Clamping jaw mechanism and assembly robot

Abstract

The utility model discloses a clamping jaw mechanism and an assembly robot. The clamping jaw mechanism comprises a mounting seat and a clamping jaw assembly, the clamping jaw assembly comprises a clamping jaw body and an elastic part, and the clamping jaw body is suitable for clamping a workpiece and is movably connected with the mounting seat through the elastic part; wherein the mounting base can drive the clamping jaw assembly to move in the first direction so as to be used for assembling a workpiece, and the elastic piece has the trend of driving the clamping jaw body to move away from the first direction. The clamping jaw body can clamp a workpiece, the mounting base drives the clamping jaw assembly to move in the first direction so that the clamping jaw body can assemble the workpiece to the fixing device, when the workpiece makes contact with the fixing device and abuts against the fixing device, the clamping jaw body can be pushed to move away from the first direction, and the elastic piece can play a buffering role. And the elastic piece can prevent the weight of the clamping jaw assembly from completely acting on the fixing device to damage the fixing device.

Description

Technical Field

[0001] The utility model relates to the technical field of battery production equipment, and more specifically, to a clamping mechanism and an assembly robot. Background Art

[0002] In related technologies, when an assembly robot installs a Penthouse (an integrated module on a battery pack) on a battery pack, it generally grasps the Penthouse with a gripper and assembles the Penthouse on the battery pack. However, since the thickness of the battery pack has a certain tolerance, the gripper assembly may cause the Penthouse to be improperly installed or over-squeezed, resulting in problems such as unqualified tightening or damage to the workpiece.

[0003] Therefore, it is necessary to provide a new technical solution to solve the above technical problems. Utility Model Content

[0004] One purpose of the utility model is to provide a new technical solution for a clamping jaw mechanism.

[0005] According to a first aspect of the present invention, a clamping mechanism is provided. The clamping mechanism comprises:

[0006] Mounting seat;

[0007] A clamping jaw assembly, comprising a clamping jaw body and an elastic member, wherein the clamping jaw body is suitable for clamping a workpiece, and the clamping jaw body is movably connected to the mounting seat via the elastic member;

[0008] The mounting seat can drive the clamping jaw assembly to move along a first direction for assembling a workpiece, and the elastic member has a tendency to drive the clamping jaw body to move away from the first direction.

[0009] Optionally, the elastic member includes a tension spring, one end of the tension spring is connected to the mounting seat, and the other end is connected to the clamping jaw body.

[0010] Optionally, the clamp body includes a connecting portion, the connecting portion is provided with a sliding block, the mounting seat is provided with a sliding rail, and the sliding block is slidably connected to the sliding rail.

[0011] Optionally, the connecting portion is provided with a plurality of sliding blocks at intervals, and the mounting seat is correspondingly provided with a plurality of the sliding rails.

[0012] Optionally, there are multiple elastic members, and the multiple elastic members are respectively arranged on both sides of the connecting part.

[0013] Optionally, a stop portion is provided at one end of the slide rail, and the stop portion is suitable for stopping the slider to limit the slider from separating from the slide rail.

[0014] Optionally, a limiting member is further included, which can be movably arranged relative to the mounting seat, and the limiting member can limit the movement of the clamping jaw body away from the first direction.

[0015] Optionally, the limiting member includes a limiting rod, and the limiting rod can move toward the clamping jaw body to abut against the clamping jaw body.

[0016] Optionally, the limiting member further includes a first driving member, which is mounted on the mounting seat and is transmission-connected to the limiting rod to drive the limiting rod to move.

[0017] Optionally, the clamping mechanism further includes a position sensor, which is suitable for detecting the position of the limit rod.

[0018] According to a second aspect of the present application, an assembly robot is provided, which includes a second driving member and the clamping mechanism described in the above embodiment, wherein the second driving member is transmission-connected to the clamping mechanism to drive the clamping mechanism to move.

[0019] One of the technical effects of the present application is that the jaw body can clamp the workpiece, and the mounting seat drives the jaw assembly to move along the first direction so that the jaw body can assemble the workpiece to the fixing device. When the workpiece contacts and abuts the fixing device, the jaw body will be pushed away from the first direction, and the elastic member can act as a buffer, and the elastic member can prevent the weight of the jaw assembly from being entirely applied to the workpiece and damaging the workpiece.

[0020] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0022] Figure 1 It is a structural schematic diagram of a clamping mechanism according to an embodiment of the present application.

