Grabbing mechanism and carrying device

Abstract

The utility model relates to a grabbing mechanism and a carrying device. The grabbing mechanism comprises a first support, a second support, a first driving piece, a second driving piece and a clamping jaw. The first driving piece is fixed on the first support and is configured to be capable of driving the second support to rotate around a first direction; the second support is connected with the output end of the first driving piece, the second driving piece is fixed to the second support, and the second driving piece is configured to enable the clamping jaw to be opened or clamped; the clamping jaw is used for clamping materials. According to the grabbing mechanism, materials can be grabbed from different directions, grabbed objects can be rotated, and the flexibility is high.

Description

Technical Field

[0001] This utility model relates to the field of battery production technology, and more specifically, to a gripping mechanism and a handling device. Background Technology

[0002] In the field of lithium battery equipment, precise assembly, handling, measurement and testing on battery production lines usually require the use of a three-coordinate robot, which controls the movement of three axes to achieve high-precision gripping, placement and positioning of battery assembly and sorting.

[0003] Existing three-coordinate robotic arms are mainly used for grasping and placing battery cells in one direction, and cannot rotate the grasped object, resulting in low flexibility. Utility Model Content

[0004] One object of this invention is to provide a gripping mechanism and a conveying device to at least solve one of the problems in the prior art.

[0005] According to one aspect of the present invention, a gripping mechanism is provided, comprising:

[0006] First support, second support, first drive component, second drive component, and gripper;

[0007] The first driving member is fixed to the first support, and the first driving member is configured to drive the second support to rotate about a first direction;

[0008] The second support is connected to the output end of the first drive member, the second drive member is fixed to the second support, and the second drive member is configured to enable the gripper to open or clamp.

[0009] The grippers are used to grip materials.

[0010] Optionally, the second support includes a first bracket, a second bracket, and an elastic component;

[0011] The first bracket is connected to the output end of the first driving member, the second driving member is fixed to the second bracket, the first bracket and the second bracket are connected by the elastic component, and the elastic component is capable of elastic deformation at least in the first direction.

[0012] Optionally, both the first support and the second support are plate-shaped, and the elastic component includes at least two elastic elements, with the two ends of the at least two elastic elements respectively connected to the first support and the second support.

[0013] Optionally, it also includes a bottom support assembly, which is fixed to the second support;

[0014] When the gripper holds material, the location of the material is a material station, and a portion of the bottom support assembly can be used to support the material at the material station.

[0015] Optionally, the bottom support assembly includes a third drive member, a first swing arm and a second swing arm, wherein the end of the first swing arm has a first support portion and the end of the second swing arm has a second support portion;

[0016] The third driving member is fixed to the second support and is configured to drive the ends of the first swing arm and the second swing arm to move closer or further apart from each other, so that the first support and the second support can be located below the material station or on both sides of the material station.

[0017] Optionally, the bottoming assembly further includes a first limiting member and a second limiting member, the first limiting member and the second limiting member being used to limit the position of the first swing arm and the second swing arm in the first direction, respectively.

[0018] Optionally, the first driving component is a rotary cylinder, and the second and third driving components are both gripper cylinders.

[0019] Optionally, it also includes a laser sensor, which is disposed on the second support;

[0020] When the gripper holds material, the location of the material is called the material station, and the laser sensor is used to detect whether there is material below the material station.

[0021] Optionally, it also includes a control module, wherein both the laser sensor and the second driving element are connected to the control module;

[0022] The control module is configured to control the working stroke of the second drive unit based on the detection results of the laser sensor.

[0023] According to a second aspect of the present invention, a handling device is provided for battery assembly, comprising the gripping mechanism described in the first aspect.

[0024] One technical advantage of this invention is that by setting a first driving member on the first support, the second support connected to the output end of the first driving member can rotate around a first direction, thereby driving the second driving member and the gripper connected to the second support to rotate, so that the gripper can grip or place materials in different directions, and rotate the gripped materials, thus improving the flexibility of the equipment.

[0025] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0026] The accompanying drawings, which form part of this specification, illustrate embodiments of the present invention and, together with the specification, serve to explain the principles of the present invention.

