Gripping device and battery production line

Abstract

The utility model discloses a grabbing device and a battery production line, the grabbing device comprises a rack, a mechanical arm, a grabbing assembly, a positioning assembly and a conveying assembly, the mechanical arm is arranged on the rack, the grabbing assembly is arranged on the mechanical arm, the positioning assembly comprises a driving part and a positioning column, the driving part is fixed on the mechanical arm, the driving part is connected with the grabbing assembly, and the positioning column is arranged on the mechanical arm. The positioning column is connected to the grabbing assembly, the position of the positioning column is adjustable relative to the position of the grabbing assembly, and the conveying assembly is arranged on the rack. According to the scheme, after positioning of the positioning columns is completed, grabbing is conducted through the grabbing assembly, and therefore corresponding products can be accurately grabbed. And after grabbing is completed, the shell used for containing the corresponding product is fixed through the positioning column, and then the product grabbed on the grabbing assembly is put into the corresponding shell. And in the placing process, the shell cannot move under the limitation of the positioning assembly, so that the corresponding product can be accurately placed into the shell, and the assembly precision is effectively improved.

Description

Technical Field

[0001] This application relates to the field of battery technology, and in particular to a gripping device and a battery production line. Background Technology

[0002] In the battery production process, robotic arms are needed to assemble PCBAs.

[0003] In related technologies, robotic arms cannot accurately place PCBAs into their corresponding housings during use, resulting in poor assembly precision. Utility Model Content

[0004] In view of the above problems, this application provides a gripping device and a battery production line, which can solve the problem that existing robotic arms cannot accurately place PCBAs into the corresponding housings and have poor assembly accuracy.

[0005] To address the aforementioned technical problems, this application proposes a gripping device, comprising:

[0006] frame;

[0007] A robotic arm, which is mounted on the frame;

[0008] A gripping component, wherein the gripping component is disposed on the robotic arm;

[0009] A positioning component, comprising a drive member and a positioning post, wherein the drive member is fixed to the robotic arm and connected to the gripping component, and is configured to drive the gripping component to rotate circumferentially; the positioning post is connected to the gripping component, and the position of the positioning post relative to the position of the gripping component is adjustable.

[0010] A conveying component is disposed on the rack and configured to convey products to be grasped.

[0011] In the technical solution of this application embodiment, the gripping component is rotated by a driving component, thereby adjusting the orientation of the positioning post. Then, the position of the positioning post relative to the gripping component is adjusted so that the positioning post can accurately position the product to be gripped. After positioning, the gripping component grips the product, thus accurately grasping the corresponding product. After gripping, the positioning post fixes the housing for holding the corresponding product, and then the product gripped by the gripping component is placed into the corresponding housing. During the placement process, the housing will not move under the constraint of the positioning component, thus accurately placing the corresponding product into the housing, effectively improving assembly accuracy. Simultaneously, the corresponding product to be gripped can be easily transported to a designated location by a conveying component.

[0012] In some embodiments, the gripping assembly includes a first plate and a vacuum gripper. The first plate is connected to the robotic arm, or the first plate is connected to the positioning assembly, and the vacuum gripper is fixed to the first plate. In this way, gripping can be achieved by using the vacuum gripper to adsorb the corresponding product to be gripped.

[0013] In some embodiments, the gripping assembly further includes a second plate disposed on the first plate and capable of moving relative to the first plate along a first direction, wherein the vacuum gripper is disposed on the second plate, and the first direction is the direction from a first side to a second side on the first plate.

[0014] In this way, by adjusting the position of the second plate relative to the first plate in the first direction, the position of the vacuum gripper in the first direction can be adjusted so that the position of the vacuum gripper corresponds to the position of the product to be gripped.

[0015] In some embodiments, the vacuum gripper includes a flexible nozzle and a body, the body being fixed to the second plate and the flexible nozzle being connected to the body.

[0016] Because the flexible suction nozzle itself has a certain degree of flexibility, it can avoid damage to the product being gripped when the flexible suction nozzle comes into contact with the product.

[0017] In some embodiments, the gripping device further includes a first detection element disposed on the vacuum gripper and configured to detect the vacuum level of the vacuum gripper.

[0018] This makes it easier to detect the corresponding vacuum level using the first detection component.

