Battery cell tray gripping apparatus with connecting rod mechanism

Abstract

The utility model discloses a battery cell tray gripping apparatus with connecting rod mechanisms, which comprises a gripping assembly arranged on the top surface of a mounting bracket, and the gripping assembly is symmetrically provided with at least two connecting rod mechanisms by taking the center of the mounting bracket as the center; the executing ends of the symmetrically-arranged connecting rod mechanisms and the bottom face of the mounting support jointly form a grabbing space used for grabbing the battery cell tray, the grabbing space changes along with movement of the executing ends, and when the executing ends are fixed, the grabbing space does not change. By arranging the four sets of symmetrically-arranged connecting rod mechanisms, the mounting plate and the grabbing groove form a grabbing space with the changeable space, then the grabbing assembly can grab the battery cell tray, the self-locking electromagnetic valve is arranged to control the motion state of the air cylinder, the connecting rod mechanisms are provided with self-locking structures, and therefore the battery cell tray can be grabbed more stably. And therefore, after the grabbing space grabs the battery cell tray, even if the voltage of the self-locking electromagnetic valve is unstable, the motion state of the air cylinder cannot be influenced, and the grabbing assembly can stably maintain the state of grabbing the battery cell tray.

Description

Technical Field

[0001] The utility model relates to the technical field of battery production, and particularly relates to a core tray gripper with a connecting rod mechanism. Background Art

[0002] A core tray is an important component used to carry and transport cores during the battery manufacturing and logistics processes. It is used to carry and transport unpackaged cores on the production line, store cores in warehousing logistics for inventory management, and carry cores during battery assembly to help engineers install the cores into the battery pack in a specified arrangement. In an automated production line or logistics system, a gripper is commonly used to carry the core tray. During the handling process, it is necessary to ensure stable handling without slipping to cause accidental injuries, and it is also necessary to ensure that the gripper can accurately position and place the core tray.

[0003] In the prior art, a pneumatic vacuum gripper is commonly used. It realizes the grasping of the core tray by utilizing the atmospheric pressure difference. When a vacuum pump or a vacuum generator forms a negative pressure inside the gripper, the air between the gripper and the core tray is pumped out, forming a pressure area lower than the atmospheric pressure, thereby grasping the core tray. The inventors of this application found that when implementing this technical solution: the grasping ability of the pneumatic vacuum gripper is limited by the strength of the vacuum it generates. Its grasping ability continuously depends on the vacuum strength between the gripper and the core tray. When the power of the machine generating the vacuum fluctuates, the vacuum strength fluctuates, and the load of the gripper will fluctuate, and accidental injuries such as the core tray falling may occur, reducing the safety of production. Summary of the Utility Model

[0004] In order to solve the problem that the existing gripper cannot stably grasp the core tray, the utility model provides a core tray gripper with a connecting rod mechanism, and the specific technical solution is as follows:

[0005] The utility model includes a mounting bracket, and further includes a grasping assembly arranged on the top surface of the mounting bracket. The grasping assembly is symmetrically arranged around the center of the mounting bracket with at least two connecting rod mechanisms. The execution ends of at least two symmetrically arranged connecting rod mechanisms and the bottom surface of the mounting bracket jointly form a grasping space for grasping the core tray. The size of the grasping space changes as the execution end moves. When the execution end is fixed, the size of the grasping space does not change.

[0006] Furthermore, the connecting rod mechanism is provided with a self-locking structure, and the self-locking structure can limit the movement of the execution end of the connecting rod mechanism relative to the bottom surface of the mounting bracket.

[0007] Further, the linkage mechanism includes: a cylinder disposed on the top surface of the mounting bracket, the telescopic direction of the cylinder being perpendicular to the side surface of the mounting bracket; a grasping rod having one end connected to the telescopic end of the cylinder, the other end of the grasping rod being connected to the mounting bracket; and a self-locking solenoid valve connected to the cylinder, the self-locking solenoid valve being capable of controlling the cylinder to restrict the movement of the grasping rod relative to the mounting bracket.

[0008] Further, the linkage mechanism further includes a grasping head fixedly connected to one end of the grasping rod away from the cylinder. A grasping groove is formed on the surface of the grasping head close to the mounting bracket. The grasping grooves are symmetrically arranged with the center of the mounting bracket as the symmetry center. The two symmetrically arranged grasping grooves and the bottom surface of the mounting bracket form a grasping space.

