Sheet taking manipulator

Abstract

The utility model discloses a wafer taking manipulator. The wafer taking manipulator comprises a grabbing assembly and a lifting module used for driving the grabbing assembly to move up and down. The grabbing assembly comprises a vibration part, the vibration part comprises a fixed mounting plate connected with the lifting module, the fixed mounting plate is movably connected with a suction cup mounting plate, and at least one suction cup is arranged below the suction cup mounting plate. A driving device used for driving the suction cup mounting plate to move relative to the fixed mounting plate is arranged on the fixed mounting plate, the vibration part is arranged, in the sheet material grabbing process, the suction cup mounting plate is driven by the air cylinder to do rapid reciprocating motion to form shaking, and then redundant sheet materials can be shaken to be scattered and fall off; and the occurrence of chip bonding is effectively avoided.

Description

Technical Field

[0001] This utility model relates to the field of lithium battery manufacturing technology, specifically a wafer-picking robot. Background Technology

[0002] Currently, automated lithium-ion battery production lines are facing increasingly stringent requirements for process capabilities, demanding reduced failure rates and improved cell quality consistency. During the assembly process, robotic arms frequently pick up multiple cells at once when retrieving the flexible film. Excess film falls off during the arm's movement, affecting equipment operation; or multiple films are placed on the top cover, flowing into subsequent processes such as adhesive application, film wrapping, casing, and weighing, significantly impacting production capacity and cell performance. There is an urgent need for a robotic arm device to prevent cell adhesion during assembly. Utility Model Content

[0003] The purpose of this invention is to provide a robotic arm for picking up films, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A robotic arm for picking up films includes a gripping assembly and a lifting module for driving the gripping assembly to move up and down;

[0006] The gripping assembly includes a vibration unit, which includes a fixed mounting plate connected to the lifting module. A suction cup mounting plate is movably connected to the fixed mounting plate. At least one suction cup is provided below the suction cup mounting plate. The fixed mounting plate is provided with a driving device for driving the suction cup mounting plate to move relative to the fixed mounting plate.

[0007] The lifting module drives the suction cup mounting plate to move up and down, which can capture and move the thin sheet material. At the same time, the relative movement of the suction cup mounting plate with respect to the fixed mounting plate can shake the sheet material off by the rapid shaking of the suction cup mounting plate, thus avoiding the adhesion of the sheet.

[0008] As a further embodiment of this utility model: the lifting module includes a first linear drive component, the movable end of the first linear drive component is fixedly connected to a first adapter plate, and the gripping assembly is connected to the first adapter plate.

[0009] The first linear drive assembly uses a linear drive motor, the movable end of which is fixedly connected to the first adapter plate, thereby driving the first adapter plate to move up and down.

[0010] As a further embodiment of this utility model: the gripping assembly is movably connected to the first adapter plate via an anti-collision buffer part, the anti-collision buffer part includes a second adapter plate, and the second adapter plate is slidably connected to the first adapter plate via a first guide rail slider.

[0011] By setting up an anti-collision buffer, if the suction cup experiences excessive pressure during the gripping process, the anti-collision buffer device can provide protection.

[0012] As a further embodiment of this utility model: the first adapter plate is provided with a position sensor, the second adapter plate is provided with a sensor trigger block, the upper end of the second adapter plate is provided with a guide post for sleeved reset spring, and the first adapter plate is provided with a guide seat that cooperates with the guide post.

[0013] When the suction cup is overpressed, the second adapter plate moves upward, which in turn moves the sensor trigger block upward, triggering the position sensor and causing an alarm to stop the machine, thus preventing damage to the mechanism.

[0014] As a further embodiment of this utility model: the fixed mounting plate is fixedly connected to the lower end of the second adapter plate.

[0015] The fixed mounting plate is installed below the second adapter plate, and thus the fixed mounting plate can be driven by the second adapter plate to move up and down with the first linear drive assembly.

[0016] As a further embodiment of this utility model: the driving device includes a second linear drive assembly disposed on the second adapter plate, and the second linear drive assembly is poweredly connected to the suction cup mounting plate.

[0017] The second linear drive component uses a cylindrical cylinder, with the piston end of the cylinder being poweredly connected to the suction cup mounting plate, thereby driving the suction cup mounting plate to move up and down.

[0018] As a further embodiment of this utility model: the movable end of the second linear drive assembly is fixedly connected to a mounting plate, the mounting plate is slidably connected to the second adapter plate through a second guide rail slider, a connecting rod is hinged on the mounting plate, and the other end of the connecting rod is hinged to the suction cup mounting plate.

[0019] In this application, the mounting plate is slidably connected to the second adapter plate via a second guide rail slider.

[0020] As a further embodiment of this utility model: suction cup mounting plates are rotatably connected to both sides of the fixed mounting plate, and the mounting plate and the suction cup mounting plates on both sides are poweredly connected by connecting rods.