[0019] In some embodiments, the gripping device further includes an alarm, which is electrically connected to the first detection element. The alarm sounds when the first detection element detects that the vacuum level of the vacuum gripper is lower than a preset threshold.

[0020] In this way, by electrically connecting the alarm to the first detection element, it is easy to detect whether the corresponding vacuum level is lower than the preset threshold.

[0021] In some embodiments, the positioning component further includes a third plate, the driving member is connected to the first plate, the third plate is connected to the side of the first plate opposite to the driving member, and the third plate is movable relative to the first plate in a second direction, and the positioning post is connected to the third plate.

[0022] In this way, by adjusting the position of the third plate relative to the first plate in the second direction, the position of the positioning post in the second direction can be adjusted so that the position of the positioning post corresponds to the position of the product to be gripped.

[0023] In some embodiments, the positioning component further includes an elastic element configured to connect the positioning post to the third plate.

[0024] Since the positioning post is connected to the third plate through an elastic element, the collision stress between the positioning post and the product to be grasped can be reduced under the buffering effect of the elastic element when the positioning post comes into contact with the product to be grasped.

[0025] In some embodiments, the conveying assembly includes a first linear module and a second linear module, the first linear module being fixed to the frame and connected to the second linear module, and configured to drive the second linear module to move along a second direction, the second linear module being configured to drive the product to be grasped to move along a first direction.

[0026] In this way, the cooperation of the first linear module and the second linear module facilitates the movement of the product to be grasped in the first and second directions, so that the product to be grasped can be transported to the designated position.

[0027] In some embodiments, the gripping device further includes a carrier disposed between the two second linear modules and configured to hold the product to be gripped.

[0028] This makes it easier to carry the corresponding products to be grabbed.

[0029] In some embodiments, the gripping device further includes a control unit, which is electrically connected to the robotic arm, the conveying assembly, and the drive unit, respectively.

[0030] In some embodiments, the gripping device further includes an emergency stop control component electrically connected to the conveying assembly.

[0031] In this way, in the event of an emergency, the transmission assembly can be easily stopped by the emergency stop control unit.

[0032] In some embodiments, the emergency stop control component is provided with a status indicator component, which is configured to display the operating status of the transmission component.

[0033] In this way, the working status of the transmission component can be viewed through the status indicator component.

[0034] In some embodiments, the gripping device further includes support legs disposed on the bottom surface of the frame and configured to adjust the level of the frame. This facilitates adjustment of the overall level of the frame.

[0035] In some embodiments, the support leg includes a support pad and an adjusting rod, one end of the adjusting rod being connected to the bottom surface of the frame and the other end being connected to the support pad, the adjusting rod being configured to adjust the distance between the support pad and the frame.

[0036] In this way, the levelness of the corresponding frame can be adjusted by adjusting the distance between the support pad and the frame using the adjusting rod.

[0037] In some embodiments, the frame is provided with an anti-corrosion layer. This prevents the frame from corroding during use.

[0038] In some embodiments, the gripping device further includes a second detection element disposed on the gripping assembly and configured to detect the position of the product to be gripped.

[0039] This makes it easier to detect the position of the product to be grabbed using the second inspection piece.

[0040] This application also proposes a battery production line, including a gripping device as described in any one of the embodiments of this application.

[0041] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0042] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the embodiments described below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0043] Figure 1 This is a schematic diagram of the structure of the gripping device provided in some embodiments of this application;

[0044] Figure 2 for Figure 1 A partial schematic diagram.

[0045] The reference numerals in the detailed embodiments are as follows:

[0046] 10. Robotic arm; 11. Gripping assembly; 111. First plate; 1111. First elongated hole; 1112. First side; 1113. Second side; 112. Second plate; 113. Vacuum gripper; 12. Positioning assembly; 121. Drive unit; 122. First pulley; 123. Belt; 124. Second pulley; 125. Third plate; 1251. Second elongated hole; 126. Positioning post; 127. Elastic element; 13. Frame; 14. Conveying assembly; 141. First linear module; 142. Second linear module; 15. Control unit; 16. Bearing element; 17. Support leg; 171. Support pad; 172. Adjusting rod; 18. Mounting plate. Detailed Implementation

[0047] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0049] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0050] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0051] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0052] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0053] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0054] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0055] In the battery manufacturing process, robotic arms are needed to assemble PCBAs. However, the robotic arms in these technologies cannot accurately place the PCBAs into their corresponding housings, resulting in poor assembly precision.

