Manipulator gripper
By introducing a floating structure and photoelectric sensors into the robotic gripper, the risks of damage and fire when gripping battery cells with traditional robotic arms have been solved, enabling safe and stable gripping and handling of battery cells.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2026-03-06
AI Technical Summary
Traditional robotic arms lack a floating structure when gripping battery cells, which may cause damage or fire to the battery cells when encountering obstacles.
A robotic gripper was designed, which combines a gripper cylinder with a floating structure. The floating stroke of the gripper cylinder is limited by the spring connection, the slide rail and the cooperation of the sensing plate and sensor. It is equipped with a one-way valve and photoelectric sensor for real-time detection to ensure the stability and safety of gripping.
It effectively avoids the risk of damage or fire to the battery cell caused by continuous downward pressure, achieves precise control and real-time detection, and improves the safety and clamping effect of the battery cell.
Smart Images
Figure CN223971727U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of battery cell processing technology, and in particular to a robotic gripper. Background Technology
[0002] In the field of battery cell processing technology, robotic arms, as an important component of automated production lines, undertake various tasks such as gripping, handling, and positioning battery cells. However, traditional robotic arm designs often have some problems. For example, in use, they typically employ gripper cylinders to hold the battery cells.
[0003] However, due to its lack of a floating structure, if the robotic arm continues to press down when there is an obstacle, it will put pressure on the battery cell, causing the battery cell to catch fire or become unusable.
[0004] Therefore, improvements are needed. Utility Model Content
[0005] The technical problem solved by this utility model is to address the deficiencies in the prior art by providing a robotic gripper to solve the problems mentioned in the background art.
[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a robotic gripper, comprising: a gripper cylinder having a left gripper and a right gripper arranged opposite to each other; a connecting plate mounted on the upper part of the gripper cylinder; a first side plate on the left side of the connecting plate and a second side plate on the right side of the connecting plate, wherein a first sensing plate is mounted on the second side plate; a fixed base connected to the first side plate and the second side plate by a spring; the fixed base having a protrusion positioned between the first side plate and the second side plate, the protrusion being connected to the first side plate and the second side plate by a slide rail, wherein a first sensor cooperating with the first sensing plate is mounted on the protrusion; the first sensing plate and the first sensor cooperating with the first sensor restrict the floating stroke of the gripper cylinder.
[0007] Furthermore, the side of the protrusion is provided with an inwardly recessed limiting groove, and the side of the connecting plate is equipped with a limiting block, at least a portion of which is placed in the limiting groove; when the gripper cylinder floats, the limiting block moves within the limiting groove, and the limiting groove and the limiting block cooperate to limit the floating stroke of the gripper cylinder.
[0008] Furthermore, the air inlet of the gripper cylinder is equipped with a one-way valve.
[0009] Furthermore, the left gripper is provided with a photoelectric transmitter, and the right gripper is provided with a photoelectric receiver; the photoelectric transmitter and the photoelectric receiver are used for real-time detection of the battery cell.
[0010] Furthermore, the left and right grippers are respectively provided with pads on the clamping surfaces of the battery cell, and the end faces of the pads are provided with anti-slip textures.
[0011] Furthermore, a second sensor is provided on the left side of the gripper cylinder, and a second sensing plate is provided on the upper part of the left gripper to cooperate with the second sensor. The second sensor and the second sensing plate cooperate to limit the movement stroke of the left gripper.
[0012] Furthermore, a third sensor is provided on the right side of the gripper cylinder, and a third sensing plate is provided on the upper part of the right gripper to cooperate with the third sensor. The third sensor and the third sensing plate cooperate to limit the movement stroke of the right gripper.
[0013] Furthermore, the upper part of the left gripper and the right gripper is provided with a height limiting plate for abutting against the battery cell terminal.
[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0015] Enhanced safety and protection of battery cells: By introducing a floating structure (such as spring connection, slide rail and first sensing plate and first sensor), when the robot arm encounters an obstacle during the gripping or handling of the battery cell, the gripper cylinder can have a certain floating stroke, avoiding the risk of damage or fire to the battery cell due to continuous downward pressure, and effectively protecting the safety of the battery cell.
[0016] Precise control of floating stroke: By utilizing the cooperation of the first sensing plate and the first sensor, as well as the mechanical limiting design of the limiting groove and the limiting block, the floating range of the gripper cylinder can be precisely controlled, and the dual protection ensures the stability of operation.
[0017] Electrical protection measures: The gripper cylinder uses a one-way valve to prevent power outages, gas outages, and the risk of the battery cell falling off and causing damage or fire.
[0018] Real-time detection function: By using through-beam photoelectric sensors installed on the grippers of the gripper cylinder, the clamped battery cells can be monitored in real time.
