Manipulator variable-pitch clamping jaw device

Abstract

The utility model provides a variable-pitch clamping jaw device of a mechanical arm. The variable-pitch clamping jaw device comprises a supporting frame, a clamping jaw assembly, a cam rolling shaft and a driving motor. The supporting frame and the cam rolling shaft extend in the first horizontal direction, the two ends of the cam rolling shaft are rotationally connected to the supporting frame, and the driving motor is in transmission connection with one end of the cam rolling shaft; two spiral grooves with opposite rotating directions are symmetrically formed in the cam rolling shaft, and a plurality of clamping jaw assemblies are arranged in any spiral groove in a sliding mode; the clamping jaw assembly is slidably connected to the supporting frame in the first horizontal direction. The cam rolling shaft is driven by the driving motor to rotate around the axis of the cam rolling shaft, the relative position change between the clamping jaw assemblies in the two spiral grooves is achieved, the distance between the two clamping jaw assemblies in the middle position can be increased or shortened, clamping jaw pitch change is achieved, and therefore the positions of the clamping jaw assemblies are adjusted according to the size and position of a battery cell, and the clamping efficiency is improved. And the device is suitable for carrying work of different battery cells.

Description

Technical Field

[0001] The utility model relates to the field of new energy battery production equipment, in particular to a manipulator variable-distance clamping claw device. Background Art

[0002] With the global emphasis on environmental protection and the continuous advancement of new energy vehicle technology, the new energy vehicle market continues to maintain rapid growth. This trend has led to a significant increase in the production demand for battery cells, the core components of new energy vehicles.

[0003] The gripper is an important innovation in cell handling. The gripper grabs the cell with high precision, efficiency and safety through its gripping force, ensuring a secure grip without damaging the cell.

[0004] Currently, the grippers used in the battery cell handling process cannot adjust their spacing according to the number and size of battery cells delivered each time. When handling multiple batches of battery cells, the grippers usually need to be replaced or adjusted in their entirety, resulting in low work efficiency and low handling quality. Summary of the invention

[0005] In view of the shortcomings of the prior art, the utility model provides a manipulator variable-distance gripper device, which can adjust the distance of multiple grippers according to the number and size of battery cells, allowing empty grippers to be present during transportation, so as to adapt to battery cells of different specifications and sizes, and improve the transportation efficiency and quality. The technical solution adopted by the utility model is:

[0006] A manipulator variable-pitch clamping device comprises a support frame, a clamping jaw assembly, a cam roller, and a driving motor;

[0007] The support frame and the cam roller extend along a first horizontal direction respectively, two ends of the cam roller are rotatably connected to the support frame respectively, and the drive motor is transmission-connected to one end of the cam roller;

[0008] The cam roller is symmetrically provided with two spiral grooves with opposite rotation directions, and a plurality of clamping claw assemblies are slidably provided in any of the spiral grooves;

[0009] The clamping jaw assembly is slidably connected to the supporting frame along a first horizontal direction.

[0010] Further, the clamping jaw assembly includes a horizontal connecting plate, a vertical connecting plate, a cylinder connecting plate, a cylinder, a clamping jaw body and a buffer;

[0011] The horizontal connecting plate is slidably connected to the spiral groove, and the horizontal connecting plate is slidably connected to the support frame, and the horizontal connecting plate extends along a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction;

[0012] The two ends of the horizontal connecting plate are respectively provided with vertical connecting plates, and the two ends of the cylinder connecting plate are respectively slidably connected to the two vertical connecting plates along the vertical direction;

[0013] The cylinder is arranged on a side of the cylinder connecting plate away from the horizontal connecting plate, and two output ends of the cylinder are respectively provided with a clamping jaw body, and the claw tips of the two clamping jaw bodies are opposite to each other;

[0014] The buffer member is arranged between the horizontal connecting plate and the cylinder connecting plate.

[0015] Furthermore, a vertical slide rail is provided on the vertical connecting plate, a vertical slider is slidably connected to the vertical slide rail, and the other side surface of the vertical slider is connected to one end of the cylinder connecting plate.

[0016] Furthermore, a first sensor bracket is arranged on the horizontal connecting plate, a first fool-proofing photoelectric sensor is arranged on the first sensor bracket, and a first fool-proofing shading sheet corresponding to the first fool-proofing photoelectric sensor is arranged on the cylinder connecting plate.