[0056] Based on the above considerations, in order to solve the problem of poor assembly accuracy caused by the inability of existing robotic arms to accurately place PCBAs into their corresponding housings during use, this application proposes a gripping device. The gripping device includes a frame, a robotic arm, a gripping component, a positioning component, and a conveying component. The robotic arm is mounted on the frame, the gripping component is mounted on the robotic arm, the positioning component includes a drive component and a positioning post, the drive component is fixed to the robotic arm and connected to the gripping component, and is configured to drive the gripping component to rotate circumferentially, the positioning post is connected to the gripping component, and the position of the positioning post relative to the position of the gripping component is adjustable; the conveying component is mounted on the frame and is configured to convey the product to be gripped.

[0057] In the technical solution of this application embodiment, the gripping component is rotated by a driving component, thereby adjusting the orientation of the positioning post. Then, the position of the positioning post relative to the gripping component is adjusted so that the positioning post can accurately position the product to be gripped. After positioning, the gripping component grips the product, thus accurately grasping the corresponding product. After gripping, the positioning post fixes the housing for holding the corresponding product, and then the product gripped by the gripping component is placed into the corresponding housing. During the placement process, the housing will not move under the constraint of the positioning component, thus accurately placing the corresponding product into the housing, effectively improving assembly accuracy. Simultaneously, the corresponding product to be gripped can be easily transported to a designated location by a conveying component.

[0058] According to some embodiments of this application, such as Figure 1 and combined Figure 2 As shown, this application provides a gripping device, which includes a frame 13, a robotic arm 10, a gripping assembly 11, a positioning assembly 12, and a conveying assembly 14. The robotic arm 10 is disposed on the frame 13, the gripping assembly 11 is disposed on the robotic arm 10, the positioning assembly 12 includes a drive member 121 and a positioning post 126, the drive member 121 is fixed to the robotic arm 10 and connected to the gripping assembly 11, and is configured to drive the gripping assembly 11 to rotate circumferentially, the positioning post 126 is connected to the gripping assembly 11, and the position of the positioning post 126 relative to the position of the gripping assembly 11 is adjustable; the conveying assembly 14 is disposed on the frame 13 and is configured to convey the product to be gripped.

[0059] In this embodiment, the robotic arm 10 can be a four-axis robotic arm, a six-axis robotic arm, etc., and is not limited here.

[0060] In this embodiment, the gripping component 11 can be a suction cup, a gripper, etc., and is not limited here.

[0061] In this embodiment, the frame 13 can be formed by welding square tubing, and the conveying assembly 14 can be a belt conveyor, which is not limited here. The conveying assembly 14 can be fixed to the upper surface of the frame 13 by bolts, and the robotic arm 10 is also fixed to the upper surface of the frame 13 by bolts.

[0062] In use, the corresponding product to be grasped can be easily conveyed to the designated position through the conveying component 14, so that the robotic arm 10 can drive the grasping component 11 to grasp it.

[0063] like Figure 2As shown, the positioning component 12 includes a drive member 121 and a positioning post 126. The drive member 121 is fixed to the robotic arm 10 and is connected to the gripping component 11. It is configured to drive the gripping component 11 to rotate around the circumference. The positioning post 126 is connected to the gripping component 11 and the position of the positioning post 126 relative to the position of the gripping component 11 is adjustable.

[0064] In this embodiment, the driving component 121 can be a stepper motor, a servo motor, etc. The specific type can be determined according to the actual situation, and this specification does not limit it in this embodiment.

[0065] refer to Figure 2 As shown, the drive unit 121 is connected to the robotic arm 10 via the mounting plate 18. The output shaft of the drive unit 121 is connected to the first pulley 122. The first pulley 122 is connected to the second pulley 124 via the belt 123. Meanwhile, the second pulley 124 is connected to the first plate 111 on the gripping assembly 11 via the bearing.

[0066] In this way, the drive component 121 drives the first pulley 122 to rotate, and the first pulley 122 drives the second pulley 124 to rotate via the belt 123, thereby driving the first plate 111 to rotate. Since the positioning post 126 is connected to the first plate 111, when the first plate 111 rotates, it can drive the positioning post 126 to rotate, so that the position of the positioning post 126 corresponds to the position of the product to be grasped.