[0021] In this application, a cylindrical cylinder and a connecting rod drive the suction cup mounting plates on both sides to rotate relative to the fixed mounting plate. The rapid rotation of the suction cup mounting plates causes vibration, which disperses the thin sheet material that is stuck together.

[0022] As a further embodiment of this utility model: the second adapter plate is provided with an upper limit block and a lower limit block, and the mounting plate is located between the upper limit block and the lower limit block.

[0023] By limiting the range of vertical movement of the mounting plate by upper and lower limit blocks, the range of rotation of the suction cup mounting plate can be determined, thus preventing damage to the thin sheet material caused by large-scale movement of the suction cup mounting plate.

[0024] As a further embodiment of this utility model: a plurality of suction cups are arranged on the suction cup mounting plate, and the suction cups are connected to an air source.

[0025] By setting multiple suction cups, the stability of the gripper can be improved, preventing it from falling off.

[0026] Compared with the prior art, the beneficial effects of this utility model are:

[0027] 1. This application incorporates a vibrating section. During the process of gripping thin sheet materials, the cylinder drives the suction cup mounting plate to reciprocate rapidly, creating vibration. This vibration can then disperse and dislodge excess thin sheet materials, effectively preventing sheet adhesion.

[0028] 2. By setting up an anti-collision buffer device, this application can control the stroke during the gripping process to avoid excessive downward stroke of the robotic arm, which would cause excessive pressure on the suction cup and damage to the suction cup or thin sheet material. Attached Figure Description

[0029] Figure 1 This is a side view of the robot arm axis in this embodiment;

[0030] Figure 2 This is a schematic diagram of the robotic arm lifting module and the anti-collision buffer in this embodiment;

[0031] Figure 3 This is a schematic diagram of the material handling section in this embodiment;

[0032] Figure 4 This is a side view of the material handling and vibration structure in this embodiment;

[0033] Figure 5 This is a front view of the vibration section in this embodiment.

[0034] In the picture:

[0035] 1-Lifting module, 101-First linear drive assembly, 102-First adapter plate;

[0036] 2-Anti-collision buffer, 201-First guide rail slider, 202-Guide post, 203-Second adapter plate, 204-Position sensor, 205-Sensor trigger block;

[0037] 3-Vibration unit, 301-Second linear drive assembly, 302-Upper limit block, 303-Mounting plate, 304-Lower limit block, 305-Connecting rod, 306-Suction cup mounting plate, 307-Fixed mounting plate, 308-Second guide rail slider;

[0038] 4- Suction cup, 5- Thin sheet material. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] Please see Figure 1 In this embodiment of the utility model, a film-retrieving robot includes a gripping assembly and a lifting module 1 for driving the gripping assembly to move up and down. The lifting module 1 includes a first linear drive component 101, and a first adapter plate 102 is fixedly connected to the movable end of the first linear drive component 101. The gripping assembly is connected to the first adapter plate 102. The first linear drive component 101 adopts a linear drive motor, and the movable end of the linear drive motor is fixedly connected to the first adapter plate 102, thereby driving the first adapter plate 102 to move up and down.

[0041] The gripping assembly includes a shock-absorbing part 2 and a vibration part 3. The gripping suction cup 4 is connected to the first adapter plate 102 through the vibration part 3 and the shock-absorbing part 2. In this embodiment, as shown... Figure 2 As shown, the anti-collision buffer part 2 includes a second adapter plate 203. The second adapter plate 203 is slidably connected to the first adapter plate 102 via a first guide rail slider 201. The first adapter plate 102 is provided with a position sensor 204, and the second adapter plate 203 is provided with a sensor trigger block 205. In this embodiment, the position sensor 204 is a slotted photoelectric sensor, and the sensor trigger block 205 is a light-shielding strip. The upper end of the second adapter plate 203 is provided with a guide post 202 sleeved with a reset spring. The first adapter plate 102 is provided with a guide seat that cooperates with the guide post 202. When the suction cup 4 is overpressed, the second adapter plate 203 moves upward, which will move the light-shielding strip upward, triggering the slotted photoelectric signal, thereby alarming and stopping the machine to prevent damage to the mechanism.

[0042] like Figure 3-5As shown, the gripping assembly includes a vibrating part 3, which includes a fixed mounting plate 307 connected to the lifting module 1. The fixed mounting plate 307 is fixedly connected to the lower end of the second adapter plate 203. A suction cup mounting plate 306 is movably connected to the fixed mounting plate 307. At least one suction cup 4 is disposed below the suction cup mounting plate 306. The fixed mounting plate 307 is provided with a driving device for driving the suction cup mounting plate 306 to move relative to the fixed mounting plate 307. The driving device includes a second linear drive assembly 301 disposed on the second adapter plate 203. The second linear drive assembly 301 and the suction cup mounting plate 306 are powered by... In this embodiment, the movable end of the second linear drive assembly 301 is fixedly connected to a mounting plate 303. The mounting plate 303 is slidably connected to the second adapter plate 203 via a second guide rail slider 308. The second adapter plate 203 is provided with an upper limit block 302 and a lower limit block 304. The mounting plate 303 is located between the upper limit block 302 and the lower limit block 304. The upper limit block 302 and the lower limit block 304 limit the range of vertical movement of the mounting plate 303, thereby limiting the range of rotation of the suction cup mounting plate 306 and preventing damage to the sheet material caused by large-scale movement of the suction cup mounting plate 306.