[0017] Furthermore, a cam connecting column is provided on the horizontal connecting plate, and the cam connecting column extends into the spiral groove.

[0018] Furthermore, a second sensor bracket is arranged at one end of the vertical connecting plate away from the horizontal connecting plate, a second fool-proofing photoelectric sensor is arranged on the second sensor bracket, and a second fool-proofing shading sheet corresponding to the second fool-proofing photoelectric sensor is arranged on the clamp body.

[0019] Furthermore, a horizontal slide rail is provided on the support frame along the first horizontal direction, a plurality of horizontal sliding blocks are slidably connected to the horizontal slide rail, and the horizontal connecting plates on the plurality of clamping jaw assemblies are respectively connected to the plurality of horizontal sliding blocks in a one-to-one correspondence.

[0020] Furthermore, a cell position detection component is provided at one end of the horizontal connecting plate.

[0021] Furthermore, a cover shell is provided on the support frame, the drive motor is fixed on the cover shell, a transmission belt is provided in the cover shell, and the transmission belt is respectively connected to the output end of the drive motor and one end of the cam roller.

[0022] Furthermore, a flange is provided on the support frame, and one end of the flange is used to connect the manipulator.

[0023] Advantages of the utility model:

[0024] Two spiral grooves with opposite rotation directions can adjust the relative distance between the clamping jaws on both sides, which is suitable for the handling of batteries with different numbers and sizes.

[0025] The vertical sliding and buffering structure is used to avoid rigid collision between the clamp and the battery cell, protect the battery cell structure and improve the handling quality;

[0026] The cooperation of the anti-fool photoelectric sensor and the anti-fool shading sheet realizes the misalignment alarm of the battery cell. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structural composition of the utility model.

[0028] Figure 2 It is the assembly diagram of the drive motor and cam roller.

[0029] Figure 3 A plan view of the gripper assembly.

[0030] In the figure: 100-support frame, 110-horizontal slide rail, 120-horizontal slider, 200-clamping jaw assembly, 210-horizontal connecting plate, 211-cam connecting column, 212-first sensor bracket, 213-first fool-proofing photoelectric sensor, 220-vertical connecting plate, 221-vertical slide rail, 222-vertical slider, 223-second sensor bracket, 224-second fool-proofing photoelectric sensor, 230-cylinder connecting plate, 231-first fool-proofing shading plate, 240-cylinder, 250-clamping jaw body, 260-buffer, 300-cam roller, 310-spiral groove, 400-drive motor, 500-battery cell position detection component, 600-transmission belt, 700-cover, 800-flange. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0032] Please refer to the attached Figure 1-Figure 3 The utility model provides a variable-pitch clamping device for a manipulator, comprising a support frame 100, a clamping jaw assembly 200, a cam roller 300, and a driving motor 400; the support frame 100 and the cam roller 300 extend respectively along a first horizontal direction, and both ends of the cam roller 300 are respectively rotatably connected to the support frame 100, and the driving motor 400 is transmission-connected to one end of the cam roller 300; two spiral grooves 310 with opposite rotation directions are symmetrically arranged on the cam roller 300, and a plurality of clamping jaw assemblies 200 are slidably arranged in any of the spiral grooves 310; the clamping jaw assembly 200 is slidably connected to the support frame 100 along the first horizontal direction.

[0033] This application is attached Figure 1As a reference, the first horizontal direction is selected as the front-to-back direction, and the second horizontal direction is selected as the left-to-right direction, then the cam roller 300 extends in the front-to-back direction, and the two spiral grooves 310 are symmetrical front-to-back with the midpoint of the cam roller 300. It can be seen from this that the present application sets two spiral grooves 310 with opposite rotation directions, and the cam roller 300 rotates around its own axis under the drive of the drive motor 400, so as to realize the relative position change between the clamping jaw assemblies 200 in the two spiral grooves 310, and can open or shorten the distance between the two clamping jaw assemblies 200 at the middle position, so as to realize the clamping jaw pitch change, thereby adjusting the position of the clamping jaw assembly 200 according to the size and position of the battery cell, so as to adapt to the handling work of different battery cells.