[0067] In use, the robotic arm 10 moves the corresponding gripping component 11. When the gripping component 11 moves above the housing, the robotic arm 10 moves the positioning component 12, and the drive component 121 rotates the gripping component 11, thereby adjusting the orientation of the positioning post 126. Then, the position of the positioning post 126 relative to the gripping component 11 is adjusted so that the positioning post 126 can accurately position the product to be gripped. After positioning, the gripping component 11 grasps the product, thus accurately gripping the corresponding product.

[0068] After gripping is complete, the housing for holding the corresponding product is fixed by the positioning post, and then the product gripped by the gripping component 11 is placed into the corresponding housing. During the placement process, the housing will not move under the constraint of the positioning component 12, so that the corresponding product can be accurately placed into the housing, effectively improving the assembly accuracy.

[0069] Meanwhile, the robotic arm 10 can also drive the gripping component 11 to rotate at multiple angles, making it easier to grip the corresponding product. Moreover, the conveying component 14 can also easily transport the corresponding product to be gripped to a designated position, making it easier for the robotic arm 10 to drive the gripping component 11 to grip it.

[0070] According to some embodiments of this application, such as Figure 2 As shown, the gripping assembly 11 includes a first plate 111 and a vacuum gripper 113, wherein the first plate 111 is connected to the robotic arm 10, or the first plate 111 is connected to the positioning assembly 12, and the vacuum gripper 113 is fixed to the first plate 111.

[0071] In this embodiment, the first plate 111 can be bolted to the robotic arm 10, or the first plate 111 can be bolted to the positioning component 12, and the positioning component 12 can be bolted to the robotic arm 10. For ease of explanation, the following description will take the example of the first plate 111 being connected to the positioning component 12.

[0072] In this embodiment, the gripping component 11 may include one or two first plates 111, and each first plate 111 may be provided with one or two vacuum gripping elements 113. The specific details can be determined according to the actual situation, and this embodiment does not limit this.

[0073] In this embodiment, the vacuum gripper 113 is a vacuum suction cup, which is connected to a vacuum pump via a pipe.

[0074] In use, the vacuum gripper 113 adsorbs the corresponding product to be gripped, thus achieving gripping.

[0075] According to some embodiments of this application, such as Figure 2 As shown, the gripping assembly 11 also includes a second plate 112, which is disposed on the first plate 111 and is movable relative to the first plate 111 along a first direction. The vacuum gripper 113 is disposed on the second plate 112, wherein the first direction is the direction from the first side 1112 to the second side 1113 on the first plate 111.

[0076] The first direction in this embodiment is as follows: Figure 2 The X-axis direction in the diagram.

[0077] refer to Figure 2 As shown, the first plate 111 has a first elongated hole 1111 extending along the X-axis. The second plate 112 is connected to the first plate 111 by a bolt passing through the first elongated hole 1111, and the bolt can move along the X-axis within the first elongated hole 1111. It is understood that the second plate 112 can also be connected to the first plate 111 by a pneumatic rod; this is not a limitation here.

[0078] In this embodiment, a second plate 112 can be connected to the bottom surface of each of the two ends along the X-axis of each first plate 111. At the same time, two vacuum gripping components 113 are connected to each second plate 112. The specific details can be determined according to the actual situation, and this embodiment does not limit this.

[0079] In use, by adjusting the position of the second plate 112 relative to the first plate 111 in the X-axis direction, the position of the vacuum gripper 113 in the X-axis direction can be adjusted so that the position of the vacuum gripper 113 corresponds to the position of the product to be gripped.

[0080] According to some embodiments of this application, the vacuum gripper 113 includes an elastic suction nozzle and a body, wherein the body is fixed to the second plate 112 and the elastic suction nozzle is connected to the body.

[0081] The flexible nozzle in this embodiment may be made of silicone; there is no limitation on its material.

[0082] In this embodiment, a vacuum passage is provided inside the main body. One end of the vacuum passage is connected to an external vacuum pump, and the other end is connected to an elastic suction nozzle.

[0083] In this embodiment, since the elastic suction nozzle itself has a certain degree of flexibility, when the elastic suction nozzle comes into contact with the product to be gripped, it can avoid damage to the product to be gripped after the elastic suction nozzle collides with the product to be gripped.

