspension plate; 72. Three-dimensional recognition camera;

[0033] 8. Sensor 1; 81. Sensor 2;

[0034] 9. Connecting valve; 91. Central valve. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] Depend on Figure 1 A battery core composite gripper is provided, comprising a frame 1, a flange 11 is installed on the top of the frame 1, and the top of the flange 11 is connected and installed on a robot.

[0037] Depend on Figures 1 to 3 First, the inner top wall of the frame 1 is equipped with multiple groups of clamping mechanisms, which grab the battery cells. The following is a detailed description of the structure of one group of clamping mechanisms:

[0038] Specifically, the clamping mechanism includes a clamping claw seat 2, a buffer assembly, a pneumatic finger 21, and two clamping claws 22. More specifically, the clamping claw seat 2 is installed on the inner top wall of the frame 1, and the pneumatic finger 21 is movably set at the bottom of the clamping claw seat 2 through the buffer assembly. The two clamping claws 22 are connected to the output end of the pneumatic finger 21. The pneumatic finger 21 drives the two clamping claws 22 to move toward the middle at the same time, so that the two clamping claws 22 grab the two sides of the battery core.

[0039] More specifically, the buffer assembly includes two first guide rails 4, two first sliders 41, a support seat 42, a spring rod and a spring 43; more specifically, the two first guide rails 4 are installed on one side of the clamping jaw seat 2, the two first sliders 41 are respectively slidably installed on the side of the two first guide rails 4 away from the clamping jaw seat 2, the support seat 42 is installed on the side of the two first sliders 41 away from the first guide rail 4, the pneumatic finger 21 is installed at the bottom of the support seat 42, the spring rod is arranged on the top of the support seat 42, the spring 43 is sleeved on the outside of the spring rod, and the bottom of the spring 43 abuts on the top of the support seat 42, and the top of the spring 43 abuts on one side of the clamping jaw seat 2. Specifically, the clamping jaw 22 can be displaced upward for a distance under pressure, the spring 43 is compressed, and the support seat 42 slides upward, so as to avoid collision damage to the clamping jaw 22 and increase the service life.

[0040] For further improvement, a protective mechanism is provided on one side of the clamp 22. Specifically, the protective mechanism includes multiple first flexible plates 6, multiple T-blocks 61, two second flexible plates 62, a U-shaped frame 63 and a third flexible plate 64. More specifically, multiple T-blocks 61 are arranged on the inner wall of the clamp 22, multiple first flexible plates 6 are respectively clamped on the outside of multiple T-blocks 61, two second flexible plates 62 are respectively installed on the front and rear sides of the clamp 22, the U-shaped frame 63 is installed on one side of the pneumatic finger 21, and the third flexible plate 64 is installed at the bottom of the U-shaped frame 63. More specifically, the U-shaped frame 63 is located in the middle position of the two clamps 22. The first flexible plate 6, the second flexible plate 62 and the third flexible plate 64 are all made of Saigang material, which are in flexible contact with the battery core to avoid the battery core being clamped when the clamp 22 grasps, thereby playing a protective role.

[0041] For additional explanation, one side of the first flexible board 6 , the second flexible board 62 and the third flexible board 64 are provided with anti-skid grooves. When grasping, the anti-skid grooves contact the surface of the battery core to increase friction and make grasping the battery core more stable.

[0042] Depend on Figure 1 and Figure 4 In addition, two groups of carrier frames 3 are slidably installed on both sides of the frame 1 through a moving mechanism, eight vacuum tubes 31 are installed on both sides of each group of carrier frames 3, and suction cups 32 are installed at the bottom of the eight vacuum tubes 31. A pneumatic component is installed on the top of the frame 1. The pneumatic component cooperates with the vacuum tubes 31 to provide suction for the vacuum tubes 31, so that the suction cups 32 can adsorb and transport the battery cell trays.

[0043] The following is a detailed description of one set of moving mechanisms: Specifically, the moving mechanism includes two second guide rails 5, two second sliders 51 and a cylinder 52. More specifically, the two second guide rails 5 are installed on one side of the frame 1, the two second sliders 51 are respectively slidably installed on one side of the two second guide rails 5, and the carrier frame 3 is installed on the side of the two second sliders 51 away from the second guide rails 5. The cylinder 52 is installed on one side of the frame 1, and the output end of the cylinder 52 is connected to the top of the carrier frame 3. More specifically, the cylinder 52 drives the carrier frame 3 to slide up and down along the second guide rails 5 for lifting and lowering.