[0019] Good clamping effect: The clamping claws are equipped with anti-slip textured pads to improve the clamping effect on the battery cells and prevent them from falling. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the structure of this utility model.
[0021] Figure 2 This is a schematic diagram of the structure of this utility model from another perspective.
[0022] Figure 3 This is a schematic diagram of the structure of this utility model from another perspective.
[0023] Figure 4 This is a partial exploded structural diagram of this utility model.
[0024] Figure 5 yes Figure 4 Another structural diagram from another angle.
[0025] Figure 6 This is a partial structural schematic diagram of the present invention.
[0026] Figure 7 This is a schematic diagram illustrating the use of this utility model.
[0027] Reference numerals in the attached drawings: 1. Gripper cylinder; 2. Left gripper; 3. Right gripper; 4. Connecting plate; 5. First side plate; 6. Second side plate; 7. First sensing plate; 8. Fixing base; 9. Protrusion; 10. First sensor; 11. Limiting groove; 12. Limiting block; 13. Photoelectric transmitter; 14. Photoelectric receiver; 15. Gasket; 16. Second sensor; 17. Second sensing plate; 18. Third sensor; 19. Third sensing plate; 20. Height limit plate; 21. One-way valve; 22. Spring; 23. Slide rail. Detailed Implementation
[0028] The present invention will now be described in further detail with reference to the accompanying drawings.
[0029] The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application 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 limiting this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "several" or "more than" means two or more, unless otherwise explicitly specified. In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. Moreover, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0030] In view of the technical problems described in the background art, such as Figure 1-7As shown, a robotic gripper is provided, comprising: a gripper cylinder 1 having a left gripper 2 and a right gripper 3 arranged opposite to each other; a connecting plate 4 mounted on the upper part of the gripper cylinder 1; a first side plate 5 on the left side of the connecting plate 4 and a second side plate 6 on the right side of the connecting plate 4, wherein a first sensing plate 7 is mounted on the second side plate 6; a fixing seat 8 connected to the first side plate 5 and the second side plate 6 by a spring 22; the fixing seat 8 having a protrusion 9 positioned between the first side plate 5 and the second side plate 6, the protrusion 9 being connected to the first side plate 5 and the second side plate 6 by a slide rail 23, wherein a first sensor 10 cooperating with the first sensing plate 7 is mounted on the protrusion 9; the first sensing plate 7 and the first sensor 10 cooperating with each other limit the floating stroke of the gripper cylinder 1.
[0031] The above technical solution provides a robotic gripper, which is particularly suitable for the field of battery cell processing technology. It aims to solve the problem of battery cell damage caused by the lack of a floating structure during the gripping and handling of battery cells by traditional robotic grippers.
[0032] The fixed base 8 is configured to be mounted on a robotic arm or module, and is used to hold square-shell battery cell products for handling them. Specifically, the fixed base 8 is connected to the first side plate 5 and the second side plate 6 by springs 22 to form a floating structure; for example, the first side plate 5 is provided with holes, and springs 22 are installed in the holes to connect with the fixed base 8, and the second side plate 6 is connected in the same way.
[0033] The first sensing plate 7 and the first sensor 10 work together to limit the floating stroke of the floating structure. Specifically, the first sensing plate 7 is installed on the second side plate 6 (of course, the first sensing plate 7 can also be installed on the first side plate 5, and there is no restriction on this), and the first sensor 10 is installed on the protrusion 9. The process of use is as follows: when excessive pressure is applied, as the connecting plate 4 is pressed down by the gripper cylinder 1, the first sensing plate 7 moves upward to the position of the first sensor 10, and the first sensing plate 7 and the first sensor 10 are triggered, avoiding the risk of damage to the battery cell or fire caused by the continuous downward pressure of the gripper cylinder 1, and effectively protecting the safety of the battery cell.
[0034] As shown in the figure, the side of the protrusion 9 is provided with an inwardly recessed limiting groove 11, and the side of the connecting plate 4 is installed with a limiting block 12. At least a part of the limiting block 12 is placed in the limiting groove 11. When the gripper cylinder 1 floats, the limiting block 12 moves within the limiting groove 11. The limiting groove 11 and the limiting block 12 cooperate to limit the floating stroke of the gripper cylinder 1.
[0035] To prevent damage to the battery cell or the risk of fire caused by continuous downward pressure from the gripper cylinder 1 due to the malfunction of the first sensing element 7 and the first sensor 10, a limiting groove 11 is provided on the protrusion 9, and a limiting block 12 is installed on the connecting plate 4. The height of the limiting groove 11 and the limiting block 12 are designed according to the floating stroke. The limiting groove 11 restricts the movement of the limiting block 12, thereby preventing damage to the battery cell or the risk of fire caused by continuous downward pressure from the gripper cylinder 1 and effectively protecting the safety of the battery cell.