[0023] Figure 2 It is a partial cross-sectional view of a clamping mechanism according to an embodiment of the present application.

[0024] 1. Mounting seat; 11. Slide rail; 2. Clamping jaw assembly; 21. Clamping jaw body; 211. Connecting portion; 22. Elastic member; 23. Slider; 3. Limiting member; 31. Limiting rod; 32. First driving member; 4. Position sensor. DETAILED DESCRIPTION

[0025] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0026] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present invention, its application, or uses.

[0027] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0028] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0029] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0030] According to one embodiment of the present application, a clamping mechanism is provided. Figure 1 and Figure 2 As shown, the clamping mechanism includes a mounting base 1 and a clamping jaw assembly 2. The clamping jaw assembly 2 includes a clamping jaw body 21 and an elastic member 22. The clamping jaw body 21 is suitable for clamping a workpiece and is movably connected to the mounting base 1 via the elastic member 22. The mounting base 1 can drive the clamping jaw assembly 2 to move along a first direction for assembling a workpiece, and the elastic member 22 has a tendency to drive the clamping jaw body 21 away from the first direction.

[0031] In this example, the jaw body 21 can clamp the workpiece, and the mounting base 1 drives the jaw assembly 2 to move along the first direction so that the jaw body 21 can assemble the workpiece to the fixing device. When the workpiece contacts and abuts the fixing device, it will push the jaw body 21 to move away from the first direction, and the elastic member 22 can play a buffering role, and the elastic member 22 can prevent the entire weight of the jaw assembly 2 from acting on the fixing device, thereby damaging the fixing device.

[0032] For example, after the gripper body 21 grasps a Penthouse (an integrated module on a battery pack), the mounting base 1 drives the gripper assembly 2 toward the battery pack, allowing the gripper body 21 to assemble the Penthouse onto the side wall of the battery pack. Of course, the gripper mechanism of this application can also be used to assemble other types of workpieces, and those skilled in the art will determine the specific requirements based on actual circumstances.

[0033] like Figure 1 and Figure 2 As shown, in this example, the first direction can be vertically downward, one end of the elastic member 22 is connected to the mounting base 1, and the other end is connected to the clamp body 21. The elastic member 22 has a tendency to drive the clamp body 21 to move upward. The battery pack is located below the clamp body 21. After the clamp body 21 clamps the workpiece, the mounting base 1 can drive the clamp assembly 2 to move downward along the first direction. Since the elastic force of the elastic member 22 on the clamp body 21 can offset the gravity of the clamp body 21, when the workpiece contacts and resists the fixing device, the force exerted by the clamp body 21 on the workpiece and the fixing device can be reduced, thereby avoiding crushing the fixing device, so that the workpiece can be assembled in place while avoiding excessive squeezing of the fixing device.

[0034] In this example, the clamp body 21 is used to grasp the workpiece, for example, by a robot arm or by a negative pressure suction cup. The specific structure of the clamp body 21 can be determined by those skilled in the art according to actual conditions and is not specifically limited here.

[0035] In this example, the mounting base 1 can be a mounting plate or a mounting block, or can also be other irregular shapes. The mounting base can be made of a metal material such as aluminum, aluminum alloy, or stainless steel. Those skilled in the art can determine the specific shape based on actual conditions, and this is not specifically limited here.

[0036] In one example, Figure 2 As shown, the elastic member 22 includes a tension spring, one end of which is connected to the mounting seat 1 , and the other end of which is connected to the clamping jaw body 21 .

[0037] like Figure 2 As shown, in this example, the elastic member 22 can be a tension spring, one end of which is connected to the mounting base 1 and the other end is connected to the clamp body 21. The tension spring is in a stretched state, thereby pulling the clamp body 21 upward. The elastic force of the tension spring on the clamp body 21 can offset the gravity of the clamp body 21. When the workpiece contacts and abuts the fixture, the force applied by the clamp body 21 on the workpiece and the fixture is reduced, thereby preventing damage to the fixture.

[0038] like Figure 2 As shown, in this example, a plurality of tension springs can be provided, and the plurality of tension springs are arranged at intervals. By providing a plurality of tension springs, the stability of pulling the clamp body 21 can be improved.