[0044] In addition, the pneumatic component includes two connecting valves 9, pipelines, a central valve 91 and an air pipe. Specifically, the central valve 91 is installed on the top of the frame 1, and the connecting valve 9 is installed on one side of the carrier 3. The output end of the central valve 91 is connected to the input end of the connecting valve 9 through the air pipe. The central valve 91 is connected to an external air pump. There are eight pipelines, and the eight pipelines are respectively installed at the output ends of the two connecting valves 9, and the other ends of the eight pipelines are respectively installed on the tops of eight vacuum tubes 31. More specifically, after the battery cells inside the battery tray are transported, the cylinder 52 drives the carrier 3 to descend so that its suction cup 32 is attached to the surface of the battery tray, and then the external air pump provides suction to the suction cup 32 through the central valve 91, the air pipe, the two connecting valves 9 and the eight pipelines, so that the suction cup 32 adsorbs and grabs the battery tray.

[0045] Depend on Figures 2 to 3 Finally, a sensor 1 8 is installed on one side of the clamping jaw 2 and one side of the supporting jaw 42, and a sensor 2 81 is installed on one side of the clamping jaw 22. The sensor 2 81 is electrically connected to the pneumatic finger 21. When the battery cell is detected, the sensor 2 81 controls the pneumatic finger 21 to start.

[0046] Depend on Figure 5 It is given that a detection mechanism is also installed on the top of the frame 1. Specifically, the detection mechanism includes two fixed seats 7, two suspension plates 71 and a three-dimensional recognition camera 72. More specifically, the two fixed seats 7 are installed on the top of the frame 1, and the two suspension plates 71 are slidably installed on the top of the two fixed seats 7 respectively. The three-dimensional recognition camera 72 is installed on one side of the two suspension plates 71. More specifically, the sliding suspension plate 71 can adjust the position of the three-dimensional recognition camera 72. The three-dimensional recognition camera 72 is used to automatically locate the position of the battery cell tray, accurately grab the battery cell, and complete the placement of the battery cell.

[0047] The beneficial effects obtained by the frame 1, the clamping claw seat 2, the buffer assembly, the pneumatic finger 21, the two clamping claws 22, the first flexible plate 6, the multiple T-blocks 61, the two second flexible plates 62, the U-shaped frame 63 and the third flexible plate 64, the supporting frame 3, the vacuum tube 31, the suction cup 32, the moving mechanism, the pneumatic assembly and the detection mechanism: the utility model detects and identifies the position of the battery core through the three-dimensional recognition camera 72, and the pneumatic finger 21 drives the two clamping claws 22 to accurately grasp the two sides of the battery core. The Saigang material is arranged on the inner wall of the clamping claw 22, and the battery core is flexibly grasped to avoid pinching the battery core. At the same time, multiple groups of battery cells can be grasped, and it is suitable for grasping multiple varieties of battery cells. The grasping efficiency is high, no manual operation is required, and the cost is effectively reduced.

[0048] The utility model drives the carrier 3 to descend through the cylinder 52, so that the suction cup 32 is attached to the surface of the battery tray, and the air pump provides suction to the suction cup 32 through the central valve 91. The suction cup 32 absorbs and grabs the battery tray, which is convenient for transporting the battery tray after the battery core is transported, greatly improving the speed and efficiency, and achieving high work efficiency.

[0049] When the utility model is used, when grabbing a battery core, the three-dimensional recognition camera 72 detects and recognizes the position of the battery core, the robot drives the gripper to move to the position of the battery core, and the pneumatic finger 21 drives the two grippers 22 to grip and grab the two sides of the battery core.

