Lithium battery naked cell grabbing device

Abstract

A lithium battery naked cell grabbing device comprises a mechanical arm, a lifting assembly, a rotating platform and two clamping jaw mechanisms. The clamping jaw mechanism comprises a clamping jaw sliding seat, a clamping jaw sliding rail, a clamping jaw sliding block, a clamping jaw air cylinder, a pair of clamping arms, a groove type switch and a pressing air cylinder. The clamping jaw sliding seat is mounted on the rotary suspension frame; the clamping jaw sliding rail is vertically mounted on the clamping jaw sliding seat; the clamping jaw sliding block is installed on the clamping jaw sliding rail in a sliding fit mode. The clamping jaw air cylinder is connected to the clamping jaw sliding block and provided with a two-way output end. The pair of clamping arms is arranged at the two-way output end of the clamping jaw air cylinder, and the clamping jaw air cylinder drives the clamping arms to move relatively. The groove type switch comprises an induction sheet and an optical groove which are correspondingly arranged; the pressing air cylinders are installed on the inner sides of the clamping arms, and pressing blocks are arranged at the output ends of the pressing air cylinders. According to the device, whether the clamping arms are blocked by the battery cell supporting plate or not is detected through the groove-shaped switch, so that the battery cell is prevented from being damaged due to extrusion; the battery cell is clamped in the transverse direction and the longitudinal direction through cooperation of the pressing air cylinder and the L-shaped clamping jaw, clamping is firmer, and the battery cell is not prone to falling off and being damaged.

Description

Technical Field

[0001] This utility model relates to the field of lithium battery cell production technology, and in particular to a lithium battery bare cell gripping device. Background Technology

[0002] In the lithium battery manufacturing process, it is often necessary to use robotic arms to pick up bare lithium battery cells and transfer them to different processes. Traditional bare cell picking robotic arms have the following drawbacks in actual production conditions:

[0003] 1) The robotic arm uses a side gripping method to grasp the battery cell. The gripping position is mainly on the side of the battery cell. The gripping is not stable, and the battery cell is easy to fall off, resulting in damage to the battery cell.

[0004] 2) After the robot has been running for a long time, various reasons may cause the unloading stroke to deviate from the preset value. In this case, if the robot fails to stop descending in time when unloading, the battery cell held by the gripper and the battery cell support plate will be squeezed against each other, resulting in deformation and damage to the battery cell. Utility Model Content

[0005] In view of the shortcomings of the prior art, this utility model provides a lithium battery bare cell gripping device to overcome the deficiencies in the prior art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A lithium battery bare cell gripping device includes a robotic arm, a lifting component mounted on the robotic arm, a rotating platform mounted on the lifting component, and two gripper mechanisms mounted side by side on the rotating platform.

[0008] The lifting assembly includes a lifting slider;

[0009] The rotating platform includes a rotary servo motor connected to the lifting slider;

[0010] The gripper mechanism includes a gripper slide, a gripper slide rail, a gripper slider, a gripper cylinder, a pair of gripper arms, and a slotted switch;

[0011] The gripper slide is connected to the output end of the rotary servo motor;

[0012] The gripper slide rail is fixedly and vertically mounted on the gripper slide block;

[0013] The gripper slider is mounted on the gripper slide rail and slides in cooperation with the gripper slide rail;

[0014] The gripper cylinder is connected to the gripper slider, and the gripper cylinder has a bidirectional output end;

[0015] A pair of gripping arms are respectively disposed at the bidirectional output end of the gripper cylinder, and the gripper cylinder drives the pair of gripping arms to move relative to each other;

[0016] The slotted switch includes a correspondingly arranged sensing element and an optical slot. The sensing element is mounted on the gripper slide, and the optical slot is mounted on the gripper slider.

[0017] Furthermore, the gripper mechanism also includes a limiting block, which is disposed on the gripper slide and located at the top of the gripper slide rail.

[0018] Furthermore, the gripper mechanism also includes a clamping cylinder, which is installed on the inner side of the gripper arm, and a pressure block is provided at the output end of the clamping cylinder.

[0019] Preferably, the lower end of each clamping arm has an L-shaped clamping claw, which corresponds to the pressure block.

[0020] Preferably, the gripper mechanism further includes a gripper suspension, which is fixedly connected to the gripper slider and slides up and down with the gripper slider; the gripper cylinder is disposed on the gripper suspension.

[0021] Furthermore, the lifting assembly includes a lifting guide rail fixed to the robotic arm, a lifting slider slidably disposed on the lifting guide rail, and a lifting servo motor that drives the lifting slider to slide on the lifting guide rail.

[0022] Furthermore, the rotating platform includes a rotating base and a rotating servo motor, the rotating servo motor being connected to the lifting slider via the rotating base.

[0023] Furthermore, the output end of the rotary servo motor is provided with a rotary suspension, and two symmetrically arranged gripper mechanisms are connected and installed at the output end of the rotary servo motor through the rotary suspension.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0025] 1) The lithium battery bare cell gripping device of this case detects whether the clamping arm is blocked by the cell tray by a slotted switch. If the clamping arm continues to descend unexpectedly, the detection signal of the slotted switch is fed back to the lifting servo motor to prevent the clamping arm from continuing to descend, effectively avoiding damage to the cell by the squeezing of the clamping arm and the tray.