[0039] Alternatively, the elastic member 22 may be a compression spring, one end of which abuts against the mounting seat 1 and the other end abuts against the clamp body 21. The compression spring is in a compressed state and has a tendency to push the clamp body 21 upward. The upward elastic force exerted by the compression spring on the clamp body 21 can offset the gravity of the clamp body 21. When the workpiece contacts and abuts the fixing device, the force exerted by the clamp body 21 on the workpiece and the fixing device can be reduced, thereby avoiding damage to the fixing device. A plurality of compression springs can be provided, and the plurality of compression springs are arranged at intervals. By providing a plurality of compression springs, the stability of pushing the clamp body 21 can be improved.

[0040] In one example, Figure 1 and Figure 2 As shown, the clamp body 21 includes a connecting portion 211 , the connecting portion 211 is provided with a slider 23 , the mounting base 1 is provided with a slide rail 11 , and the slider 23 is slidably connected to the slide rail 11 .

[0041] like Figure 1 and Figure 2 As shown, in this example, a connection portion 211 is provided on one end of the clamp body 21 facing the mounting base 1. A slider 23 is provided on this connection, and the mounting base 1 is provided with a slide rail 11 that cooperates with the slider 23. The slider 23 is slidably connected to the slide rail 11, thereby enabling the clamp body 21 to move more smoothly in a direction away from the first direction. In other words, when the workpiece contacts and abuts the fixture, the clamp body 21 can slide upward more smoothly.

[0042] The connecting portion 211 may be provided with multiple sliders 23. For example, sliders 23 may be provided on opposite sides of the connection, and the mounting base 1 may be provided with corresponding multiple slide rails 11, thereby further improving the smoothness and stability of the movement of the clamping jaw body 21. Alternatively, the connecting portion 211 may be provided with more sliders 23, for example, three, four, or five sliders 23. The determination of the number of sliders 23 may be made by those skilled in the art based on actual circumstances and is not specifically limited herein.

[0043] In this example, the connecting portion 211 may be made of a metal material such as aluminum, aluminum alloy, or stainless steel, and the slider 23 may be integrally formed on the connecting portion 211. Alternatively, the slider 23 may be connected by fasteners such as screws or bolts, by clamping, or by welding. Those skilled in the art may determine the method based on actual circumstances, and this is not specifically limited here.

[0044] In this example, the jaw body 21 and the connecting portion 211 can be connected by a fastening clamp such as screws or bolts, or they can be connected by clamping or welding. Alternatively, the connecting portion 211 and the jaw body 21 can be integrally formed. Those skilled in the art can determine this based on actual circumstances, and this is not specifically limited here.

[0045] For example, the gripper body 21 may include a bracket on which a negative pressure suction cup or a gripper of a manipulator is mounted. The bracket is fixedly connected to the connecting portion 211. The bracket may be made of a metal material such as aluminum, an aluminum alloy, or stainless steel. Those skilled in the art may determine the material based on actual circumstances, and this is not specifically limited here.

[0046] In an example, a plurality of elastic members 22 are provided, and the plurality of elastic members 22 are respectively provided on both sides of the connecting portion 211 .

[0047] In this example, the connecting portion 211 is slidably connected to the mounting seat 1 , and the plurality of elastic members 22 are respectively provided on both sides of the connecting portion 211 , thereby improving the sliding stability and reliability of the clamping jaw body 21 , and a jam occurs between the connecting portion 211 and the mounting seat 1 .

[0048] An equal number of elastic members 22 are provided on opposite sides of the connecting portion 211 to ensure uniform force on both sides of the connecting portion 211. For example, two, three, four, or five elastic members 22 may be provided on each side of the connecting portion 211. This is a method that will be determined by those skilled in the art based on actual circumstances and is not specifically limited herein.

[0049] In an example, a stopper is provided at one end of the slide rail 11 , and the stopper is adapted to stop the slider 23 to prevent the slider 23 from separating from the slide rail 11 .

[0050] In this example, a stopper is provided at the lower end of the slide rail 11. When the slider 23 slides downward to the limit position, the slider 23 can abut against the stopper, thereby preventing the slider 23 from separating from the slide rail 11 and thus preventing the clamp body 21 from separating from the mounting base 1. A stopper can also be provided at the upper end of the slide rail 11 to prevent the slider 23 from sliding off the slide rail 11 from the upper end of the slide rail 11.

[0051] In one example, Figure 1 and Figure 2 As shown, the clamping mechanism further includes a limiting member 3 , which can be movably arranged relative to the mounting seat 1 , and the limiting member 3 can limit the movement of the clamping body 21 away from the first direction.