[0034] It should be noted that although the two spiral grooves 310 are symmetrical front to back, it does not mean that the positions of the several clamping jaw assemblies 200 in the spiral grooves 310 also need to be symmetrical front to back; considering that the number of battery cells that need to be clamped by the several clamping jaw assemblies 200 is different, the distance between two adjacent clamping jaw assemblies 200 is not necessarily the same. When the number of battery cells transported at a time is large, the distance between two adjacent battery cells is small, and when the number of battery cells transported at a time is small, the distance between two adjacent battery cells is large. Therefore, according to the upper limit of the number of battery cells that can be accommodated at a time on the transport line, the initial position of each clamping jaw assembly 200 is calculated, and then according to the number and position of the battery cells transported at a time, the position of the several clamping jaw assemblies 200 is changed to adapt to battery cells of different numbers and positions.

[0035] It is understandable that the number of battery cells transported each time may vary. When the number of battery cells in a single time is less than the number of jaw assemblies 200, some jaw assemblies 200 do not participate in the clamping action, that is, there are empty jaws in the transport process.

[0036] When in use, the corresponding position of each jaw assembly 200 is determined according to the position of the battery cell, and then the driving motor 400 drives the cam roller 300 to rotate, driving the jaw assembly 200 in the spiral groove 310 to move along the front-to-back direction until each jaw assembly 200 moves into place, and the battery cell is fixed by clamping the jaw assembly 200 corresponding to the battery cell, and then the jaw device moves as a whole to realize the battery cell transportation.

[0037] The specific structure of the clamping jaw assembly 200 in this application is shown in the attached Figure 3As shown, the clamping jaw assembly 200 includes a horizontal connecting plate 210, a vertical connecting plate 220, a cylinder connecting plate 230, a cylinder 240, a clamping jaw body 250 and a buffer 260; the horizontal connecting plate 210 is slidably connected to the spiral groove 310, and the horizontal connecting plate 210 is slidably connected to the support frame 100, and the horizontal connecting plate 210 extends along a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; the two ends of the horizontal connecting plate 210 are respectively provided with vertical connecting plates 220, and the two ends of the cylinder connecting plate 230 are respectively slidably connected to the two vertical connecting plates 220 along the vertical direction; the cylinder 240 is arranged on a side of the cylinder connecting plate 230 away from the horizontal connecting plate 210, and the two output ends of the cylinder 240 are respectively provided with clamping jaw bodies 250, and the claw tips of the two clamping jaw bodies 250 are opposite to each other; the buffer 260 is arranged between the horizontal connecting plate 210 and the cylinder connecting plate 230.

[0038] It can be understood that in the clamping jaw assembly 200, the horizontal connecting plate 210 is on the top and the cylinder connecting plate 230 is on the bottom, which are slidably connected by two front and rear vertical connecting plates 220. The clamping jaw body 250 on the cylinder 240 is L-shaped, including a horizontal surface and a vertical surface.

[0039] The buffer member 260 can buffer the rigid impact between the clamp body 250 and the battery cell; when in use, when the battery cell and the clamp body 250 are misaligned, that is, the battery cell is not within the clamping range of the clamp body 250, the downward movement of the clamp device will cause the clamp body 250 to hit the battery cell. At this time, under the buffering effect of the buffer member 260, the cylinder connecting plate 230 is able to move upward along the vertical connecting plate 220, thereby avoiding damaging the battery cell.

[0040] In a specific embodiment, the buffer 260 is a cylindrical spring, and the two ends of the cylindrical spring are respectively connected to the horizontal connecting plate 210 and the cylinder connecting plate 230. The elastic force is increased by compressing the cylindrical spring to offset the rigid impact between the clamp body 250 and the battery cell.

[0041] Furthermore, there are two buffer members 260 , which are respectively located on the left and right sides of the cylinder 240 ; the stability of the clamp body 250 is improved by increasing the number and symmetry of the buffer members 260 .

[0042] Please refer to the attached Figure 3The sliding connection relationship between the cylinder connecting plate 230 and the vertical connecting plate 220 is specifically as follows: a vertical slide rail 221 is provided on the vertical connecting plate 220, and a vertical slider 222 is slidably connected to the vertical slide rail 221, and the other side of the vertical slider 222 is connected to one end of the cylinder connecting plate 230; when the cylinder connecting plate 230 moves upward relative to the horizontal connecting plate 210, the vertical slider 222 slides upward along the vertical slide rail 221; when the clamping position is adjusted under the action of the clamping claw device and the manipulator and gradually leaves the battery cell, the cylinder connecting plate 230 gradually descends relative to the horizontal connecting plate 210, and the vertical slider 222 moves downward along the vertical slide rail 221 until the cylinder connecting plate 230 stops descending when it is farthest from the horizontal connecting plate 210.

