Manipulator clamping jaw

Abstract

The utility model relates to a manipulator clamping jaw which comprises a six-axis robot and a manipulator clamping jaw body. The manipulator clamping jaw comprises a connecting flange and a fixed welding frame which are connected with each other; a plurality of clamping jaw air cylinders are distributed at the lower end of the fixed welding frame in a rectangular array mode. The fixed welding frame is further provided with a laser ranging device and a CCD visual assembly, the laser ranging device is used for judging the height from the tray position, and the CCD visual assembly is used for recognizing and accurately positioning the tray MARK point. The six-axis robot and clamping jaw optimization design is adopted, multi-channel switching grabbing is carried out, the grabbing range is expanded, and therefore the efficiency is improved, the cost is reduced, the precision is improved, and the large-range taking and placing requirements are met; a mobile code scanning gun is adopted, so that code scanning limitation is reduced; the diagonal double CCD cameras are adopted, so that fewer steps are moved and more pictures are taken, and the efficiency and rhythm are improved; diagonal double-laser distance measurement is adopted, the tray full-loading condition is judged through the distance, the levelness of a mechanical arm is guaranteed, the grabbing precision is improved, and the mechanical automation safety is improved.

Description

Technical Field

[0001] The utility model relates to the field of gripper mechanisms for grasping batteries, and particularly to a manipulator gripper. Background Art

[0002] In the battery manufacturing industry and even in other production industries, the gripper mechanism for articles is very important. In the automation industry, the gripper is an important task embodiment for completing each process node and the connection of each node.

[0003] In the PACK production stage, the incoming materials are mostly large - quantity integrations in the material frame. Taking out the battery cells is the extremely important first process in the production of PACK packages. For the current battery cell placement trays with small gaps and large quantities, it is one of the cost - reduction methods for battery manufacturers, resulting in increased actual disassembly and extraction difficulty and a faster rhythm speed requirement.

[0004] Traditional disassembly and extraction of battery cells mostly use three - axis truss manipulators. For the large - span disassembly requirements, the truss itself is bulky, with high requirements for mechanism strength and precision. This causes difficulties in installation and debugging for personnel. Due to its own bulky nature, the running speed is slow, the efficiency is low, and the cost is high. Content of the Utility Model

[0005] The purpose of the utility model is to provide a manipulator gripper, aiming to overcome the problems of slow running speed, low efficiency, and high cost of the existing three - axis truss manipulator.

[0006] To this end, the utility model proposes a manipulator gripper, which includes a six - axis robot and a manipulator gripper; the manipulator gripper includes a connecting flange and a fixed welding frame connected to each other; several gripper cylinders are arranged in a rectangular array at the lower end of the fixed welding frame; a laser rangefinder and a CCD vision component are also arranged on the fixed welding frame, the laser rangefinder is used to judge the height from the tray position, and the CCD vision component is used for accurate positioning by identifying the tray MARK points.

[0007] As a preferred technical solution of the present application, the CCD vision component is arranged at the diagonal positions on the fixed welding frame.

[0008] As a preferred technical solution of the present application, the laser rangefinder is also arranged at the diagonal positions on the fixed welding frame.

[0009] As a preferred technical solution of the present application, a barcode scanner is also arranged on the fixed welding frame for identifying the incoming material information on the tray.

[0010] As a preferred technical solution of the present application, there are two rows of the gripper cylinders on the fixed welding frame, with six in each row.

[0011] As a preferred technical solution of the present application, a first detection photoelectric device is installed at the lower end of the jaw cylinder to determine whether there is a jaw cell.

[0012] As a preferred technical solution of the present application, a second detection photoelectric device is also installed at the lower end of the jaw cylinder to determine whether the cell slides down in the jaw.

[0013] As a preferred technical solution of the present application, two anti-lifting mechanisms are provided outside the jaw cylinder, and the anti-lifting mechanism is actually a telescopic cylinder extending vertically.

[0014] As a preferred technical solution of the present application, the two anti-lifting mechanisms are distributed at the diagonal positions of the jaw cylinder.

[0015] As a preferred technical solution of the present application, the upper end of the connecting flange is connected to the robot flange of the six-axis robot.

[0016] The manipulator jaw provided by the present utility model adopts a six-axis robot and an optimized design of the jaw, performs multi-channel switching grasping, expands the grasping range, increases efficiency, reduces costs, improves accuracy, and covers a wide range of picking and placing requirements; adopts a double-row 6-jaw structure, grasps 12 cells at a time, improves efficiency, and meets the requirements of dual-channel circulation; adopts a mobile barcode scanner to reduce the limitations of barcode scanning; adopts diagonal double CCD cameras, takes more photos with fewer moves, and improves the efficiency rhythm; adopts diagonal double laser rangefinders, determines the full material condition of the tray through the distance, ensures the levelness of the manipulator, increases the grasping accuracy, and increases the safety of mechanical automation; uses photoelectric detection to reduce costs and increase safety.