[0027] Figure 1 This is one of the isometric views of the gripping mechanism provided by this utility model.

[0028] Figure 2 This is the second isometric view of the gripping mechanism provided by this utility model.

[0029] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle.

[0030] Figure 4 This is a front view of the gripping mechanism provided by this utility model.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. First support; 2. First drive component; 3. Second support; 31. First bracket; 32. Second bracket; 33. Elastic component; 4. Second drive component; 5. Gripper; 6. Bottom support component; 61. First swing arm; 62. Second swing arm; 63. Third drive component; 64. First support part; 65. Second support part; 66. First limiting component; 67. Second limiting component; 7. Material; 8. Laser sensor. Detailed Implementation

[0033] 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 arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0034] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0035] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0036] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0037] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0038] like Figures 1 to 4 As shown, according to one aspect of the present invention, a gripping mechanism is provided, comprising: a first support 1, a second support 3, a first driving member 2, a second driving member 4, and a gripper 5; the first driving member 2 is fixed to the first support 1 and is configured to drive the second support 3 to rotate about a first direction; the second support 3 is connected to the output end of the first driving member 2, the second driving member 4 is fixed to the second support 3 and is configured to enable the gripper 5 to open or close; the gripper 5 is used to grip material 7.

[0039] Specifically, in this embodiment, the provided gripping mechanism connects the first support 1 and the second support 3 to each other through the first driving member 2, so that when the first driving member 2 drives the second support 3 to rotate, the second support 3 can drive the second driving member 4 and the gripper 5 to rotate accordingly. This enables the second driving member 4 to operate from different directions when driving the gripper 5 to grip or place the material 7, and also enables the gripper 5 to rotate the material 7 after gripping it, in order to adapt to different operational needs, improve the flexibility of the gripping mechanism in operating the material 7, and improve gripping efficiency.

[0040] In the above embodiments, the first driving member 2 and the second driving member 4 can be powered by motors, cylinders, electric cylinders, or other power devices, while the gripper 5 can be adapted to the type of material 7 being applied; this application does not impose any limitations on either. Furthermore, the first support 1 allows the entire gripping mechanism to be mounted on other structures, such as a three-coordinate manipulator, enabling the gripping mechanism to move as a whole in multiple directions for operation between different devices, thus improving the working accuracy of the gripping mechanism. The second support 3 facilitates the connection between the second driving member 4 and the gripper 5 and the output end of the first driving member 2, and also provides support for both. The specific structures of the first support 1 and the second support 3 can be customized according to actual needs; this application does not impose any limitations on either.

[0041] In practical applications, when the above-mentioned gripping mechanism is used in a battery assembly line, the material 7 gripped by the gripper 5 can be a battery cell or battery, etc.

[0042] Optionally, the second support 3 includes a first bracket 31, a second bracket 32, and an elastic component 33; the first bracket 31 is connected to the output end of the first driving member 2, the second driving member 4 is fixed to the second bracket 32, the first bracket 31 and the second bracket 32 ​​are connected by the elastic component 33, and the elastic component 33 is capable of elastic deformation in at least a first direction.

[0043] Specifically, in this embodiment, the first support 31 and the second support 32 are connected by an elastic component 33. This provides a buffering effect for the gripper 5 when it is not accurately positioned and collides with the material tray or other structures during the gripping or placement of the material 7, thus improving the safety of the gripping mechanism when gripping or placing the material 7. The elastic component 33 is capable of elastic deformation in at least a first direction, ensuring both the buffering effect on the gripper 5 and the reliability of the connection between the first support 31 and the second support 32.

[0044] Optionally, both the first support 31 and the second support 32 are plate-shaped, and the elastic component 33 includes at least two elastic elements, with the two ends of the at least two elastic elements respectively connected to the first support 31 and the second support 32.

[0045] Specifically, in this embodiment, the plate-like first bracket 31 and second bracket 32 ​​facilitate the installation of various components. The elastic component 33 includes at least two elastic elements, further improving the reliability of the connection between the first bracket 31 and the second bracket 32, and providing a buffering effect against collisions from different directions. The elastic elements can be springs or rubber components. Figure 1 As shown, in practical applications, one end of the elastic element can also penetrate the first bracket 31 to further improve the reliability of the connection.