[0036] Because the existing gripper cylinder 1 lacks power and gas interruption protection, there is a risk of the product falling and causing short circuits or fires in the event of a sudden power outage or gas interruption. As a preferred embodiment, the air inlet of the gripper cylinder 1 is equipped with a one-way valve 21 to prevent the battery cell from falling out.
[0037] As shown in the figure, the left gripper 2 is provided with a photoelectric transmitter 13, and the right gripper 3 is provided with a photoelectric receiver 14; the photoelectric transmitter 13 and the photoelectric receiver 14 are used for real-time detection of the battery cell.
[0038] By using a through-beam photoelectric sensor, real-time detection of battery cell products can be achieved.
[0039] Specifically, the left jaw 2 and the right jaw 3 are respectively provided with pads 15 on the clamping surfaces of the battery cell, and the end face of the pads 15 is an anti-slip texture.
[0040] A pad 15 with anti-slip texture is provided at the gripper position. When the gripper cylinder 1 clamps the battery cell product, it provides friction with the battery cell product, making the clamping more stable.
[0041] A second sensor 16 is provided on the left side of the gripper cylinder 1, and a second sensing plate 17 is provided on the upper part of the left gripper 2 to cooperate with the second sensor 16. The second sensor 16 and the second sensing plate 17 cooperate to limit the movement stroke of the left gripper 2.
[0042] A third sensor 18 is provided on the right side of the gripper cylinder 1, and a third sensing plate 19 is provided on the upper part of the right gripper 3 to cooperate with the third sensor 18. The third sensor 18 and the third sensing plate 19 cooperate to limit the movement stroke of the right gripper 3.
[0043] To achieve precise clamping of battery cell products, the movement of the gripper is controlled by the second sensor 17 triggering the second sensor 16 and the third sensor 19 triggering the third sensor 18 when the gripper moves.
[0044] The upper part of the left gripper 2 and the right gripper 3 is provided with a height limiting plate 20 for abutting against the battery cell terminal post, so as to avoid damage to the battery cell.
[0045] The above does not limit the technical scope of this utility model. Any modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this utility model shall still fall within the scope of the technical solution of this utility model.
Claims
1. A robot hand, characterized in that, The utility model relates to a mechanical hand hand grab, including: Clamping jaw air cylinder, the clamping jaw air cylinder has opposite left clamping jaw and right clamping jaw; Connecting plate, the connecting plate is installed on the upper portion of the clamping jaw air cylinder, the left side of the connecting plate is equipped with the first side plate, the right side of the connecting plate is equipped with the second side plate, and the first induction sheet is installed on the second side plate; Fixed seat, the fixed seat is connected with the first side plate, the second side plate through the spring, the fixed seat has the lug, the lug is placed between the first side plate, the second side plate, the lug is connected with the first side plate, the second side plate through the slide rail, and the first inductor that cooperates with the first induction sheet is installed on the lug, and the first induction sheet cooperates with the first inductor and limits the floating stroke of the clamping jaw air cylinder.
2. The mechanical hand hand grab according to claim 1, wherein: The side surface of the lug is provided with a limiting groove recessed inward, the side surface of the connecting plate is provided with a limiting block, and at least a part of the limiting block is placed in the limiting groove; when the clamping jaw air cylinder floats, the limiting block moves in the limiting groove, and the limiting groove cooperates with the limiting block to limit the floating stroke of the clamping jaw air cylinder.
3. The mechanical hand hand grab according to claim 1, wherein: The air inlet of the clamping jaw air cylinder is provided with a one-way valve.
4. The mechanical hand hand grab according to claim 1, wherein: The left clamping jaw is provided with a photoelectric emission end, and the right clamping jaw is provided with a photoelectric receiving end; the photoelectric emission end and the photoelectric receiving end are used for detecting the battery cell in real time.
5. The mechanical hand hand grab according to claim 1, wherein: The left clamping jaw and the right clamping jaw are respectively provided with a gasket on the clamping surface of the battery cell, and the end surface of the gasket is provided with anti-skid lines.
6. The mechanical hand hand grab according to claim 1, wherein: The left side of the clamping jaw air cylinder is provided with a second inductor, the upper portion of the left clamping jaw is provided with a second induction sheet matched with the second inductor, and the second inductor cooperates with the second induction sheet to limit the moving stroke of the left clamping jaw.
7. The mechanical hand hand grab according to claim 6, wherein: The right side of the clamping jaw air cylinder is provided with a third inductor, the upper portion of the right clamping jaw is provided with a third induction sheet matched with the third inductor, and the third inductor cooperates with the third induction sheet to limit the moving stroke of the right clamping jaw.
8. The mechanical hand hand grab according to claim 1, wherein: The upper portion of the left clamping jaw and the right clamping jaw is provided with a height-limiting plate for abutting against the pole of the battery cell.