[0084] According to some embodiments of this application, the gripping device further includes a first detection element (not shown in the figure), which is disposed on the vacuum gripper 113 and configured to detect the vacuum level of the vacuum gripper 113.

[0085] In this embodiment, the first detection element can be a vacuum pressure sensor, which is not limited here.

[0086] During use, the vacuum level of the vacuum gripper 113 is detected by the first detection element to prevent it from operating when the vacuum level is less than the threshold.

[0087] According to some embodiments of this application, the gripping device also includes an alarm (not shown in the figure), which is electrically connected to the first detection element. The alarm sounds when the first detection element detects that the vacuum degree of the vacuum gripper 113 is lower than a preset threshold.

[0088] The alarm in this embodiment can be an audible and visual alarm, and there is no limitation here.

[0089] When in use, if the first detection element detects that the vacuum level of the vacuum gripper 113 is lower than the preset threshold, the alarm will sound to inform the staff.

[0090] According to some embodiments of this application, such as Figure 2As shown, the positioning component 12 also includes a third plate 125, the driving member 121 is connected to the first plate 111, the third plate 125 is connected to the side of the first plate 111 away from the driving member 121, and the third plate 125 can move relative to the first plate 111 in a second direction, and the positioning post 126 is connected to the third plate 125.

[0091] The second direction in this embodiment is as follows: Figure 2 The Y-axis direction in the diagram, where the Y-axis is perpendicular to the X-axis.

[0092] In this embodiment, a second elongated hole 1251 is provided on the third plate 125, extending along the Y-axis. The third plate 125 is connected to the first plate 111 by a bolt passing through the second elongated hole 1251. The bolt can move along the Y-axis within the second elongated hole 1251. Of course, it is understood that the third plate 125 can also be connected to the first plate 111 by a gas spring; this is not limited here.

[0093] In this embodiment, one or two third plates 125 can be connected to the bottom surface of each first plate 111. At the same time, one or two positioning posts 126 can also be connected to each third plate 125. The specific details can be determined according to the actual situation, and this embodiment does not limit this.

[0094] In use, by adjusting the position of the third plate 125 relative to the first plate 111 in the Y-axis direction, the position of the positioning post 126 in the Y-axis direction can be adjusted so that the position of the positioning post 126 corresponds to the position of the product to be gripped.

[0095] According to some embodiments of this application, such as Figure 2 As shown, the positioning assembly 12 also includes an elastic element 127 configured to connect the positioning post 126 to the third plate 125.

[0096] In this embodiment, the elastic element 127 can refer to an element that can deform under the action of an external force and return to its original shape after the external force is removed. The elastic element 127, in such cases... Figure 2 The elastic element 127 can be elastically compressed in the Z-axis direction, which is perpendicular to the plane formed by the X-axis and Y-axis. The elastic element 127 can be made of metal or non-metal, such as leaf spring, coil spring, gas spring, rubber spring, etc. The specific material can be determined according to the actual situation. This specification does not limit this aspect in the embodiments.

[0097] Since the positioning post 126 is connected to the third plate 125 through the elastic element 127, the collision stress between the positioning post 126 and the product to be grasped can be reduced under the buffering effect of the elastic element 127 when the positioning post 126 comes into contact with the product to be grasped.

[0098] According to some embodiments of this application, such as Figure 1 As shown, the conveying assembly 14 includes a first linear module 141 and a second linear module 142. The first linear module 141 is fixed to the frame 13 and is connected to the second linear module 142. It is configured to drive the second linear module 142 to move along a second direction. The second linear module 142 is configured to drive the product to be grasped to move along a first direction.

[0099] The first and second directions in this embodiment can be referred to the description above, and will not be repeated here.

[0100] In this embodiment, the transmission component 14 may include two first linear modules 141 and two second linear modules 142, wherein the two first linear modules 141 are spaced apart along the X-axis and the two second linear modules 142 are spaced apart along the Y-axis, wherein each second linear module 142 is located between the two first linear modules 141.

[0101] In use, the first linear module 141 drives the second linear module 142 to move along the Y-axis, and the second linear module 142 drives the product to be gripped to move along the X-axis, thereby facilitating the movement of the product to be gripped in the X and Y axes so that the product to be gripped can be transported to the designated position.