[0050] After the battery cells inside the battery tray are moved, the three-dimensional recognition camera 72 detects and identifies the position of the battery tray, the robot drives the gripper to move above the battery tray, and the cylinder 52 drives the carrier 3 to descend so that the suction cup 32 adheres to the surface of the battery tray. Then the external air pump generates suction to provide suction to the suction cup 32 through the central valve 91, the air pipe, the connecting valve 9 and the pipeline, so that the suction cup 32 adsorbs and grabs the battery tray.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A battery core composite gripper, characterized in that: It comprises a frame (1), wherein the inner top wall of the frame (1) is equipped with a plurality of groups of clamping mechanisms, and the clamping mechanisms are used to grasp the battery core; The clamping mechanism comprises a clamping claw seat (2) mounted on the inner top wall of the frame (1), a pneumatic finger (21) being movably mounted on one side of the clamping claw seat (2) via a buffer assembly, two clamping claws (22) being slidably mounted on the bottom of the pneumatic finger (21), and the two clamping claws (22) respectively grasp two sides of the battery core; Two groups of carrier frames (3) are slidably mounted on both sides of the frame (1) via a moving mechanism, a plurality of vacuum tubes (31) are mounted on both sides of the carrier frames (3), a suction cup (32) is mounted on the bottom of each of the plurality of vacuum tubes (31), and a pneumatic component matching the vacuum tubes (31) is disposed on the top of the frame (1), the pneumatic component providing suction force for the suction cup (32) so as to absorb and grasp the battery cell tray; A protection mechanism is provided on one side of the clamping claw (22), and the protection mechanism provides flexible protection for the battery core; A detection mechanism is provided on one side of the frame (1), and the detection mechanism is used to detect the position of the battery core.

2. A battery core composite gripper according to claim 1, characterized in that: The buffer assembly comprises two first guide rails (4) mounted on one side of the clamping jaw seat (2), a first slider (41) being slidably mounted on one side of the two first guide rails (4), a support seat (42) being mounted on the side of the two first sliders (41) facing away from the first guide rail (4), the top of the pneumatic finger (21) being mounted on the bottom of the support seat (42), a spring rod being arranged on the top of the support seat (42), a spring (43) being arranged on the outer periphery of the spring rod, the bottom of the spring (43) being in contact with the top of the support seat (42), and the top of the spring (43) being in contact with one side of the clamping jaw seat (2).

3. The battery core composite gripper according to claim 1, characterized in that: The moving mechanism comprises two second guide rails (5) mounted on one side of the frame (1); a second slider (51) is slidably mounted on one side of the two second guide rails (5); one side of the support frame (3) is mounted on a side of the two second sliders (51) facing away from the second guide rails (5); a cylinder (52) is mounted on one side of the frame (1); an output end of the cylinder (52) is connected to the top of the support frame (3).

4. The battery core composite gripper according to claim 1, characterized in that: The protective mechanism comprises a plurality of first flexible plates (6), the inner wall of the clamping jaw (22) is provided with a plurality of T-shaped blocks (61), the plurality of first flexible plates (6) are respectively clamped to the outside of the plurality of T-shaped blocks (61), the front and rear sides of the clamping jaw (22) are both provided with second flexible plates (62), a U-shaped frame (63) is provided on one side of the pneumatic finger (21), and a third flexible plate (64) is provided at the bottom of the U-shaped frame (63).

5. The battery core composite gripper according to claim 1, characterized in that: The detection mechanism comprises two fixing seats (7) mounted on the top of the frame (1), a suspension plate (71) being slidably mounted on the top of the two fixing seats (7), and a three-dimensional recognition camera (72) being mounted on one side of the two suspension plates (71).

6. The battery core composite gripper according to claim 1, characterized in that: The pneumatic assembly comprises two connecting valves (9) installed on one side of the carrier frame (3), the two connecting valves (9) being connected to the top ends of the plurality of vacuum tubes (31) via a plurality of pipes respectively, and a centralizing valve (91) being installed on the top of the frame (1), the centralizing valve (91) being connected to the input end of the connecting valve (9) via an air pipe.

7. The battery core composite gripper according to claim 1, characterized in that: Sensor 1 (8) is installed on one side of the clamping jaw seat (2) and one side of the support seat (42), and sensor 2 (81) is installed on one side of the clamping jaw (22).

8. The battery core composite gripper according to claim 1, characterized in that: A flange (11) is installed on the top of the frame (1).

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