[0026] 2) The lithium battery bare cell gripping device of this case uses a clamping cylinder and an L-shaped gripper to clamp the cell from the side, top and bottom surfaces together, achieving the effect of clamping the cell in both the horizontal and vertical directions. The gripping arms hold the cell more firmly, and the cell is less likely to fall and be damaged.

[0027] To provide a clearer understanding of this invention, the preferred embodiments of this invention will be described below in conjunction with the accompanying drawings. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0029] Figure 2 This is a schematic diagram of the installation position of the slotted switch of the utility model.

[0030] Attached image labels:

[0031] 11-Lifting guide rail, 12-Lifting slider, 13-Lifting servo motor; 21-Rotation servo motor, 22-Rotation suspension; 31-Gripper slide block, 32-Gripper slide rail, 33-Gripper slider, 34-Limit block, 35-Gripper suspension, 36-Gripper cylinder, 37-Gripper arm, 38-Slotted switch, 381-Induction plate, 382-Optical slot, 39-Pressure cylinder, 391-Pressure block; 91-Bare battery cell. Detailed Implementation

[0032] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0033] Furthermore, if terms such as "first" or "second" are used for descriptive purposes only, they are mainly used to distinguish different devices, components or parts (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, components or parts, and should not be construed as indicating or implying relative importance.

[0034] Furthermore, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0035] Please also refer to Figure 1-2 This utility model provides a lithium battery bare cell gripping device, including a robotic arm, a lifting component mounted on the robotic arm, a rotating platform mounted on the lifting component, and two gripper mechanisms mounted side by side on the rotating platform. The two gripper mechanisms can simultaneously grip two bare cells to be processed.

[0036] The lifting assembly includes a lifting guide rail 11 fixed to the robotic arm, a lifting slider 12 slidably disposed on the lifting guide rail 11, and a lifting servo motor 13 that drives the lifting slider 12 to slide on the lifting guide rail 11.

[0037] The rotating platform includes a rotating base connected to a lifting slider 12. A rotating servo motor 21 is mounted on the rotating base, and the output end of the rotating servo motor 21 is symmetrically connected to two gripper mechanisms through a rotating suspension 22.

[0038] The lifting assembly drives the gripper mechanism to move vertically, while the rotating platform adjusts the deflection angle of the gripper mechanism in the horizontal direction, so that the gripper mechanism is aligned with the bare battery cell 91 to be processed.

[0039] The gripper mechanism includes a gripper slide 31, a gripper slide rail 32, a gripper slider 33, a limit block 34, a gripper suspension 35, a gripper cylinder 36, a pair of gripper arms 37, a slotted switch 38, and a clamping cylinder 39.

[0040] The gripper slide 31 is fixedly mounted on the rotating suspension 22;

[0041] The gripper slide rail 32 is fixedly and vertically mounted on the gripper slide block 31;

[0042] The gripper slider 33 is mounted on the gripper slide rail 32 and slides in cooperation with the gripper slide rail 32.

[0043] Limiting block 34 is disposed on gripper slide 31 and located at the top of gripper slide rail 32. Limiting block 34 limits the maximum stroke of gripper slider 33.

[0044] The gripper suspension 35 is fixedly connected to the gripper slider 33 and slides up and down with the gripper slider 33.

[0045] A gripper cylinder 36 is mounted on a gripper suspension 35 and has a bidirectional output end.

[0046] A pair of clamping arms 37 are respectively set at the bidirectional output end of the clamping cylinder 36. The clamping cylinder 36 drives the pair of clamping arms 37 to move relative to each other, so that the clamping arms 37 close inward and clamp the bare battery cell 91, or open outward and release the bare battery cell 91. The lower end of each clamping arm 37 has an L-shaped clamping claw, so that when the pair of clamping arms 37 clamp the bare battery cell 91, they have both lateral clamping force and vertical lifting force.

[0047] The slotted switch 38 includes a correspondingly arranged sensing sheet 381 and an optical slot 382. The sensing sheet 381 is mounted on the gripper slide 31, and the optical slot 382 is mounted on the gripper slider 33. The slotted switch 38 senses the minimum stroke of the gripper slider 33.

[0048] A clamping cylinder 39 is installed inside the clamping arm 37. A pressure block 391 is provided at the output end of the clamping cylinder 39, and the pressure block 391 corresponds to the L-shaped clamping hook at the lower end of the clamping arm 37.

[0049] Workflow:

[0050] 1. In actual operation, the battery cell tray is equipped with two battery cell support plates, on which two bare battery cells 91 are placed respectively. The battery cell support plates support both ends of the bare battery cells 91. There is a gap between the bottom middle position of the bare battery cells 91 and the battery cell tray for the L-shaped hook of the clamping arm 37 to be inserted.