[0102] It should be noted that the structure of the conveying component described above is merely an example. Other alternative structures can also be used, such as conveying components including conveyor belts. This application does not impose any special restrictions on the specific structure of the conveying component, as long as the above structure can achieve the purpose of this application.

[0103] According to some embodiments of this application, such as Figure 1 As shown, the gripping device also includes a carrier 16, which is disposed between the two second linear modules 142 and configured to hold the product to be gripped.

[0104] In this embodiment, the carrier 16 can be a pallet or the like, and is not limited here.

[0105] In use, the carrier 16 is fixed between the two second linear modules 142, which facilitates the carrying of the corresponding product to be grasped.

[0106] According to some embodiments of this application, such as Figure 1 As shown, the gripping device also includes a control unit 15, which is electrically connected to the robotic arm 10, the transmission assembly 14 and the drive unit 121.

[0107] In this embodiment, the control unit 15 can be a controller, a host computer, etc., and is not limited here.

[0108] In use, the control unit 15 can be used to easily control the opening and closing of the robotic arm 10, the transmission assembly 14, and the drive unit 121.

[0109] According to some embodiments of this application, the gripping device further includes an emergency stop control component, which is electrically connected to the conveying assembly 14.

[0110] In this embodiment, the emergency stop control component is an emergency stop button. When the emergency stop button is not pressed, the internal normally closed contact switch is in the closed state. At this time, the power current can be transmitted to the transmission component 14 through the emergency stop button, and the transmission component 14 works normally.

[0111] In emergency trigger mode, when there is an emergency such as workpiece jamming, equipment failure, or personnel approaching a dangerous area, the operator presses the emergency stop button, the normally closed contact switch immediately opens, cuts off the power circuit of the conveyor component 14, and the conveyor component 14 immediately stops running.

[0112] Once the fault is cleared, the operator can rotate the emergency stop button clockwise to reset the circuit. At this time, the normally closed contact switch will close again, the power current will resume conduction, and the transmission component 14 will start working again.

[0113] According to some embodiments of this application, the emergency stop control component is provided with a status indicator component, which is configured to display the working status of the transmission component 14.

[0114] In this embodiment, the status indicator component can be an indicator light, but this is not limited to that.

[0115] During normal operation, the indicator light shows the normal operating status (e.g., a solid green light); in emergency triggering mode, the indicator light switches to alarm mode (e.g., a solid red light or flashing red light), indicating that the equipment is in an emergency stop state. This makes it convenient for staff to check the working status of the conveyor components.

[0116] According to some embodiments of this application, such as Figure 1 As shown, the gripping device also includes a support leg 17, which is disposed on the bottom surface of the frame 13 and is configured to adjust the level of the frame 13.

[0117] In this embodiment, the support leg 17 can be an electric telescopic rod, which is not limited here.

[0118] In this embodiment, a support leg 17 is connected to each of the four corners of the bottom surface of the frame 13. During use, by adjusting the length of each support leg 17, the entire frame 13 can be kept in a horizontal position.

[0119] According to some embodiments of this application, such as Figure 1As shown, the support leg 17 includes a support pad 171 and an adjusting rod 172. One end of the adjusting rod 172 is connected to the bottom surface of the frame 13, and the other end is connected to the support pad 171. The adjusting rod 172 is configured to adjust the distance between the support pad 171 and the frame 13.

[0120] In this embodiment, the adjusting rod 172 is a double-ended bolt. One end of the bolt is connected to the support pad 171, and the other end is matched with the threaded hole on the bottom surface of the frame 13.

[0121] In use, by rotating the bolt, the end of the bolt facing the bottom surface of the frame 13 can be inserted into the frame 13, or extended from the bottom surface of the frame 13, thereby adjusting the distance between the support pad 171 and the frame 13, and thus adjusting the levelness of the overall frame 13.

[0122] According to some embodiments of this application, a corrosion-resistant layer is provided on the frame 13.

[0123] In this embodiment, the anti-corrosion layer can be a paint layer, an epoxy layer, etc., and there is no limitation here.

[0124] By coating the surface of the rack 13 with an anti-corrosion layer, corrosion of the rack 13 during use can be prevented.

