Clamping jaw device and feeding robot

Abstract

The embodiment of the utility model provides a clamping jaw device and a feeding robot. The clamping jaw device comprises a main body, and a variable pitch module, a detection module and a plurality of clamping jaw mechanisms which are arranged on the main body, the multiple clamping jaw mechanisms are movably connected to the main body and arranged at intervals in the first direction. The detection module is used for detecting space information of incoming battery cells; the variable-pitch module is electrically connected with the detection module and the clamping jaw mechanism, and the variable-pitch module is used for driving the clamping jaw mechanism to move on the main body in the first direction based on the space information, so that the space of the clamping jaw mechanism is matched with the space information; wherein the space information at least comprises the position, the height and the spacing of the incoming battery cells. According to the clamping jaw device provided by the invention, the problem that the production efficiency is reduced due to the fact that the distance between the supplied battery cell and the clamping jaw device of the feeding robot is not compatible in the existing battery cell production process and the distance between the supplied battery cell and the clamping jaw device of the feeding robot needs to be secondarily adjusted is solved.

Description

Technical Field

[0001] The present application belongs to the technical field of battery cell production, and specifically relates to a clamping device and a loading robot. Background Art

[0002] With the advancement of technology, battery cells, as a commonly used energy storage and power supply component, have experienced significant growth, bringing significant convenience to people's production and daily lives. In existing battery cell production, the technical solution of using a loading robot's gripper to grasp incoming battery cells to complete the loading operation has been widely used.

[0003] However, when using a loading robot for automated loading, when the spacing or model size of the incoming battery cells is incompatible with the spacing of the grippers, it is often necessary to adjust the battery cell spacing a second time so that the grippers can complete the gripping of the battery cells. This process increases the time consumption of battery cell loading, reduces production efficiency, and brings inconvenience to battery cell production. Utility Model Content

[0004] The present application aims to provide a gripper device and a loading robot to solve the problem in the existing battery cell production process that when the spacing of the incoming battery cells is incompatible with the robot gripper, the incoming battery cells need to be adjusted for the spacing a second time, thereby reducing production efficiency.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] In the first aspect, the present application discloses a clamping device, which includes: a main body, and a variable distance module, a detection module and a plurality of clamping mechanisms arranged on the main body; the plurality of clamping mechanisms are movably connected to the main body, and the clamping mechanisms are arranged at intervals along a first direction; the detection module is used to detect the spatial information of incoming battery cells; the variable distance module is electrically connected to the detection module and the clamping mechanism respectively, and the variable distance module drives the clamping mechanism to move along the first direction on the main body based on the spatial information, so that the spacing of the clamping mechanisms is adapted to the spatial information; wherein, the spatial information includes at least the position, height and spacing of the incoming battery cells.

[0007] Optionally, there are at least two detection modules, and the detection modules are arranged on the main body at intervals along the first direction.

[0008] Optionally, the main body is provided with a slide rail extending along the first direction, and the clamping mechanism is slidably connected to the slide rail along the first direction; the variable distance module is used to drive the clamping mechanism to move on the slide rail based on the spatial information so that the spacing of the clamping mechanism in the first direction is adapted to the spatial information.

[0009] Optionally, the clamping mechanism includes a driving member and a battery cell clamp; the battery cell clamp is slidably connected to the slide rail; the driving member is electrically connected to the variable pitch module, and the battery cell clamp is connected to the driving member, and the driving member is used to drive the battery cell clamp to move along the first direction on the slide rail so that the spacing of the battery cell clamps is adapted to the spatial information.

[0010] Optionally, the driving member includes at least one of a driving cylinder and a driving motor.

[0011] Optionally, the clamping device further includes a position-limiting and blocking mechanism, which is fixedly connected to the main body and is used to block the storage tooling of the incoming battery cells.

[0012] Optionally, the limiting blocking mechanism includes a connecting rod and a limiting plate; the connecting rod is arranged close to the clamping mechanism, and the connecting rod includes a first end and a second end that deviate along a second direction, and the second direction is perpendicular to the first direction; the first end is fixedly connected to the main body, and the second end is fixedly connected to the limiting plate; the limiting plate is used to block the storage tooling of the incoming battery cell.

[0013] Optionally, the connecting rod is provided with a telescopic structure, which is arranged between the first end and the second end, and is used to extend or shorten the connecting rod along the second direction.

[0014] Optionally, the detection module includes at least one of a visual detection device and an acoustic wave detection device.