[0017] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The following will refer to the drawings for a further detailed description of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The specification drawings forming a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0019] Figure 1 is a schematic structural diagram of the manipulator jaw of the present utility model;

[0020] Figure 2 is a front view of the manipulator jaw in the manipulator jaw of the present utility model;

[0021] Figure 3 is a side view of the manipulator jaw in the manipulator jaw of the present utility model;

[0022] Figure 4This is the top view of the robotic hand gripper in the robotic hand gripper of the present utility model;

[0023] Explanation of reference numerals

[0024] 1. Connecting flange; 2. Fixed welding frame; 3. Laser ranging; 4. CCD vision component; 5. Barcode scanner; 6. Gripper cylinder; 7. Detection photoelectric one; 8. Detection photoelectric two; 9. Anti-lifting mechanism; 10. Robotic hand gripper; 20. Six-axis robot. Specific embodiments

[0025] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0026] As Figure 1 shown, the robotic hand gripper of the present utility model is mainly designed for the robotic hand gripper to pick up materials for making square batteries in PACK. It mainly consists of two parts: a six-axis robot 20 and a robotic hand gripper 10; mainly uses the six-axis robot 20 to replace the three-axis robotic hand truss, and optimizes the design of the robotic hand gripper 10.

[0027] As Figures 2 to 4 shown, the robotic hand gripper 10 mainly includes a connecting flange 1, a fixed welding frame 2 and several gripper cylinders 6; among them, the fixed welding frame 2 is used as the gripper body, adopting a welded four-frame structure, which is simple in structure and high in integration; the upper end of the connecting flange 1 is connected to the robot flange of the six-axis robot 20, and the lower end of the connecting flange 1 is connected to the fixed welding frame 2; and several gripper cylinders 6 are connected to the lower end of the fixed welding frame 2, and several gripper cylinders 6 are distributed in a rectangular array; specifically, the fixed welding frame 2 adopts a double-row six-gripper cylinder arrangement, grasping 12 battery cores at a time, improving efficiency and meeting the dual-channel circulation.

[0028] Among them, the lower end of the gripper cylinder 6 has a gripper for grasping a single battery core; at the same time, a detection photoelectric one 7 and a detection photoelectric two 8 are installed at the lower end of the gripper cylinder 6, and the probes of both face the inside of the gripper. The detection photoelectric two 8 judges whether the battery core slides down in the gripper; the detection photoelectric one 7 judges whether there is a battery core in the gripper; by using photoelectric detection, the cost is reduced and the safety is increased.

[0029] In addition, two anti-lifting mechanisms 9 are provided outside the gripper cylinder 6. The anti-lifting mechanisms 9 are actually telescopic cylinders extending vertically, and the two anti-lifting mechanisms 9 are arranged at the diagonal positions of the gripper cylinder 6 to prevent the tray from being lifted and ensure the situation of the inner lining of the battery core being lifted out.

[0030] As Figure 2As shown in the figure, a laser rangefinder 3, a CCD vision component 4, and a barcode scanner 5 are also provided on the fixed welding jig 2. Among them, the laser rangefinder 3 is used to judge the height of the tray position, and the CCD vision component 4 is used for precise positioning by identifying the tray MARK point. The CCD vision component 4 is also used to take pictures of the battery cell poles to identify the positive and negative polarities. The barcode scanner 5 is used to identify the incoming material information on the tray. The barcode scanner 5 moves with the manipulator gripper 10 to form a mobile barcode scanner, reducing the limitations of barcode scanning.

[0031] Among them, the CCD vision component 4 is arranged at the diagonal positions on the fixed welding jig 2, that is, symmetrically distributed about the horizontal center point of the fixed welding jig 2. At the same time, diagonal double CCD cameras are adopted, with fewer steps and more pictures taken, improving the efficiency rhythm. Through different CCD vision methods, the function integration degree is high.

[0032] Similarly, the laser rangefinder 3 is also arranged at the diagonal positions on the fixed welding jig 2. Diagonal double laser rangefinders are adopted to judge the full material situation of the tray by distance, ensure the levelness of the manipulator, increase the grasping accuracy, and increase the safety of mechanical automation.