[0125] According to some embodiments of this application, the gripping device further includes a second detection element disposed on the gripping assembly 11 and configured to detect the position of the product to be gripped.

[0126] The second detection device in this embodiment can be a CCD camera, an infrared detector, etc., and is not limited here.

[0127] In use, after the second detection component confirms that the position of the PCBA and the corresponding housing is correct, the robotic arm 10 drives the gripping component 11 to grip the cover plate, and then the cover plate is placed on the housing to complete the assembly.

[0128] This application also provides a battery production line, including a gripping device as described in any of the embodiments of this application.

[0129] The specific structure of the gripping device in this embodiment refers to the above embodiments. Since the battery production line adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described in detail here.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A gripping device, characterized in that, include: frame; A robotic arm, which is mounted on the frame; A gripping component, wherein the gripping component is disposed on the robotic arm; A positioning component, comprising a drive member and a positioning post, wherein the drive member is fixed to the robotic arm and connected to the gripping component, and is configured to drive the gripping component to rotate circumferentially; the positioning post is connected to the gripping component, and the position of the positioning post relative to the position of the gripping component is adjustable. A conveying component is disposed on the rack and configured to convey products to be grasped.

2. The gripping device according to claim 1, characterized in that, The gripping assembly includes a first plate and a vacuum gripper. The first plate is connected to the robotic arm, or the first plate is connected to the positioning assembly, and the vacuum gripper is fixed to the first plate.

3. The gripping device according to claim 2, characterized in that, The gripping component further includes a second plate, which is disposed on the first plate and is movable relative to the first plate along a first direction. The vacuum gripper is disposed on the second plate, wherein the first direction is the direction from the first side to the second side on the first plate.

4. The gripping device according to claim 3, characterized in that, The vacuum gripper includes an elastic suction nozzle and a body, the body being fixed to the second plate, and the elastic suction nozzle being connected to the body.

5. The gripping device according to claim 2, characterized in that, The gripping device further includes a first detection element disposed on the vacuum gripper and configured to detect the vacuum level of the vacuum gripper.

6. The gripping device according to claim 5, characterized in that, The gripping device also includes an alarm, which is electrically connected to the first detection element. The alarm will sound when the first detection element detects that the vacuum level of the vacuum gripping element is lower than a preset threshold.

7. The gripping device according to claim 2, characterized in that, The positioning component further includes a third plate, the driving member is connected to the first plate, the third plate is connected to the side of the first plate away from the driving member, and the third plate is movable relative to the first plate in a second direction, and the positioning post is connected to the third plate.

8. The gripping device according to claim 7, characterized in that, The positioning component also includes an elastic element configured to connect the positioning post to the third plate.

9. The gripping device according to claim 1, characterized in that, The conveying assembly includes a first linear module and a second linear module. The first linear module is fixed to the frame and connected to the second linear module. It is configured to drive the second linear module to move along a second direction, and the second linear module is configured to drive the product to be grasped to move along a first direction.

10. The gripping device according to claim 9, characterized in that, The gripping device also includes a carrier disposed between the two second linear modules and configured to hold the product to be gripped.

11. The gripping device according to claim 1, characterized in that, The gripping device also includes a control unit, which is electrically connected to the robotic arm, the conveying assembly, and the drive unit.

12. The gripping device according to claim 1, characterized in that, The gripping device also includes an emergency stop control component, which is electrically connected to the conveying assembly.

13. The gripping device according to claim 12, characterized in that, The emergency stop control unit is provided with a status indicator, which is configured to display the working status of the transmission component.

14. The gripping device according to claim 1, characterized in that, The gripping device also includes support legs disposed on the bottom surface of the frame and configured to adjust the levelness of the frame.

15. The gripping device according to claim 14, characterized in that, The support leg includes a support pad and an adjusting rod. One end of the adjusting rod is connected to the bottom surface of the frame, and the other end is connected to the support pad. The adjusting rod is configured to adjust the distance between the support pad and the frame.

16. The gripping device according to claim 1, characterized in that, The frame is equipped with an anti-corrosion layer.

17. The gripping device according to any one of claims 1 to 8, characterized in that, The gripping device further includes a second detection element, which is disposed on the gripping assembly and configured to detect the position of the product to be gripped.

18. A battery production line, characterized in that, Includes the gripping device as described in any one of claims 1 to 17.

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