[0052] like Figure 1 and Figure 2As shown, the clamping mechanism also includes a limiter 3, which can be installed on the mounting base 1 and can slide upward or downward relative to the mounting base 1. The limiter 3 can limit the movement of the clamping body 21 away from the first direction. That is, the limiter 3 can move toward the clamping body 21, and the limiter 3 can abut against the clamping body 21, thereby abutting against the clamping body 21 to limit the upward sliding of the clamping body 21 relative to the mounting base 1. At this time, the clamping body 21 can be locked so that the clamping body 21 and the mounting base 1 are fixed relative to each other. For example, when the clamping body 21 grabs the workpiece from the material box, the clamping body 21 can be locked, and when the workpiece is assembled to the fixing device, the clamping body 21 can be opened so that the clamping body 21 can be moved relative to the mounting base 1. Alternatively, the clamping body 21 can be locked when it is used for other operations, such as degumming processes.

[0053] In one example, Figure 2 As shown, the limiting member 3 includes a limiting rod 31 , and the limiting rod 31 can move toward the clamping jaw body 21 to abut against the clamping jaw body 21 .

[0054] like Figure 2 As shown, in this example, the limiting member 3 can be a limiting rod 31, and the lower end of the limiting rod 31 can move toward the clamping jaw body 21 to abut against the upper end of the clamping jaw body 21, thereby locking the clamping jaw body 21.

[0055] In this example, a stop portion is provided at the lower end of the slider 23, and the lower end of the limiting rod 31 abuts against the upper end of the clamp body 21, so that the slider 23 on the connecting portion 211 can abut against the stop portion, thereby limiting the movement of the clamp body 21 relative to the mounting base 1.

[0056] In this example, the lower end of the limiting rod 31 can abut against the clamping body 21 to lock the clamping body 21. Alternatively, the limiting rod 31 can also be engaged with the clamping body 21 to lock the clamping body 21 and adjust the relative position of the clamping body 21 and the mounting base 1.

[0057] In one example, Figure 2 As shown, the limiting member 3 further includes a first driving member 32 , which is mounted on the mounting seat 1 . The first driving member 32 is transmission-connected to the limiting rod 31 to drive the limiting rod 31 to move.

[0058] like Figure 2As shown, the limiting member 3 further includes a first driving member 32, which is fixedly mounted on the mounting base 1. The output end of the first driving member 32 is transmission-connected to the limiting rod 31 and is capable of driving the limiting rod 31 to move upward or downward. In other words, the first driving member 32 can drive the limiting rod 31 downward so that the lower end of the limiting rod 31 can abut against the upper end of the clamping jaw body 21, thereby locking the clamping jaw body 21 and fixing the clamping jaw body 21 relative to the mounting base 1. Alternatively, the first driving member 32 can also drive the limiting rod 31 upward so that the limiting rod 31 is disengaged from the clamping jaw body 21, thereby enabling the clamping jaw body 21 to move relative to the mounting base 1.

[0059] In one example, the clamping mechanism further includes a position sensor 4, which is adapted to detect the position of the limiting rod 31. Specifically, by detecting the position of the limiting rod 31, it is determined whether the limiting rod 31 abuts against the clamping body 21, thereby ensuring that the limiting rod 31 can stably lock the clamping body 21.

[0060] In this example, the transmitter of the position sensor 4 is mounted on the mounting base 1, and the receiver of the position sensor 4 is mounted on the clamp body 21 and moves with the clamp body 21. That is, the position of the clamp body 21 can be detected by the position sensor 4 to determine whether the limit rod 31 has moved to the preset position. For example, the first driving member 32 drives the limit rod 31 to move downward so that the limit rod 31 abuts against the upper end of the clamp mechanism, thereby pushing the clamp mechanism to move downward so that the slider 23 abuts against the abutment portion at the lower end of the slide rail 11. When the transmitter and the receiver correspond to each other, the clamp mechanism moves to the preset position, and at this time, the limit rod 31 can stably lock the clamp body 21.

[0061] In this example, the first driving member 32 may be a cylinder or a linear drive mechanism such as a linear motor. Those skilled in the art may determine this based on practical circumstances and are not specifically limited herein. For example, the first driving member 32 may be a cylinder, the cylinder housing being connected to the mounting base 1 via fasteners such as screws or bolts, or the cylinder and mounting base 1 being fixedly connected via welding or a clamping connection. The limiting rod 31 may be the piston rod of the cylinder.

