Battery cell stacking floating gripper

Abstract

The utility model relates to the technical field of new energy battery production, in particular to a battery cell stacking floating gripper. A Y guide rail is mounted on the lower side of the guide rail mounting plate, an X guide rail is mounted on the upper side of the mounting plate, and a slider of the X guide rail is connected with a slider of the Y guide rail through a connecting block; lower-layer fixing seats are mounted on the mounting plate and located on the two sides of the X guide rail, the lower-layer fixing seats are connected with lower-layer springs, upper-layer fixing seats are mounted on the mounting plate and located on the two sides of the Y guide rail, the upper-layer fixing seats are connected with upper-layer springs, and the lower-layer springs and the upper-layer springs are connected with connecting blocks; a first guide column is mounted on the lower side of the mounting plate, a cylinder mounting seat sleeves the first guide column, a first spring is mounted on the first guide column between the cylinder mounting seat and the mounting plate, and a clamping mechanism is mounted on one side of the cylinder mounting seat. And in the process of grabbing the battery cell, the floating of the battery cell in the X, Y and Z directions can be realized through the matching of the X guide rail, the Y guide rail, the upper-layer spring, the lower-layer spring and the first spring, so that the battery cell is prevented from being damaged due to excessive impact.

Description

Technical Field

[0001] The utility model relates to the technical field of new energy battery production. Background Art

[0002] In the battery cell production process, battery cell stacking technology is a key link. However, when placing batteries, traditional battery cell stacking grippers may cause excessive impact between the bottom of the battery cell and the contact surface due to improper force control, thus causing battery cell damage, or uneven gripping force due to differences in battery cell size. Summary of the invention

[0003] In order to solve the technical problem in the prior art that grabbing a battery cell causes the battery cell to receive an excessive impact, the utility model provides a floating gripper for stacking battery cells.

[0004] The technical solution adopted by the utility model to achieve the above-mentioned purpose is:

[0005] A floating gripper for stacking battery cells, wherein a guide rail mounting plate 102 is located above a mounting plate 106, a Y guide rail 104 is mounted on the lower side of the guide rail mounting plate 102, an X guide rail 103 is mounted on the upper side of the mounting plate 106, and a slider of the X guide rail 103 is connected to a slider of the Y guide rail 104 via a connecting block 128; lower fixing seats 108 are mounted on both sides of the X guide rail 103 on the mounting plate 106, the lower fixing seat 108 is connected to one end of a lower spring 110, and the other end of the lower spring 110 is connected to the connecting block 128, upper fixing seats 107 are mounted on both sides of the Y guide rail 104 on the mounting plate 106, the upper fixing seat 107 is connected to one end of an upper spring 125, and the other end of the upper spring 125 is connected to the connecting block 128; the mounting plate 1 06 is installed on the lower side of the first guide column 111, the cylinder mounting seat 114 is sleeved on the first guide column 111, the first spring 112 is installed on the first guide column 111 between the cylinder mounting seat 114 and the mounting plate 106, and a clamping mechanism is installed on one side of the cylinder mounting seat 114. The clamping mechanism includes a base plate 201 and a clamping cylinder 203. The base plate 201 is installed on the cylinder mounting seat 114, the clamping cylinder 203 is installed on one side of the base plate 201, and a guide rail 210 is installed on the other side of the base plate 201. The upper clamp 214 and the lower clamp 225 are respectively installed on the two sliders of the guide rail 210, and the two output ends of the clamping cylinder 203 are connected with the upper clamp 214 and the lower clamp 225 through the upper clamp hook 204 and the lower clamp hook 205 respectively.

[0006] A cylinder 118 is installed at the bottom of the cylinder mounting seat 114, and the cylinder 118 is connected to the positioning shaft 119. A positioning hole 126 is provided at the position corresponding to the positioning shaft 119 on the mounting plate 106 and the cylinder mounting seat 114, and a card slot is provided at the bottom of the guide rail mounting plate 102 corresponding to the positioning shaft 119.

[0007] The other end of the upper spring 125 is connected to the upper fixing plate 105, and the upper fixing plate 105 is mounted on the connecting block 128. The other end of the lower spring 110 is connected to the lower fixing plate 127, and the lower fixing plate 127 is mounted on the connecting block 128.