[0051] 2. During the clamping process, after the robotic arm aligns with the bare battery cell 91, it descends to a preset height. The gripper cylinder 36 operates, the gripper arm 37 closes inward, and the L-shaped gripper inserts into the bottom gap of the bare battery cell 91 and clamps the battery cell 91. The pressing cylinder 39 is activated, causing the pressing block 391 to descend. The pressing block 391 cooperates with the L-shaped gripper to clamp and press the bare battery cell 91. Because the bare battery cell 91 is clamped horizontally and pressed vertically, the clamping in two directions is more secure, thus preventing the bare battery cell 91 from falling off during the movement of the robotic arm and avoiding damage to the battery cell 91.

[0052] 3. During the release process, the robotic arm grips the bare battery cell 91 and moves it to the unloading position. The robotic arm descends to a preset height, the clamping cylinder 39 is activated to raise the pressure block 391, the gripper cylinder 36 is activated and drives the gripper arm 37 to open outward, and the bare battery cell 91 is placed on the battery cell tray, completing the transfer and unloading process. If the robotic arm encounters an obstruction from the tray after descending to the preset height, it is detected by the slotted switch 38 (specifically, the gripper arm 37 stops descending due to obstruction, causing the gripper slider 33 to also stop descending, resulting in relative movement between the sensing plate 381 on the gripper slide 31 and the optical groove 382 on the gripper slider 33, which the slotted switch 38 senses and provides feedback). The slotted switch 38 detects that the sensing plate 381 has left the optical groove 382 and sends a feedback signal to the lifting servo motor 13, causing the gripper slide 31 to stop descending further, so that the bare battery cell 91 will not be squeezed with the tray and thus the battery cell 91 will not be damaged.

[0053] Compared to existing technologies, the lithium battery bare cell gripping device in this case uses a slotted switch to detect whether the clamping arm is obstructed by the cell support plate, thus preventing the cell from being squeezed and damaged. The clamping cylinder and L-shaped gripper work together to clamp the cell in both the horizontal and vertical directions, making the gripping more secure and preventing the cell from falling and being damaged.

[0054] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A lithium battery bare cell gripping device, comprising a robotic arm, a lifting assembly mounted on the robotic arm, a rotating platform mounted on the lifting assembly, and two gripper mechanisms arranged side-by-side on the rotating platform, characterized in that: The lifting assembly includes a lifting slider (12); The rotating platform includes a rotary servo motor (21) connected to the lifting slider (12); The gripper mechanism includes a gripper slide (31), a gripper slide rail (32), a gripper slider (33), a gripper cylinder (36), a pair of gripper arms (37), and a slotted switch (38); The gripper slide (31) is connected to the output end of the rotary servo motor (21); The gripper slide rail (32) is fixedly and vertically mounted on the gripper slide (31); The gripper slider (33) is mounted on the gripper slide rail (32) and slides in cooperation with the gripper slide rail (32); The gripper cylinder (36) is connected to the gripper slider (33), and the gripper cylinder (36) has a bidirectional output end; A pair of gripping arms (37) are respectively disposed at the bidirectional output end of the gripper cylinder (36), and the gripper cylinder (36) drives the pair of gripping arms (37) to move relative to each other; The slotted switch (38) includes a correspondingly arranged sensing sheet (381) and an optical slot (382). The sensing sheet (381) is mounted on the gripper slide (31), and the optical slot (382) is mounted on the gripper slider (33).

2. The lithium battery bare cell gripping device according to claim 1, characterized in that: The gripper mechanism also includes a limiting block (34), which is disposed on the gripper slide (31) and located at the top of the gripper slide rail (32).

3. The lithium battery bare cell gripping device according to claim 1, characterized in that: The gripper mechanism also includes a clamping cylinder (39), which is installed inside the gripper arm (37), and a pressure block (391) is provided at the output end of the clamping cylinder (39).

4. The lithium battery bare cell gripping device according to claim 3, characterized in that: The lower end of each clamping arm (37) has an L-shaped clamping claw, which corresponds to the pressure block (391).

5. The lithium battery bare cell gripping device according to claim 1, characterized in that: The gripper mechanism also includes a gripper suspension (35), which is fixedly connected to the gripper slider (33) and slides up and down with the gripper slider (33); the gripper cylinder (36) is disposed on the gripper suspension (35).

6. The lithium battery bare cell gripping device according to claim 1, characterized in that: The lifting assembly includes a lifting guide rail (11) fixed to the robotic arm, a lifting slider (12) slidably disposed on the lifting guide rail (11), and a lifting servo motor (13) that drives the lifting slider (12) to slide on the lifting guide rail (11).

7. The lithium battery bare cell gripping device according to claim 6, characterized in that: The rotating platform includes a rotating base and a rotating servo motor (21), which is connected to the lifting slider (12) via the rotating base.

8. The lithium battery bare cell gripping device according to claim 7, characterized in that: The output end of the rotary servo motor (21) is provided with a rotary suspension (22), and two symmetrically arranged gripper mechanisms are connected and installed at the output end of the rotary servo motor (21) through the rotary suspension (22).

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