[0043] As is known, there is no need to set a driving member between the vertical slide rail 221 and the vertical slider 222 to provide power, and the flexible contact between the clamp body 250 and the battery cell can be achieved by only slidingly connecting with the buffer member 260 .

[0044] To realize the battery cell misalignment alarm, please refer to the attached Figure 3 A first sensor bracket 212 is provided on the horizontal connecting plate 210, and a first fool-proofing photoelectric sensor 213 is provided on the first sensor bracket 212. A first fool-proofing shading sheet 231 corresponding to the first fool-proofing photoelectric sensor 213 is provided on the cylinder connecting plate 230; when the cylinder connecting plate 230 moves upward relative to the horizontal connecting plate 210, the first fool-proofing shading sheet 231 gradually approaches the first fool-proofing photoelectric sensor 213 until the first fool-proofing shading sheet 231 enters the groove of the first fool-proofing photoelectric sensor 213, and the first fool-proofing photoelectric sensor 213 sends an alarm signal to the controller to prompt the battery cell misalignment, so as to facilitate further adjustment of the position of the clamping jaw assembly 200.

[0045] In order to make the jaw assembly 200 move more smoothly when adjusting the position, please refer to the attached Figure 2 The horizontal connecting plate 210 is provided with a cam connecting column 211 , and the cam connecting column 211 extends into the spiral groove 310 .

[0046] In order to facilitate the judgment of whether the clamp body 250 releases the battery cell, please refer to the attached Figure 3A second sensor bracket 223 is provided at one end of the vertical connecting plate 220 away from the horizontal connecting plate 210, and a second fool-proofing photoelectric sensor 224 is provided on the second sensor bracket 223. A second fool-proofing shading sheet 251 corresponding to the second fool-proofing photoelectric sensor 224 is provided on the clamping jaw body 250; when the battery cell is not clamped, the distance between the two clamping jaw bodies 250 is the farthest, and the second fool-proofing shading sheet 251 enters the groove of the second fool-proofing photoelectric sensor 224. The second fool-proofing photoelectric sensor 224 sends a signal to the controller to provide feedback that the clamping jaw body 250 is in a clamping state, prompting the clamping jaw device to release the battery cell and meet the conditions for transferring it to the battery cell conveying line again.

[0047] The specific connection relationship between the clamping jaw assembly 200 and the support frame 100 is shown in the attached Figure 2 As shown: a horizontal slide rail 110 is arranged on the support frame 100 along the first horizontal direction, and a plurality of horizontal sliders 120 are slidably connected to the horizontal slide rail 110, and the horizontal connecting plates 210 on the plurality of clamping jaw assemblies 200 are respectively connected to the plurality of horizontal sliders 120 in a one-to-one correspondence.

[0048] In order to indicate whether the cells on the cell transport line are in place or whether there are any missing cells, as shown in the attached Figure 1 As shown, a cell position detection member 500 is provided at one end of the horizontal connecting plate 210. In actual use, the manipulator drives the clamping device to move to the oblique front of the cell, and checks whether the lower cell is in place through the cell position detection member 500; the cell position detection member 500 is specifically a photoelectric sensor, and the number of the cell position detection member 500 is the same as the number of the clamping jaw assembly 200.

[0049] In order to realize the parallel arrangement of the driving motor 400 and the cam roller 300, the occupied space on the left and right sides of the support frame 100 is reduced. Figure 1 As shown, a cover shell 700 is provided on the support frame 100, the driving motor 400 is fixed on the cover shell 700, and a transmission belt 600 is provided in the cover shell 700, and the transmission belt 600 is respectively connected to the output end of the driving motor 400 and one end of the cam roller 300.

[0050] In a specific embodiment, pulleys are respectively provided at both ends of the transmission belt 600, one of which is connected to the output shaft of the drive motor 400, and the other is connected to the cam roller 300. The cover 700 can not only protect the transmission belt 600 from collision, but also facilitate the installation and fixation of the drive motor 400.

[0051] In order to facilitate the connection of the support frame 100 to the robot, as shown in the attached Figure 1As shown, a flange 800 is provided on the support frame 100 , and one end of the flange 800 is used to connect the manipulator; the flange 800 is specifically fixed at the middle position of the top of the support frame 100 to ensure the gravity balance of the support frame 100 .