[0033] In summary, the manipulator gripper of the present utility model has the following characteristics:

[0034] 1. Adopt double-row 6 grippers, grasping 12 battery cells at a time, improving efficiency and meeting the dual-channel circulation; 2. Adopt a welded four-frame structure, which is simple in structure and high in integration; 3. Adopt a mobile barcode scanner, reducing the limitations of barcode scanning; 4. Adopt diagonal double CCD cameras, with fewer steps and more pictures taken, improving the efficiency rhythm. Through different CCD vision methods, the function integration degree is high;

[0035] 5. Adopt gripper cylinders, increasing the product diversity compatibility and quickly realizing the ability of mechanism change; 6. Add diagonal telescopic cylinders to ensure the situation of the inner lining of the battery cell being lifted when taken out; 7. Adopt diagonal double laser rangefinders to judge the full material situation of the tray by distance, ensure the levelness of the manipulator, increase the grasping accuracy, and increase the safety of mechanical automation; 8. By using photoelectric detection, the cost is reduced and the safety is increased.

[0036] It should be noted that the manipulator gripper of the present utility model can achieve a larger range of picking and placing by changing the arm span of the six-axis robot; it can also obtain more battery cells at one time by increasing the number of grippers, improving the efficiency; in addition, it can also realize the picking and placing of battery cells and the disassembly of multi-layer trays through the optimization of the manipulator gripper structure.

[0037] The working principle and working process of the manipulator gripper of the present utility model are briefly described below.

[0038] When the two-channel full-material tray is conveyed to the grasping position by the conveying mechanism, the six-axis robot drives the manipulator gripper to move to the first tray, and the incoming material information is identified by the barcode scanner 5; by moving the position of the manipulator, the CCD vision component 4 is used to accurately locate the tray MARK point; the CCD vision component 4 takes pictures of the cell poles to identify the positive and negative polarities; the laser rangefinder 3 is used for lateral movement to judge the distance to the tray position and determine whether the tray is full; the six-axis manipulator drives the manipulator gripper to move above the cell grasping position and descends to grasp the cell.

[0039] During the process of lifting the grasped cell, the anti-lifting mechanism 9 extends to prevent the tray from being lifted; the six-axis robot moves to the discharging position, and during the movement, the photoelectric sensor 8 is used to detect whether the cell slides down in the gripper; after grasping and returning, the photoelectric sensor 7 is used to detect whether there is a cell in the gripper; then grasp successively until the current tray is grasped completely, and then move to the second channel to work in a cycle.

[0040] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A robot gripper, characterized in that: It comprises a six-axis robot (20) and a manipulator gripper (10); The manipulator gripper (10) comprises a connecting flange (1) and a fixed welding frame (2) which are connected to each other; a plurality of gripper cylinders (6) are arranged in a rectangular array at the lower end of the fixed welding frame (2); The fixed welding frame (2) is also provided with a laser distance measurement (3) and a CCD visual component (4), wherein the laser distance measurement (3) is used to judge the height of the pallet position, and the CCD visual component (4) is used to identify and accurately locate the MARK point of the pallet.

2. The manipulator gripper according to claim 1, characterized in that: The CCD visual component (4) is arranged at a diagonal position on the fixed welding frame (2).

3. The manipulator gripper according to claim 1, characterized in that: The laser distance measurement (3) is also arranged at a diagonal position on the fixed welding frame (2).

4. The manipulator gripper according to claim 1, characterized in that: The fixed welding frame (2) is also provided with a barcode scanning gun (5) for identifying incoming material information on the pallet.

5. The manipulator gripper according to claim 1, characterized in that: The clamping claw cylinders (6) on the fixed welding frame (2) are provided in two rows, with six in each row.

6. The robot gripper according to claim 1, characterized in that: A detection photoelectric device (7) is installed at the lower end of the clamping claw cylinder (6) for judging whether there is a clamping claw battery cell.

7. The robot gripper according to claim 1, characterized in that: The lower end of the clamping jaw cylinder (6) is also provided with a detection photoelectric sensor (8) for judging whether the battery core has moved downward in the clamping jaw.

8. The robot gripper according to claim 1, characterized in that: Two anti-lifting mechanisms (9) are arranged on the outside of the clamping claw cylinder (6), and the anti-lifting mechanisms (9) are telescopic cylinders extending vertically.

9. The robot gripper according to claim 8, characterized in that: The two anti-lifting mechanisms (9) are distributed at diagonal positions of the clamping claw cylinder (6).

10. The robot gripper according to claim 1, characterized in that: The upper end of the connecting flange (1) is connected to the robot flange of the six-axis robot (20).

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