[0015] In a second aspect, the present application further discloses a loading robot, which comprises at least a robotic arm and a gripping device as described in any one of the above items, wherein the gripping device is connected to the robotic arm.

[0016] In an embodiment of the present application, a gripper device for a battery cell loading robot is provided. During use, the gripper device detects the incoming battery cells through a detection module to obtain spatial information of the incoming battery cells. The variable distance module drives the gripper mechanism to move and adjust on the main body based on the spatial information, so that the spacing of the gripper mechanism is adapted to the incoming battery cells. The gripper mechanism then completes the gripping and transfer of the incoming battery cells to perform the loading operation of the battery cells. The gripper module provided by the present application solves the problem of the need to adjust the spacing of the incoming battery cells a second time when the spacing between the incoming battery cells and the gripper of the loading robot is incompatible in the existing battery cell production process, thereby reducing production efficiency.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 is a schematic structural diagram of the clamping device described in this application;

[0020] Figure 2 is a front view of the clamping device described in this application;

[0021] Figure 3 is a bottom view of the clamping device described in this application;

[0022] Figure 4 Schematic diagram of the loading robot described in this application.

[0023] Figure numerals: 1. Main body; 11. Slide rail; 2. Pitch change module; 3. Detection module; 4. Clamping mechanism; 5. First direction; 6. Incoming battery cell; 61. Storage tooling; 7. Limit blocking mechanism; 71. Connecting rod; 72. Limit plate; 8. Second direction; 9. Robotic arm. DETAILED DESCRIPTION

[0024] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0025] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly refer to one or more of these features. In the description of this utility model, unless otherwise specified, "plurality" means two or more. Furthermore, "and / or" in the specification and claims refers to at least one of the connected items, and the character " / " generally indicates an "or" relationship between the connected items.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 understood as a limitation to the present invention.

[0027] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0028] The embodiment of the present application provides at least one of a gripper device and a loading robot. The embodiment of the present application does not limit the specific type of the loading robot.

[0029] Reference Figures 1 to 3 , shows a schematic diagram of the clamping device described in the present application, the clamping device may at least include: a main body 1, and a variable distance module 2, a detection module 3 and a plurality of clamping mechanisms 4 arranged on the main body 1; the plurality of clamping mechanisms 4 are movably connected to the main body 1, and the clamping mechanisms 4 are arranged at intervals along the first direction 5; the detection module 3 is used to detect the spatial information of the incoming battery cells 6; the variable distance module 2 is electrically connected to the detection module 3 and the clamping mechanism 4 respectively, and the variable distance module 2 is used to drive the clamping mechanism 4 to move along the first direction 5 on the main body 1 based on the spatial information, so that the spacing of the clamping mechanisms 4 is adapted to the spatial information; wherein, the spatial information of the incoming battery cells 6 at least includes the position, height and spacing of the incoming battery cells 6.

[0030] In an embodiment of the present application, a gripper device for a battery cell loading robot is provided. During use, the gripper device detects the spatial information of the incoming battery cell 6 through the detection module 3. The distance-changing module 2 drives the gripper mechanism 4 to move and adjust along the first direction 5 on the main body 1 based on the spatial information obtained by the detection module 3, so that the spacing of the gripper mechanism 4 is adapted to the incoming battery cell 6. The gripper mechanism 4 then completes the gripping and transfer of the incoming battery cell 6 to perform the battery cell loading operation. The gripper module provided by the present application solves the problem of the need to adjust the spacing of the incoming battery cell twice due to the incompatibility between the spacing between the incoming battery cell 6 and the gripper device of the loading robot in the existing battery cell production process, thereby reducing production efficiency.

[0031] Optionally, there are at least two detection modules 3 described in the present application, and the detection modules 3 are arranged on the main body 1 at intervals along the first direction 5 .

[0032] In an embodiment of the present application, there are at least two detection modules 3 and they are arranged at intervals along the first direction 5. The spatial information of the incoming battery cells 6 is comprehensively detected at different angles to improve the movement accuracy of the clamping mechanism 4 and ensure that the spacing of the clamping mechanism 4 is accurately adapted to the incoming battery cells 6.

[0033] Optionally, the main body 1 described in the present application is provided with a slide rail 11 extending along the first direction 5, and the clamping mechanism 4 is slidably connected to the slide rail 11 along the first direction 5; the variable distance module 2 drives the clamping mechanism 4 to move on the slide rail 11 based on the spatial information, so that the spacing of the clamping mechanism 4 in the first direction 5 is adapted to the spatial information.