[0046] Optionally, it also includes a bottom support component 6, which is fixed to the second support 3; when the gripper 5 holds the material 7, the location of the material 7 is the material station, and a part of the bottom support component 6 can be used to support the material 7 at the material station.

[0047] Specifically, in this embodiment, the bottom-support component 6 provides support for the material 7 at the material station when the gripper 5 holds the material 7, preventing the material 7 from falling and improving the reliability of the gripping mechanism in holding the material 7. In practical applications, a portion of the bottom-support component 6 is typically located below the material 7 and contacts the bottom edge of the material 7 to provide support. The specific structure of the bottom-support component 6 can be customized according to actual needs, and this invention does not impose any limitations on it.

[0048] Optionally, the bottom support assembly 6 includes a third drive member 63, a first swing arm 61, and a second swing arm 62. The end of the first swing arm 61 has a first support portion 64, and the end of the second swing arm 62 has a second support portion 65. The third drive member 63 is fixed to the second support 3 and is configured to drive the ends of the first swing arm 61 and the second swing arm 62 to move closer to or further away from each other, so that the first support portion 64 and the second support portion 65 can be located below the material station or on both sides of the material station.

[0049] Specifically, in this embodiment, the third driving member 63 serves as a power device, enabling the ends of the first swing arm 61 and the second swing arm 62 to approach each other. At this time, the first support portion 64 and the second support portion 65 located at the ends are below the material station. When the gripper 5 is holding the material 7, they provide support for the material 7. However, when the gripper 5 is not holding the material 7 or is about to pick up the material 7, the third driving member 63 can drive the ends of the first swing arm 61 and the second swing arm 62 to move away from each other, thereby clearing the material station and the space below the material station. This prevents the first support portion 64 and the second support portion 65 from interfering with the material 7 or the structure where the material 7 is placed, ensuring both the reliability and safety of holding the material 7.

[0050] In the above embodiments, the first support portion 64 and the second support portion 65 can be cylindrical or made of elastic material to avoid collision with the material 7 when they come into contact with it, thus ensuring the quality of the material 7. In practical applications, the shape and arrangement of the first support portion 64 and the second support portion 65 can be customized according to the structure of the material 7, and this application does not impose any restrictions on this.

[0051] Optionally, the bottoming assembly 6 further includes a first limiting member 66 and a second limiting member 67, which are used to limit the positions of the first swing arm 61 and the second swing arm 62 in a first direction, respectively.

[0052] Specifically, in this embodiment, the first limiting member 66 and the second limiting member 67 allow the first swing arm 61 and the second swing arm 62 to open to a predetermined distance, preventing interference between the entire bottom support assembly 6 and the external structure. The limiting members can be fixed to the second bracket 32 ​​or to the third drive member 63; the application does not impose any limitation on this. Furthermore, the two limiting members can also be made of elastic material to reduce operating noise and prevent the first swing arm 61 and the second swing arm 62 from being damaged by collisions, thereby improving the service life of the equipment.

[0053] Optionally, the first driving component 2 is a rotary cylinder, and the second driving component 4 and the third driving component 63 are both gripper cylinders.

[0054] Specifically, in this embodiment, the first driving component 2 is a rotary cylinder, and the second driving component 4 and the third driving component 63 are gripper cylinders in the form of linear cylinders. Using cylinders as driving components results in a simple structure, reliable operation, convenient maintenance, and low cost.

[0055] Optionally, it also includes a laser sensor 8, which is disposed on the second support 3; when the gripper 5 holds the material 7, the location of the material 7 is the material station, and the laser sensor 8 is used to detect whether there is material 7 below the material station.

[0056] Specifically, in this embodiment, the laser sensor 8 is a ranging sensor, which can detect whether there is material 7 or other debris placed below the material 7 through laser ranging, thus avoiding the situation where the material 7 held by the gripper 5 cannot be placed, and improving the reliability of the equipment operation.

[0057] Optionally, a control module is also included, with both the laser sensor 8 and the second drive unit 4 connected to the control module; the control module is configured to control the working stroke of the second drive unit 4 based on the detection result of the laser sensor 8.