[0009] Preferably, the cylinder can push the grasping rod to rotate around the mounting bracket. The rotating grasping rod pushes the grasping head and the grasping groove to rotate around the mounting bracket. The plane formed by the telescopic trajectory of the cylinder coincides with the plane formed by the rotating trajectory of the grasping rod and the plane formed by the rotating trajectory of the grasping groove. The grasping space will become larger or smaller during the rotation of the grasping groove.

[0010] Preferably, the mounting bracket includes a mounting plate with a grasping assembly disposed on the top surface. A bracket groove is formed at the intersection of the movement trajectory of the linkage mechanism and the mounting plate. Fixed seats are arranged on both sides of the bracket groove, and the fixed seats are simultaneously arranged on the bottom surface of the mounting plate.

[0011] From the above technical solutions, the present utility model has the following beneficial effects:

[0012] By providing four groups of symmetrically arranged linkage mechanisms, the mounting plate and the grasping groove of the present utility model can form a grasping space with variable space, so that the grasping assembly can open and close to grasp and release the battery cell tray. Secondly, by providing a self-locking solenoid valve to control the movement state of the cylinder, the linkage mechanism has a self-locking structure. Therefore, even if the self-locking solenoid valve is powered off or the voltage is unstable after the grasping space grasps the battery cell tray, it will not affect the movement state of the cylinder, and thus will not affect the grasping space, enabling the grasping assembly to stably maintain the state of grasping the battery cell tray and ensuring production safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural diagram of an embodiment of the present utility model;

[0014] Figure 2 is a side view of an embodiment of the present utility model.

[0015] In the figure: 1, mounting bracket; 2, grasping assembly; 3, battery cell tray; 11, mounting plate; 12, bracket groove; 13, fixed seat; 21, link mechanism; 211, cylinder; 212, self-locking solenoid valve; 213, grasping rod; 214, grasping head; 215, grasping groove; 216, grasping space; 31, side protrusion. Detailed implementation manners

[0016] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0017] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "inner", "outer", "upper", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0018] As Figure 1 shown, the embodiment of the present invention includes a mounting bracket 1 and a grasping assembly 2 provided on the top surface of the mounting bracket 1. The grasping assembly 2 is provided with at least two link mechanisms 21 symmetrically centered on the mounting bracket 1. The execution ends of the at least two symmetrically arranged link mechanisms 21 and the bottom surface of the mounting bracket 1 together form a grasping space 216 for grasping the battery cell tray 3. The size of the grasping space 216 changes as the execution end moves. When the execution end is fixed, the size of the grasping space 216 does not change.

[0019] Specifically, the grasping assembly 2 is provided with four linkage mechanisms 21. The four linkage mechanisms 21 are all rotatably connected to the mounting bracket 1, and the end away from the mounting bracket 1 is the execution end. This execution end extends beyond the side surface of the mounting bracket 1 to the lower area of the mounting bracket 1, so that the execution ends on the four side surfaces of the mounting bracket 1 can enclose a grasping space 216 with its bottom surface. This grasping space 216 is used to grasp the side protrusions 31 of the battery cell tray 3, enabling the four linkage mechanisms 21 to jointly act to grasp the battery cell tray 3. Secondly, the grasping space 216 realizes spatial variation through the movement of the execution end relative to the bottom surface of the mounting bracket 1. When the execution end remains stationary relative to the bottom surface of the mounting bracket 1, the size of the grasping space 216 can be locked, thereby enabling the grasping assembly 2 to cooperate with the mounting bracket 1 to stably grasp the battery cell tray 3 without accidental injury caused by fluctuations in the grasping space 216 resulting in the dropping of the battery cell tray 3. Furthermore, in this embodiment, the battery cell tray 3 can be stably grasped through the linkage mechanism 21.

[0020] Furthermore, the mounting bracket 1 includes a mounting plate 11 with the grasping assembly 2 provided on its top surface. A bracket groove 12 is formed at the intersection of the movement trajectories of the mounting plate 11 and the linkage mechanism 21. Fixed seats 13 are provided on both sides of the bracket groove 12, and the fixed seats 13 are simultaneously arranged on the bottom surface of the mounting plate 11.