[0008] The upper fixing seat 107 and the lower fixing seat 108 are respectively provided with hard limit stops 109 corresponding to the Y guide rail 104 and the X guide rail 103 .

[0009] The cylinder mounting seat 114 is installed with the first bracket 122, the photoelectric sensor 123 is installed on the first bracket 122, the first guide column 111 is sleeved with the first bushing 113, the cylinder mounting seat 114 is installed on the first bushing 113, the lower end of the first bushing 113 is installed with a buffer block 115 and an end cover 116, and the lower end of the first guide column 111 is located below the end cover 116 and is installed with a locking nut 117.

[0010] A rigid pressure block 217 is installed on the lower side of the upper clamp 214, and a second guide column 218 is installed on the upper clamp 214 through a second bushing 219. An elastic pressure block 220 is installed on one end of the second guide column 218 located on the lower side of the upper clamp 214, and a second spring 221 is installed on the second guide column 218 between the elastic pressure block 220 and the upper clamp 214.

[0011] A distance measuring sensor 216 is mounted on the upper clamping jaw 214 via a second bracket 215 .

[0012] The clamping jaw cylinder 203 is provided with a proximity sensor 208 via a mounting frame 206 , and a detection bolt 209 corresponding to the proximity sensor 208 is installed on the upper clamping jaw hook 204 or the lower clamping jaw hook 205 via a detection bracket 207 .

[0013] The rigid pressing block 217 , the elastic pressing block 220 and the lower clamping jaw 225 wrap the finger pad.

[0014] Limit blocks 211 are installed on the base plate 201 at both ends of the guide rail 210, and the two sliders on the guide rail 210 are respectively installed with an upper jaw adapter plate 212 and a lower jaw adapter plate, the upper jaw 214 is installed on the upper jaw adapter plate 212, the lower jaw adapter plate 226 is connected to the lower jaw base plate 213, the lower jaw base plate 213 is connected to the lower jaw 225, and a support plate 224 is installed on the inner side of the lower jaw base plate 213, the upper jaw hook 204 and the lower jaw hook 205 are respectively connected to the upper jaw adapter plate 212 and the lower jaw adapter plate 226.

[0015] Compared with the prior art, the utility model has the following advantages:

[0016] In the process of grabbing the battery cell, the cooperation of the X rail, the Y rail, the upper spring, the lower spring and the first spring can realize the floating of the battery cell in the X, Y and Z directions, thereby preventing the battery cell from being damaged by excessive impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional diagram of a floating gripper for stacking battery cells of the utility model.

[0018] Figure 2 It is a front view of a floating gripper for stacking battery cells of the utility model.

[0019] Figure 3 The utility model is a bottom view of a floating gripper for stacking battery cells.

[0020] Figure 4 It is a side view of a floating mechanism of a floating gripper for stacking battery cells of the utility model.

[0021] Figure 5 It is a front view of a floating mechanism of a floating gripper for stacking battery cells according to the utility model.

[0022] Figure 6 The utility model is a bottom view of a floating mechanism of a floating gripper for stacking battery cells.

[0023] Figure 7 It is a front view of a clamping mechanism of a floating gripper for stacking battery cells of the utility model.

[0024] Figure 8 It is a side view of a clamping mechanism of a floating gripper for stacking battery cells of the utility model.

[0025] Fig. 9 It is a top view of a clamping mechanism of a floating gripper for stacking battery cells of the utility model.

[0026] Fig.10 The utility model discloses a connection structure diagram of a guide rail in a floating mechanism of a floating gripper for stacking battery cells.

[0027] In the figure: 101, flange connecting plate; 102, guide rail mounting plate; 103, X guide rail; 104, Y guide rail; 105, upper fixing plate; 106, mounting plate; 107, upper fixing seat; 108, lower fixing seat; 109, hard limit; 110, lower spring; 111, first guide column; 112, first spring; 113, first bushing; 114, cylinder mounting seat; 115, buffer block; 116, end cover; 117, locking nut; 118, cylinder; 119, positioning shaft; 120, Z-axis limit baffle; 121, guide shaft pressure block; 122, first bracket; 123, photoelectric sensor; 124, reinforcing rib; 125, upper spring; 126, positioning hole; 127, lower fixing Plate; 128, connecting block; 201, base plate; 202, adapter plate; 203, jaw cylinder; 204, upper jaw hook; 205, lower jaw hook; 206, mounting frame; 207, detection bracket; 208, proximity sensor; 209, detection bolt; 210, guide rail; 211, limit block; 212, jaw adapter plate; 213, lower jaw base plate; 214, upper jaw; 215, second bracket; 216, ranging sensor; 217, rigid pressure block; 218, second guide column; 219, second bushing; 220, elastic pressure block; 221, second spring; 222, first battery cell; 223, second battery cell; 224, support plate; 225, lower jaw; 226, lower jaw adapter plate. DETAILED DESCRIPTION