[0058] Specifically, in this embodiment, after receiving the detection result from the laser sensor 8, the control module can control the operating state of the cylinder based on the detection result. For example, if material 7 or other debris is detected below the material station, the second drive component 4 can be controlled to stop operating, and the gripper 5 can be used to place material 7 there. When no material 7 or other debris is detected below the material station, the second drive component 4 can be controlled to open the gripper 5 to place material 7. The combination of the control module, the second drive component 4, and the laser sensor 8 improves the automation level and operational safety and reliability of the entire gripping mechanism.

[0059] According to a second aspect of the present invention, a handling device is provided for battery assembly, including the gripping mechanism of the first aspect.

[0060] Specifically, in this embodiment, the conveying device is equipped with a gripping mechanism provided in the first aspect to convey the material 7. Based on the high flexibility of the gripping mechanism, the conveying device can achieve high-precision gripping, placement and positioning of battery assembly sorting in battery assembly, thereby improving the finished product quality and production efficiency of the entire assembly line.

[0061] The above embodiments mainly describe 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. For the sake of brevity, they will not be elaborated here.

[0062] While specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can 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 gripping mechanism, characterized in that, include: First support (1), second support (3), first drive member (2), second drive member (4) and gripper (5); The first driving member (2) is fixed to the first support (1), and the first driving member (2) is configured to drive the second support (3) to rotate about a first direction; The second support (3) is connected to the output end of the first drive member (2), the second drive member (4) is fixed to the second support (3), and the second drive member (4) is configured to enable the gripper (5) to open or clamp. The gripper (5) is used to grip the material (7).

2. The gripping mechanism according to claim 1, characterized in that, The second support (3) includes a first bracket (31), a second bracket (32), and an elastic component (33); The first bracket (31) is connected to the output end of the first drive member (2), the second drive member (4) is fixed to the second bracket (32), the first bracket (31) and the second bracket (32) are connected by the elastic component (33), and the elastic component (33) is capable of elastic deformation at least in the first direction.

3. The gripping mechanism according to claim 2, characterized in that, Both the first support (31) and the second support (32) are plate-shaped, and the elastic component (33) includes at least two elastic elements, with the two ends of the at least two elastic elements respectively connected to the first support (31) and the second support (32).

4. The gripping mechanism according to claim 1, characterized in that, It also includes a bottom support assembly (6), which is fixed to the second support (3); When the gripper (5) holds the material (7), the location of the material (7) is the material station, and a part of the bottom support component (6) can be used to support the material (7) at the material station.

5. The gripping mechanism according to claim 4, characterized in that, The bottom support assembly (6) includes a third drive member (63), a first swing arm (61) and a second swing arm (62), the end of the first swing arm (61) having a first support portion (64) and the end of the second swing arm (62) having a second support portion (65); The third drive member (63) is fixed to the second support (3) and is configured to drive the ends of the first swing arm (61) and the second swing arm (62) to move closer or further away from each other, so that the first support (64) and the second support (65) can be located below the material station or on both sides of the material station.

6. The gripping mechanism according to claim 5, characterized in that, The bottom support assembly (6) further includes a first limiting member (66) and a second limiting member (67), the first limiting member (66) and the second limiting member (67) being used to limit the position of the first swing arm (61) and the second swing arm (62) in the first direction, respectively.

7. The gripping mechanism according to claim 5, characterized in that, The first driving component (2) is a rotary cylinder, and the second driving component (4) and the third driving component (63) are both gripper cylinders.

8. The gripping mechanism according to claim 1, characterized in that, It also includes a laser sensor (8), which is disposed on the second support (3); When the gripper (5) holds the material (7), the location of the material (7) is the material station, and the laser sensor (8) is used to detect whether there is material (7) below the material station.

9. The gripping mechanism according to claim 8, characterized in that, It also includes a control module, and both the laser sensor (8) and the second driving element (4) are connected to the control module; The control module is configured to control the working stroke of the second drive unit (4) based on the detection result of the laser sensor (8).

10. A handling device for battery assembly, characterized in that, Includes the gripping mechanism as described in any one of claims 1-9.

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