[0043] A connecting rod 305 is hinged to the mounting plate 303. The other end of the connecting rod 305 is hinged to the suction cup mounting plate 306. The second linear drive assembly 301 adopts a cylindrical cylinder. The piston end of the cylinder is poweredly connected to the suction cup mounting plate 306, which can drive the suction cup mounting plate 306 to move up and down.

[0044] Furthermore, in this embodiment, suction cup mounting plates 306 are rotatably connected to both sides of the fixed mounting plate 307. The mounting plate 303 and the suction cup mounting plates 306 on both sides are poweredly connected by connecting rods 305. Multiple suction cups 4 are arranged on the suction cup mounting plates 306, and the suction cups 4 are connected to an air source.

[0045] In use, the lifting module 1 controls the suction cup 4 to descend and pick up the sheet material 5. Then the lifting module 1 rises. During the rising process, the second linear drive component 301 quickly extends and retracts. It is connected to the suction cup mounting plate 306 via the connecting rod 305 and swings rapidly around the fixed mounting plate 307, causing the sheet material 5 to shake rapidly. Excess sheet material falls to the original sheet material 5 storage position for easy picking next time, thereby preventing the material from sticking together.

[0046] This robotic arm also has a height-direction anti-collision function. When the suction cup 4 is overpressed, the second adapter plate 203 moves upward, which will move the light-shielding strip upward, triggering the slotted photoelectric sensor, thereby alarming and stopping the machine to prevent damage to the mechanism.

[0047] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0048] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robotic arm for picking up films, characterized in that, It includes a gripping assembly and a lifting module (1) for driving the gripping assembly to move up and down; The gripping assembly includes a vibration unit (3), which includes a fixed mounting plate (307) connected to the lifting module (1). The fixed mounting plate (307) is movably connected to a suction cup mounting plate (306). At least one suction cup (4) is provided below the suction cup mounting plate (306). The fixed mounting plate (307) is provided with a driving device for driving the suction cup mounting plate (306) to move relative to the fixed mounting plate (307).

2. The robotic arm for picking up films according to claim 1, characterized in that, The lifting module (1) includes a first linear drive assembly (101), the movable end of which is fixedly connected to a first adapter plate (102), and the gripping assembly is connected to the first adapter plate (102).

3. The robotic arm for picking up films according to claim 2, characterized in that, The gripping assembly is movably connected to the first adapter plate (102) via a collision buffer (2). The collision buffer (2) includes a second adapter plate (203), which is slidably connected to the first adapter plate (102) via a first guide rail slider (201).

4. The robotic arm for picking up films according to claim 3, characterized in that, The first adapter plate (102) is provided with a position sensor (204), the second adapter plate (203) is provided with a sensor trigger block (205), the upper end of the second adapter plate (203) is provided with a guide post (202) for sleeved reset spring, and the first adapter plate (102) is provided with a guide seat that cooperates with the guide post (202).

5. A robotic arm for picking up films according to claim 3, characterized in that, The fixed mounting plate (307) is fixedly connected to the lower end of the second adapter plate (203).

6. A robotic arm for picking up films according to claim 5, characterized in that, The driving device includes a second linear drive assembly (301) disposed on the second adapter plate (203), and the second linear drive assembly (301) is poweredly connected to the suction cup mounting plate (306).

7. A robotic arm for picking up films according to claim 6, characterized in that, The movable end of the second linear drive assembly (301) is fixedly connected to a mounting plate (303). The mounting plate (303) is slidably connected to the second adapter plate (203) via a second guide rail slider (308). A connecting rod (305) is hinged on the mounting plate (303), and the other end of the connecting rod (305) is hinged to the suction cup mounting plate (306).

8. A robotic arm for picking up films according to claim 7, characterized in that, The fixed mounting plate (307) is rotatably connected to suction cup mounting plates (306) on both sides, and the mounting plate (303) and the suction cup mounting plates (306) on both sides are poweredly connected by connecting rods (305).

9. A robotic arm for picking up films according to claim 7, characterized in that, The second adapter plate (203) is provided with an upper limit block (302) and a lower limit block (304), and the mounting plate (303) is located between the upper limit block (302) and the lower limit block (304).

10. A robotic arm for picking up films according to claim 1 or 7, characterized in that, The suction cup mounting plate (306) is provided with a plurality of suction cups (4), and the suction cups (4) are connected to an air source.

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