[0028] The utility model provides a floating gripper for stacking battery cells, such as Figure 1-6 As shown, the guide rail mounting plate 102 is located above the mounting plate 106, the flange connecting plate 101 is installed on the upper side of the guide rail mounting plate 102, the Y guide rail 104 is installed on the lower side of the guide rail mounting plate 102, and the X guide rail 103 is installed on the upper side of the mounting plate 106, as shown in FIG. Fig.10As shown, the slider of the X guide rail 103 is connected to the slider of the Y guide rail 104 through the connecting block 128; the lower fixed seat 108 is installed on both sides of the X guide rail 103 on the mounting plate 106, and the lower fixed seat 108 is connected to one end of the lower spring 110, and the other end of the lower spring 110 is connected to the lower fixed plate 127, and the lower fixed plate 127 is installed on the connecting block 128, and the upper fixed seat 107 is installed on both sides of the Y guide rail 104 on the mounting plate 106, and the upper fixed seat 107 is connected to the upper spring 125 One end, the other end of the upper spring 125 is connected to the upper fixing plate 105, and the upper fixing plate 105 is installed on the connecting block 128. In the process of clamping the battery cell, the upper spring 125 and the lower spring 110 make the upper fixing plate 105 and the lower fixing plate 127 push the Y guide rail and the X guide rail to realize the floating of the battery cell in the X and Y directions, thereby preventing the battery cell from suffering excessive impact; the hard limit 109 is installed on the upper fixing seat 107 and the lower fixing seat 108 respectively corresponding to the Y guide rail 104 and the X guide rail 103. The first guide column 111 is installed on the lower side of the mounting plate 106, and the first bushing 113 is sleeved on the first guide column 111. The buffer block 115 and the end cover 116 are installed on the lower end of the first bushing 113. The lower end of the first guide column 111 is located below the end cover 116 and a locking nut 117 is installed. The upper end of the first guide column 111 is provided with a guide shaft pressing block 121, and the guide shaft pressing block 121 is located above the mounting plate 106 and is used to limit the position of the first guide column 111 in the Z direction; the first spring 112 is installed on the first guide column 111 between the first bushing 113 and the mounting plate 6, and the cylinder mounting seat 114 is installed on the first bushing 113. The cylinder mounting seat 114 is installed on the first bushing 113. The bottom of the seat 114 is equipped with a cylinder 118, which is connected to a positioning shaft 119. A slot corresponding to the positioning shaft 119 is provided at the bottom of the guide rail mounting plate 102. A Z-direction limit baffle 120 is provided on the lower side of the mounting plate 106 corresponding to the positioning shaft 119. Positioning holes 126 are provided on the Z-direction limit baffle 120, the mounting plate 106 and the cylinder mounting seat 114 corresponding to the positioning shaft 119. When the cylinder 118 pushes the positioning shaft 119 through each positioning hole 126, it is engaged with the slot of the guide rail mounting plate 102, thereby limiting the guide rail mounting plate 102 and the mounting plate 106 in the X and Y directions and limiting the cylinder mounting seat 114 in the Z direction. The cylinder mounting seat 114 is equipped with a first bracket 122, on which a photoelectric sensor 123 is installed to detect whether there are cells on the cell placement plane, thereby preventing foolishness.