[0021] Specifically, the grasping assembly 2 is rotatably connected to the top surface of the mounting plate 11. The four side surfaces of the mounting plate 11 are perpendicular in sequence, enabling the movement direction of the execution end of the linkage mechanism 21 to be perpendicular to the side surface of the mounting plate 11. Consequently, the grasping space 216 can match the four side surfaces of the battery cell tray 3, thereby grasping it. Secondly, a part of the linkage mechanism 21 intersects with the mounting plate 11, and the mounting plate 11 forms a bracket groove 12 at the intersection position, enabling the linkage mechanism 21 to be installed as compactly as possible without interference with the mounting plate 11 during its movement. Furthermore, the size of the grasping assembly 2 can be reduced as much as possible, thereby reducing its weight, facilitating the installation of this embodiment on the robotic arm to grasp the battery cell tray 3. Secondly, the fixed seats 13 are welded to the bottom surface of the mounting plate 11, enabling the linkage mechanism 21 to be connected to it after passing through the bracket groove 12. Furthermore, the second rotation fulcrum of the linkage mechanism 21 is fixed on the mounting bracket 1 to ensure its rotation.

[0022] Furthermore, the linkage mechanism 21 is provided with a self-locking structure, which can restrict the movement of the execution end of the linkage mechanism 21 relative to the bottom surface of the mounting bracket 1.

[0023] Specifically, the linkage mechanism 21 can lock its own motion state by restricting the motion of one of its movable components, thereby forming a self-locking structure, further restricting the motion of the execution end, so that after the execution end grabs the battery cell tray 3, it can be fixed with the battery cell tray 3 through the self-locking mechanism, and further ensuring that the execution end will not fluctuate and cause the battery cell tray 3 to fall after the grasping assembly 2 grabs the battery cell tray 3, improving the safety of production.

[0024] Further, the linkage mechanism 21 includes: a cylinder 211 disposed on the top surface of the mounting bracket 1, the telescopic direction of the cylinder 211 being perpendicular to the side surface of the mounting bracket 1; a grasping rod 213 having one end connected to the telescopic end of the cylinder 211, the other end of the grasping rod 213 being connected to the mounting bracket 1; and a self-locking solenoid valve 212 connected to the cylinder 211, the self-locking solenoid valve 212 being capable of controlling the cylinder 211 to restrict the movement of the grasping rod 213 relative to the mounting bracket 1.

[0025] Specifically, in this embodiment, the cylinder 211 is a single-rod double-acting cylinder 211, which can move bidirectionally under the push of the air source, and then push the grasping rod 213 to rotate clockwise or counterclockwise around the fixed seat 13 at the bottom of the mounting bracket 1, and the plane formed by the rotation trajectory is perpendicular to the side surface of the mounting bracket 1. When the grasping rod 213 rotates, the projection of its end on the side surface of the mounting bracket 1 will not change relative to its adjacent side surface, so that the contact surface of the end grasping the side protrusion 31 of the battery cell tray 3 will not change all the time, thus ensuring the grasping accuracy of the end grasping the battery cell tray 3.

[0026] Secondly, the self-locking solenoid valve 212 can maintain its current position in the power-off state, that is, it can still maintain the open or closed state after power-off. It can maintain the stability of the motion state of the cylinder 211 under the condition of unstable air source, and then maintain the stability of the end of the grasping rod 213.

[0027] As Figure 2 shown, the linkage mechanism 21 further includes a grasping head 214 fixedly connected to one end of the grasping rod 213 away from the cylinder 211. A grasping groove 215 is formed on the surface of the grasping head 214 close to the mounting bracket 1. The grasping groove 215 is symmetrically arranged with the center of the mounting bracket 1 as the center of symmetry. The two symmetrically arranged grasping grooves 215 and the bottom surface of the mounting bracket 1 form a grasping space 216.

[0028] Specifically, the gripper head 214 forms an angle with the gripper rod 213, and this angle makes the gripper head 214 closer to the battery cell tray 3 than the extension line of the gripper rod 213. During the rotation of the gripper rod 213, the gripper head 214 can contact the side protrusion 31 of the battery cell tray 3 faster, so that the oppositely arranged gripper grooves 215 can quickly form a gripping space 216 in contact with the bottom surface of the mounting bracket 1 and the side protrusion 31 of the battery cell tray 3 that is symmetric to the battery cell tray 3, and further enables the gripper head 214 to stably grip the battery cell tray 3.