[0052] In summary, the present application is not only applicable to the transportation of battery cells of different specifications and sizes, but also has the effect of clamping and buffering. The movement continuity of the clamping claw device is good, which ensures the transportation quality and improves the transportation efficiency.

[0053] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to examples, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A variable-pitch gripper device for a manipulator, characterized in that: It comprises a support frame (100), a clamping jaw assembly (200), a cam roller (300), and a driving motor (400); The support frame (100) and the cam roller (300) extend respectively along a first horizontal direction, two ends of the cam roller (300) are rotatably connected to the support frame (100), and the drive motor (400) is transmission-connected to one end of the cam roller (300); The cam roller (300) is symmetrically provided with two spiral grooves (310) with opposite rotation directions, and a plurality of clamping jaw assemblies (200) are slidably provided in any of the spiral grooves (310); The clamping jaw assembly (200) is slidably connected to the support frame (100) along a first horizontal direction.

2. The variable-pitch gripper device of the manipulator according to claim 1, characterized in that: The clamping jaw assembly (200) comprises a horizontal connecting plate (210), a vertical connecting plate (220), a cylinder connecting plate (230), a cylinder (240), a clamping jaw body (250) and a buffer member (260); The horizontal connecting plate (210) is slidably connected to the spiral groove (310), and the horizontal connecting plate (210) is slidably connected to the support frame (100), and the horizontal connecting plate (210) extends along a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; The two ends of the horizontal connecting plate (210) are respectively provided with vertical connecting plates (220), and the two ends of the cylinder connecting plate (230) are respectively slidably connected to the two vertical connecting plates (220) along the vertical direction; The cylinder (240) is arranged on a side of the cylinder connecting plate (230) away from the horizontal connecting plate (210), and two output ends of the cylinder (240) are respectively provided with clamping jaw bodies (250), and the claw tips of the two clamping jaw bodies (250) are opposite to each other; The buffer member (260) is arranged between the horizontal connecting plate (210) and the cylinder connecting plate (230).

3. The variable-pitch gripper device of the manipulator according to claim 2, characterized in that: The vertical connecting plate (220) is provided with a vertical slide rail (221), the vertical slide rail (221) is slidably connected to a vertical slider (222), and the other side surface of the vertical slider (222) is connected to one end of the cylinder connecting plate (230).

4. The variable-pitch gripper device of the manipulator according to claim 2, characterized in that: A first sensor bracket (212) is arranged on the horizontal connection plate (210), a first foolproof photoelectric sensor (213) is arranged on the first sensor bracket (212), and a first foolproof light shielding sheet (231) corresponding to the first foolproof photoelectric sensor (213) is arranged on the cylinder connection plate (230).

5. The variable-pitch gripper device of the manipulator according to claim 2, characterized in that: A cam connection column (211) is provided on the horizontal connection plate (210), and the cam connection column (211) extends into the spiral groove (310).

6. The variable-pitch gripper device of the manipulator according to claim 2, characterized in that: A second sensor bracket (223) is provided at one end of the vertical connecting plate (220) away from the horizontal connecting plate (210), a second foolproof photoelectric sensor (224) is provided on the second sensor bracket (223), and a second foolproof light shielding sheet (251) corresponding to the second foolproof photoelectric sensor (224) is provided on the clamping jaw body (250).

7. The variable-pitch gripper device of the manipulator according to claim 2, characterized in that: A cell position detection component (500) is provided at one end of the horizontal connecting plate (210).

8. The variable-pitch gripper device of a manipulator according to any one of claims 1 to 7, characterized in that: A horizontal slide rail (110) is arranged on the support frame (100) along a first horizontal direction, a plurality of horizontal sliders (120) are slidably connected to the horizontal slide rail (110), and a plurality of horizontal connecting plates (210) on the clamping jaw assemblies (200) are respectively connected to the plurality of horizontal sliders (120) in a one-to-one correspondence.

9. The variable-pitch gripper device of a manipulator according to any one of claims 1 to 7, characterized in that: A cover shell (700) is arranged on the support frame (100), the drive motor (400) is fixed on the cover shell (700), a transmission belt (600) is arranged inside the cover shell (700), and the transmission belt (600) is respectively connected to the output end of the drive motor (400) and one end of the cam roller (300) in a transmission manner.

10. The variable-pitch gripper device of a manipulator according to any one of claims 1 to 7, characterized in that: The support frame (100) is provided with a flange (800), and one end of the flange (800) is used for connecting a robot.

Images