[0029] One side of the cylinder mounting seat 114 is provided with a clamping mechanism through a reinforcing rib 124, such as Figure 7-9As shown, the clamping mechanism includes a base plate 201 and a clamping cylinder 203. The base plate 201 is installed on the cylinder mounting seat 114 through an adapter plate 202. The base plate 201 is installed on the reinforcing rib 124. A guide rail 210 is installed on the other side of the base plate 201. Limit blocks 211 are installed on the base plate 201 at both ends of the guide rail 210. An upper clamping jaw adapter plate 212 and a lower clamping jaw adapter plate 226 are respectively installed on the two sliders of the guide rail 210. The upper clamping jaw 214 is installed on the upper clamping jaw adapter plate 212. The lower clamping jaw adapter plate 226 is connected to the lower clamping jaw base plate 213. The lower clamping jaw base plate 213 is connected to the lower clamping jaw 225. A support plate 224 is installed on the inner side of the lower clamping jaw base plate 213. The upper clamping jaw hook 204 and the lower clamping jaw hook 205 are respectively connected to the upper clamping jaw adapter plate 212 and the lower clamping jaw adapter plate 226. The clamping jaw cylinder 203 is installed with a proximity sensor 208 through a mounting frame 206, and a detection bolt 209 corresponding to the proximity sensor 208 is installed on the upper clamping jaw hook 204 or the lower clamping jaw hook 205 through a detection bracket 207, so as to judge whether the state of the clamping jaw is clamped or opened. A rigid pressing block 217 is installed on the lower side of the upper clamping jaw 214, and a second guide column 218 is installed on the upper clamping jaw 214 through a second bushing 219. An elastic pressing block 220 is installed at one end of the second guide column 218 located at the lower side of the upper clamping jaw 214, and a second spring 221 is installed on the second guide column 218 between the elastic pressing block 220 and the upper clamping jaw 214. The rigid pressing block 217 ensures that the first battery cell 221 is firmly clamped, and the second spring 221 is used to compensate for the height difference between the two battery cells to ensure that the second battery cell is firmly clamped. A distance sensor 216 is installed on the upper clamping jaw 214 through a second bracket 215 to detect whether there is a battery cell between the upper and lower clamping jaws. The finger pads are wrapped around the rigid pressing block 217, the elastic pressing block 220 and the lower clamping jaw 225 to protect the surface of the battery cell when the battery cell is grasped. The lower clamping jaw hook 205 is connected to the lower clamping jaw base plate 213, and the lower clamping jaw base plate 213 is connected to the lower clamping jaw 225. The support plate 224 is installed on the inner side of the lower clamping jaw base plate 213 to support the side of the battery cell.

[0030] Working principle: First, the robot drives the floating gripper of the battery cell stack to the battery cell clamping position, and the clamping claw cylinder 203 drives the upper and lower clamping claws to clamp the battery cell. The proximity sensor 208 determines whether the clamping claw is open by sensing the detection bolt 209. During the clamping process, if there is a height difference between the two battery cells, the spring 221 will be adaptively adjusted to effectively compensate for the uneven grasping force caused by the difference in battery cell size, ensuring that the battery cells are clamped at the same time, and the distance sensor 216 detects whether the battery cell has been clamped; after the battery cell is clamped, the cylinder 118 extends out, driving the positioning shaft 119 to engage with the slot of the guide rail mounting plate 102. At this time, the battery cell no longer floats, and the robot drives the entire mechanism to reach At the battery cell placement location, the photoelectric sensor 123 first detects whether there are battery cells at the placement location. After determining that there are no battery cells here, the cylinder 118 drives the positioning shaft 119 to retract. At this time, the mounting plate 106 is in a floating state, and the robot adjusts its position in the horizontal direction, and then descends in the Z direction until the battery cell is placed in the specified position. During this process, the floating mechanism can float freely within a certain range in the X, Y, and Z directions through springs, and can be adaptively adjusted according to the actual situation of the battery cell. At the same time, it can provide a certain degree of elastic buffering during the grasping process to prevent damage to the battery cell due to vibration or impact, thereby improving the accuracy and stability of battery cell stacking and achieving precise placement of battery cells.