[0062] According to another embodiment of the present application, an assembly robot is provided, which includes a second driving member and the clamping mechanism described in the above embodiment, wherein the second driving member is transmission-connected to the clamping mechanism to drive the clamping mechanism to move.

[0063] In this example, the clamping mechanism includes a mounting base 1 and a clamping assembly 2. The clamping assembly 2 includes a clamping body 21 and an elastic member 22. The clamping body 21 is suitable for clamping a workpiece, and the clamping body 21 is movably connected to the mounting base 1 through the elastic member 22. The mounting base 1 can drive the clamping assembly 2 to move along a first direction for assembling a workpiece, and the elastic member 22 has a tendency to drive the clamping body 21 to move away from the first direction. The clamping body 21 can clamp the workpiece, and the mounting base 1 drives the clamping assembly 2 to move along the first direction so that the clamping body 21 can assemble the workpiece to the fixing device. When the workpiece contacts and abuts the fixing device, it will push the clamping body 21 to move away from the first direction, and the elastic member 22 can play a buffering role, and the elastic member 22 can prevent the weight of the clamping assembly 2 from acting entirely on the fixing device, thereby damaging the fixing device.

[0064] Of course, the assembly robot of the present application also includes at least all the beneficial effects of the above embodiments, which will not be elaborated here.

[0065] In this example, the assembly robot can be used to assemble the Penthouse on the side wall of the battery pack, that is, after the gripper body 21 can grasp the Penthouse, the mounting base 1 drives the gripper assembly 2 to move toward the battery pack so that the gripper body 21 can assemble the Penthouse on the side wall of the battery pack.

[0066] In this example, the assembly robot can also be used to assemble other types of workpieces, or can also be used in other processes, for example, can also be used in a glue removal process, etc. Those skilled in the art can determine according to actual conditions, and no specific limitation is made here.

[0067] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0068] Although some specific embodiments of the present invention have been described in detail through examples, those skilled in the art will appreciate that the above examples are for illustration only and are not intended to limit the scope of the present invention. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A clamping mechanism, characterized in that: include: Mounting seat; A clamping jaw assembly, comprising a clamping jaw body and an elastic member, wherein the clamping jaw body is suitable for clamping a workpiece, and the clamping jaw body is movably connected to the mounting seat via the elastic member; The mounting seat can drive the clamping jaw assembly to move along a first direction for assembling a workpiece, and the elastic member has a tendency to drive the clamping jaw body to move away from the first direction.

2. The clamping mechanism according to claim 1, characterized in that: The elastic member includes a tension spring, one end of the tension spring is connected to the mounting seat, and the other end is connected to the clamping jaw body.

3. The clamping mechanism according to claim 1, characterized in that: The clamp body includes a connecting portion, the connecting portion is provided with a sliding block, the mounting seat is provided with a sliding rail, and the sliding block is slidably connected to the sliding rail.

4. The clamping mechanism according to claim 3, characterized in that: The connecting portion is provided with a plurality of sliding blocks at intervals, and the mounting seat is correspondingly provided with a plurality of the sliding rails.

5. The clamping mechanism according to claim 3, characterized in that: There are multiple elastic members, and the multiple elastic members are respectively arranged on both sides of the connecting part.

6. The clamping mechanism according to claim 3, characterized in that: A stopper is provided at one end of the slide rail, and the stopper is adapted to stop the slider to prevent the slider from separating from the slide rail.

7. The clamping mechanism according to claim 1, characterized in that: It also includes a limiting member, which can be movably arranged relative to the mounting seat, and the limiting member can limit the movement of the clamping jaw body away from the first direction.

8. The clamping mechanism according to claim 7, characterized in that: The limiting member includes a limiting rod, and the limiting rod can move toward the clamping jaw body to abut against the clamping jaw body.

9. The clamping mechanism according to claim 8, characterized in that: The limiting member further includes a first driving member, which is mounted on the mounting seat and is transmission-connected to the limiting rod to drive the limiting rod to move.

10. The clamping mechanism according to claim 8, characterized in that: The clamping mechanism further comprises a position sensor, which is adapted to detect the position of the limiting rod.

11. An assembly robot, characterized in that: It comprises a second driving member and the clamping mechanism according to any one of claims 1 to 10, wherein the second driving member is transmission-connected to the clamping mechanism to drive the clamping mechanism to move.

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