[0034] In the embodiment of the present application, a slide rail 11 extending along the first direction 5 is provided on the main body 1, and the clamping mechanism 4 is slidably connected to the slide rail 11 along the first direction 5. In a specific application, the distance variable module 2 drives the clamping mechanism 4 to move along the slide rail 11 along the first direction 5 based on the spatial information of the incoming battery cell 6 obtained by the detection module 3, so that the spacing of the clamping mechanism 4 in the first direction 5 is adapted to the spatial information, and then the clamping mechanism 4 completes the clamping of the incoming battery cell 6 and performs the loading operation.

[0035] Optionally, the clamping mechanism 4 in the present application may include at least a driving member and a battery cell clamp; the battery cell clamp is slidably connected to the slide rail; the driving member is electrically connected to the variable pitch module 2, and the battery cell clamp is connected to the driving member, and the driving member is used to drive the battery cell clamp to move along the first direction 5 on the slide rail 11 so that the spacing of the battery cell clamp is adapted to the spatial information.

[0036] In an embodiment of the present application, the clamping mechanism 4 includes at least a driving member and a battery cell clamp; the battery cell clamp is slidably connected to the slide rail; the driving member is electrically connected to the variable pitch module 2, and the battery cell clamp is connected to the driving member, and the driving member is used to drive the battery cell clamp to move along the first direction 5 on the slide rail 11 so that the spacing of the battery cell clamp is adapted to the spatial information.

[0037] Optionally, the driving member described in the present application includes at least one of a driving cylinder and a driving motor.

[0038] In the embodiments of the present application, the driving element of the clamping mechanism may include at least one of a drive cylinder and a drive motor to drive the battery cell clamping jaws. The use of at least one of a drive cylinder and a drive motor is a reliable and mature technology that improves the reliability and stability of the clamping device of the present application.

[0039] Optionally, the clamping device described in the present application further includes a position-limiting and blocking mechanism 7 , which is fixedly connected to the main body 1 , and is used to block the storage tooling 61 of the incoming battery cells 6 .

[0040] In an embodiment of the present application, a limited blocking mechanism 7 is provided on the main body 1 of the clamping device. Specifically, during application, the incoming battery cells 6 are generally stacked up using storage tooling 61 such as foam partitions, and then moved by tools such as forklifts. In the process of clamping the incoming battery cells 6, the storage tooling 61 of the incoming battery cells 6 is limited and blocked by the limited blocking mechanism 7 to avoid the inconvenience caused by the storage tooling 61 being synchronously lifted up during the process of clamping the battery cells.

[0041] Optionally, the limiting and blocking mechanism 7 described in the present application includes a connecting rod 71 and a limiting plate 72; the connecting rod 71 is arranged close to the clamping mechanism 4, and the connecting rod 71 includes a first end and a second end that deviate along the second direction 8, and the second direction 8 is perpendicular to the first direction 5; the first end is fixedly connected to the main body 1, and the second end is fixedly connected to the limiting plate 72; the limiting plate 72 is used to block the storage tooling 61 of the incoming battery cell 6.

[0042] In the embodiment of the present application, the position-limiting and blocking mechanism 7 is provided with a connecting rod 71 and a limiting plate 72. The connecting rod 71 is provided near the clamping mechanism 4, with one end of the connecting rod 71 fixedly connected to the main body 1 and the other end fixedly connected to the limiting plate 72. In actual use, the limiting plate 72 limits and blocks the storage fixture 61 of the incoming battery cell 6, preventing the storage fixture 61 from being simultaneously lifted during the process of clamping the battery cell, which would cause inconvenience.

[0043] Optionally, the connecting rod 71 described in the present application is provided with a telescopic structure, which is arranged between the first end and the second end, and the telescopic structure is used to extend or shorten the connecting rod 71 along the second direction 8.

[0044] In the embodiment of the present application, a telescopic structure is provided on the connecting rod 71, which enables the connecting rod 71 to be telescopic along the second direction 8. Therefore, during use, the limit plate 72 can be adapted to different heights of incoming battery cells 6 and different storage fixtures 61. It should be noted that the telescopic structure described in this embodiment can be a specific structure such as a telescopic screw. Those skilled in the art can select the type, model, and material of the telescopic structure according to actual production and use requirements, and this application does not make any specific restrictions.