[0031] The present invention is described by way of embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the guidance of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. A floating gripper for stacking battery cells, characterized in that: The guide rail mounting plate (102) is located above the mounting plate (106); the Y guide rail (104) is mounted on the lower side of the guide rail mounting plate (102); the X guide rail (103) is mounted on the upper side of the mounting plate (106); the slider of the X guide rail (103) is connected to the slider of the Y guide rail (104) via a connecting block (128); lower fixed seats (108) are mounted on both sides of the X guide rail (103) on the mounting plate (106); the lower fixed seats (108) are connected to one end of a lower spring (110); the other end of the lower spring (110) is connected to the connecting block (128); upper fixed seats (107) are mounted on both sides of the Y guide rail (104) on the mounting plate (106); the upper fixed seats (107) are connected to one end of an upper spring (125); the other end of the upper spring (125) is connected to the connecting block (128); the lower side of the mounting plate (106) is mounted A first guide column (111) is installed, the first guide column (111) is sleeved with a cylinder mounting seat (114), a first spring (112) is installed on the first guide column (111) between the cylinder mounting seat (114) and the mounting plate (106), a clamping mechanism is installed on one side of the cylinder mounting seat (114), the clamping mechanism comprises a base plate (201) and a clamping cylinder (203), the base plate (201) is installed on the cylinder mounting seat (114), the clamping cylinder (203) is installed on one side of the base plate (201), a guide rail (210) is installed on the other side of the base plate (201), an upper clamping jaw (214) and a lower clamping jaw (225) are respectively installed on two sliders of the guide rail (210), and two output ends of the clamping jaw cylinder (203) are respectively connected to the upper clamping jaw (214) and the lower clamping jaw (225) through an upper clamping jaw hook (204) and a lower clamping jaw hook (205).

2. A floating gripper for stacking battery cells according to claim 1, characterized in that: A cylinder (118) is installed at the bottom of the cylinder mounting seat (114), the cylinder (118) is connected to a positioning shaft (119), a positioning hole (126) is provided at a position corresponding to the positioning shaft (119) on the mounting plate (106) and the cylinder mounting seat (114), and a slot is provided at the bottom of the guide rail mounting plate (102) corresponding to the positioning shaft (119).

3. A floating gripper for stacking battery cells according to claim 1, characterized in that: The other end of the upper spring (125) is connected to the upper fixing plate (105), and the upper fixing plate (105) is mounted on the connecting block (128); the other end of the lower spring (110) is connected to the lower fixing plate (127), and the lower fixing plate (127) is mounted on the connecting block (128); The upper fixed seat (107) and the lower fixed seat (108) are respectively installed with hard limit stops (109) corresponding to the Y guide rail (104) and the X guide rail (103).

4. A floating gripper for stacking battery cells according to claim 1, characterized in that: The cylinder mounting seat (114) is mounted with a first bracket (122), a photoelectric sensor (123) is mounted on the first bracket (122), the first guide column (111) is sleeved with a first bushing (113), the cylinder mounting seat (114) is mounted on the first bushing (113), a buffer block (115) and an end cover (116) are mounted on the lower end of the first bushing (113), and a locking nut (117) is mounted on the lower end of the first guide column (111) below the end cover (116).

5. The floating gripper for stacking battery cells according to claim 1, characterized in that: A rigid pressure block (217) is installed on the lower side of the upper clamping jaw (214); a second guide column (218) is installed on the upper clamping jaw (214) via a second bushing (219); an elastic pressure block (220) is installed on one end of the second guide column (218) located on the lower side of the upper clamping jaw (214); and a second spring (221) is installed on the second guide column (218) between the elastic pressure block (220) and the upper clamping jaw (214).

6. The floating gripper for stacking battery cells according to claim 1, characterized in that: A distance measuring sensor (216) is mounted on the upper clamping jaw (214) via a second bracket (215).

7. A floating gripper for stacking battery cells according to claim 1, characterized in that: The clamping jaw cylinder (203) is installed with a proximity sensor (208) via a mounting frame (206), and a detection bolt (209) corresponding to the proximity sensor (208) is installed on the upper clamping jaw hook (204) or the lower clamping jaw hook (205) via a detection bracket (207).

8. The floating gripper for stacking battery cells according to claim 5, characterized in that: The rigid pressing block (217), the elastic pressing block (220) and the lower clamping jaw (225) are wrapped with a finger pad.

9. The floating gripper for stacking battery cells according to claim 1, characterized in that: Limit blocks (211) are installed at both ends of the guide rail (210) on the base plate (201), an upper jaw adapter plate (212) and a lower jaw adapter plate are installed on the two sliders on the guide rail (210), an upper jaw (214) is installed on the upper jaw adapter plate (212), the lower jaw adapter plate is connected to the lower jaw base plate (213), the lower jaw base plate (213) is connected to the lower jaw (225), a support plate (224) is installed on the inner side of the lower jaw base plate (213), and an upper jaw hook (204) and a lower jaw hook (205) are connected to the upper jaw adapter plate (212) and the lower jaw adapter plate, respectively.

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