[0029] Furthermore, the air cylinder 211 can push the gripper rod 213 to rotate around the mounting plate 11, and the rotating gripper rod 213 pushes the gripper head 214 and the gripper grooves 215 to rotate around the mounting bracket 1. The plane formed by the telescopic trajectory of the air cylinder 211 coincides, and the planes formed by the rotation trajectories of the gripper rod 213 and the gripper grooves 215 are coplanar. The gripping space 216 will become larger or smaller during the rotation of the gripper grooves 215.

[0030] Specifically, the base of the air cylinder 211 is rotatably connected to the mounting plate 11, the telescopic end of the air cylinder 211 is rotatably connected to one end of the gripper rod 213, and the other end of the gripper rod 213 is welded to one end of the gripper head 214 and is rotatably connected to the fixed seat 13, so that the air cylinder 211, the gripper rod 213, and the mounting bracket 1 form a linkage mechanism 21. The rotation planes of the rotating components coincide and are the rotation plane of the linkage mechanism 21, which is perpendicular to the side surface of the battery cell tray 3 so that the gripper grooves 215 can form a gripping space 216 for gripping the side protrusion 31 of the battery cell tray 3. During the rotation of the gripper head 214, the gripper grooves 215 rotate relative to the bottom surface of the mounting plate 11, so that the size of the gripping space 216 can change, and further enables the gripping assembly 2 to be sleeved on the side protrusion 31 of the battery cell tray 3 and lift it by gripping.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

[0032] The technologies, shapes, and structures not detailedly described in the present invention are all well-known technologies.

Claims

1. A battery tray gripper with a connecting rod mechanism, comprising a mounting bracket (1), characterized in that: The cell tray gripper also includes a gripping assembly (2) arranged on the top surface of the mounting bracket (1); the gripping assembly (2) has at least two connecting rod mechanisms (21) symmetrically arranged around the center of the mounting bracket (1); the execution ends of the at least two symmetrically arranged connecting rod mechanisms (21) and the bottom surface of the mounting bracket (1) together form a gripping space (216) for gripping the cell tray (3); the size of the gripping space (216) changes as the execution end moves; when the execution end is fixed, the size of the gripping space (216) does not change.

2. The battery tray gripper according to claim 1, characterized in that: The connecting rod mechanism (21) is provided with a self-locking structure, and the self-locking structure can limit the movement of the execution end of the connecting rod mechanism (21) relative to the bottom surface of the mounting bracket (1).

3. The battery tray gripper according to claim 2, characterized in that: The connecting rod mechanism (21) comprises: A cylinder (211) disposed on the top surface of the mounting bracket (1), wherein the extension and retraction direction of the cylinder (211) is perpendicular to the side surface of the mounting bracket (1); a grabbing rod (213) having one end connected to the telescopic end of the cylinder (211), and the other end of the grabbing rod (213) connected to the mounting bracket (1); and A self-locking solenoid valve (212) connected to the cylinder (211) is capable of controlling the cylinder (211) to limit the movement of the grabbing rod (213) relative to the mounting bracket (1).

4. The battery tray gripper according to claim 3, characterized in that: The connecting rod mechanism (21) further comprises a grabbing head (214) having one end fixedly connected to an end of the grabbing rod (213) away from the cylinder (211); a grabbing groove (215) is formed on a side of the grabbing head (214) close to the mounting bracket (1); the grabbing grooves (215) are symmetrically arranged with the center of the mounting bracket (1) as the symmetry center; the grabbing grooves (215) symmetrically arranged in pairs and the bottom surface of the mounting bracket (1) form the grabbing space (216).

5. The battery tray gripper according to claim 4, characterized in that: The cylinder (211) can push the grabbing rod (213) to rotate around the mounting bracket (1); the rotating grabbing rod (213) pushes the grabbing head (214) and the grabbing groove (215) to rotate around the mounting bracket (1); the planes formed by the telescopic trajectory of the cylinder (211) overlap, and the planes formed by the rotation trajectory of the grabbing rod (213) and the planes formed by the rotation trajectory of the grabbing groove (215) are coplanar; the grabbing space (216) will increase or decrease during the rotation of the grabbing groove (215).

6. The battery tray gripper according to claim 1, characterized in that: The mounting bracket (1) comprises a mounting plate (11) on the top surface of which the grab assembly (2) is arranged, a bracket groove (12) is formed at the intersection of the mounting plate (11) and the motion trajectory of the connecting rod mechanism (21), and fixing seats (13) are arranged on both sides of the bracket groove (12), and the fixing seats (13) are also arranged on the bottom surface of the mounting plate (11).

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