[0045] Optionally, the detection module 3 described in the present application includes at least one of a visual detection device and an acoustic wave detection device.

[0046] In the embodiment of the present application, the detection module 3 includes at least one of a visual detection device and an acoustic wave detection device to improve the accuracy of the inspection of the spatial information of the incoming battery cells 6 .

[0047] On the other hand, the present application also provides a feeding robot, referring to Figure 4 The loading robot at least includes a robotic arm 9 and any one of the clamping devices described above, and the robotic arm 9 is connected to the clamping device.

[0048] In the embodiment itself, a loading robot is also provided, which includes at least a robotic arm 9 and any one of the clamping devices described above, and the robotic arm 9 is connected to the clamping device. It should be noted that the clamping device in this embodiment has the same structure as any one of the clamping devices described above, and its beneficial effects are also the same, which will not be repeated here. The loading robot provided in the embodiment of the present application solves the problem that when the spacing between the incoming battery cells is incompatible with the robot's clamping jaws in the existing battery cell production process, the incoming battery cells need to be adjusted for a second time, thereby reducing production efficiency.

[0049] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0050] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A clamping device, characterized in that: The clamping device comprises: a main body (1), a distance-changing module (2), a detection module (3), and a plurality of clamping mechanisms (4) arranged on the main body (1); A plurality of the clamping mechanisms (4) are movably connected to the main body (1), and the clamping mechanisms (4) are arranged at intervals along the first direction (5); The detection module (3) is used to detect spatial information of the incoming battery cell (6); The distance-changing module (2) is electrically connected to the detection module (3) and the clamping mechanism (4), respectively. Based on the spatial information, the distance-changing module (2) drives the clamping mechanism (4) to move along the first direction (5) on the main body (1), so that the distance between the clamping mechanism (4) is adapted to the spatial information. The spatial information at least includes the position, height and spacing of the incoming battery cells (6).

2. The clamping device according to claim 1, characterized in that There are at least two detection modules (3), and the detection modules (3) are arranged on the main body (1) at intervals along the first direction (5).

3. The clamping device according to claim 1, characterized in that The main body (1) is provided with a slide rail (11) extending along the first direction (5), and the clamping mechanism (4) is slidably connected to the slide rail (11) along the first direction (5); The distance-changing module (2) drives the clamping mechanism (4) to move on the slide rail (11) based on the spatial information, so that the distance of the clamping mechanism (4) in the first direction (5) is adapted to the spatial information.

4. The clamping device according to claim 3, characterized in that The clamping mechanism (4) comprises a driving member and a battery core clamping jaw; The battery core clamp is slidably connected to the slide rail (11); The driving member is electrically connected to the variable pitch module (2), and the battery cell clamp is connected to the driving member. The driving member is used to drive the battery cell clamp to move along the first direction (5) on the slide rail (11) so that the spacing between the battery cell clamps is adapted to the spatial information.

5. The clamping device according to claim 4, characterized in that: The driving member includes at least one of a driving cylinder and a driving motor.

6. The clamping device according to claim 1, characterized in that The clamping device further comprises a position-limiting and blocking mechanism (7), wherein the position-limiting and blocking mechanism (7) is fixedly connected to the main body (1), and the position-limiting and blocking mechanism (7) is used to block the storage tooling (61) of the incoming battery cell (6).

7. The clamping device according to claim 6, characterized in that The position limiting and blocking mechanism (7) comprises a connecting rod (71) and a position limiting plate (72); The connecting rod (71) is arranged close to the clamping mechanism (4), and the connecting rod (71) includes a first end and a second end that diverge along a second direction (8), and the second direction (8) is perpendicular to the first direction (5); The first end is fixedly connected to the main body (1), and the second end is fixedly connected to the limiting plate (72); the limiting plate (72) is used to block the storage tooling (61) of the incoming battery core (6).

8. The clamping device according to claim 7, characterized in that: The connecting rod (71) is provided with a telescopic structure, the telescopic structure being arranged between the first end and the second end, and the telescopic structure being used to extend or shorten the connecting rod along the second direction.

9. The clamping device according to claim 1, characterized in that: The detection module (3) comprises at least one of a visual detection device and an acoustic wave detection device.

10. A feeding robot, characterized in that: The loading robot comprises at least a robotic arm (9) and a gripper device according to any one of claims 1 to 9, wherein the gripper device is connected to the robotic arm (9).

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