Manipulator clamping device and manipulator

Abstract

The utility model discloses a mechanical arm clamping device and a mechanical arm, the mechanical arm clamping device comprises a flange connecting seat, elastic buffer mechanisms, a clamping jaw mechanism and a displacement sensing device, the flange connecting seat is provided with a plurality of groups of elastic buffer mechanisms, the clamping jaw mechanism is connected to the lower portions of the multiple sets of elastic buffering mechanisms and used for clamping a battery, and the displacement sensing device is installed on the edge of the flange connecting base and used for monitoring the compression amount of the elastic buffering mechanisms in real time. The mechanical arm clamping device and the mechanical arm have the pressure feedback protection function, the defects of electrode deformation, diaphragm damage and the like caused by overlarge stress of a battery when the mechanical arm grabs the battery can be overcome, the quality of the battery is guaranteed, and meanwhile the universality and adaptability of the mechanical arm are effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a robotic arm gripping device and a robotic arm. Background Technology

[0002] In current lithium battery production, robotic arms are prone to excessive clamping force due to positioning errors or program malfunctions when gripping batteries, causing defects such as electrode deformation and separator damage. Traditional robotic arms mostly use rigid clamping structures and lack real-time pressure feedback mechanisms, posing safety hazards.

[0003] Therefore, there is a need to provide a robotic gripping device and a robotic arm to solve the above problems. Utility Model Content

[0004] To overcome the shortcomings of the existing technology, this utility model provides a robotic gripper device and a robotic hand with pressure feedback protection function, which can avoid defects such as electrode deformation and diaphragm damage caused by excessive force on the battery when the robotic hand grasps the battery, thus ensuring battery quality. At the same time, it also effectively improves the versatility and adaptability of the robotic hand.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] A robotic gripper includes a flange connector, an elastic buffer mechanism, a gripper mechanism, and a displacement sensing device. Multiple sets of the elastic buffer mechanisms are mounted on the flange connector. The gripper mechanism is connected below the multiple sets of elastic buffer mechanisms and is used to grip a battery. The displacement sensing device is installed at the edge of the flange connector and is used to monitor the compression of the elastic buffer mechanism in real time.

[0007] As a further improvement to the above technical solution, the flange connection seat includes a flange plate, a connecting column, and a connecting plate. The flange plate is fixedly connected to the upper end of the connecting column, the connecting plate is fixedly connected to the lower end of the connecting column, and the connecting column is located at the center of the flange plate and the connecting plate.

[0008] As a further improvement to the above technical solution, the connecting plate is configured in a square structure, and multiple sets of the elastic buffer mechanisms are installed at the corners of the connecting plate, and the upper sides of the gripper mechanism are respectively connected to two sets of the elastic buffer mechanisms.

[0009] As a further improvement to the above technical solution, the elastic buffer mechanism includes a spring, a guide post, and a mounting plate. The upper end of the guide post is slidably connected to the flange connecting seat, the spring is sleeved on the guide post, the mounting plate is fixedly connected to the lower end of the guide post, and the gripper mechanism is fixedly connected to the mounting plate.

[0010] As a further improvement to the above technical solution, a sliding guide sleeve is installed on the connecting plate, the guide post is inserted into the sliding guide sleeve, and the guide post slides up and down within the sliding guide sleeve.

[0011] As a further improvement to the above technical solution, the lower end of the guide post is provided with an installation limit, and the spring is disposed on the installation limit.

[0012] As a further improvement to the above technical solution, the gripper mechanism includes a gripper cylinder and grippers. The mounting end of the gripper cylinder is fixedly connected to the mounting plate, and the two grippers are symmetrically connected to the driving end of the gripper cylinder.

[0013] As a further improvement to the above technical solution, the displacement sensing device is configured as a displacement sensor, the mounting end of the displacement sensor is fixedly connected to the flange connection seat, and the detection end of the displacement sensor faces the mounting plate.

[0014] As a further improvement to the above technical solution, the displacement sensing device is configured as a proximity sensing component, which includes a proximity sensor, a sensor plate, and a mounting base. The mounting base is fixedly connected to the flange connection base, the proximity sensor is fixedly connected to the mounting base, and the sensor plate is connected to the mounting plate, with the sensor plate and the proximity sensor in the same vertical direction.

[0015] This utility model also discloses a robotic hand, including a fixed base, a robotic arm, and a robotic hand gripping device as described in any one of the above. The fixed base is connected to the bottom end of the robotic arm, and the robotic hand gripping device is fixedly connected to the drive end of the robotic arm through the flange connecting seat.

[0016] The beneficial effects of this utility model are:

[0017] This invention incorporates an elastic buffer mechanism and a displacement sensor on a robotic gripper. The gripping mechanism is connected below the elastic buffer mechanism, providing a cushioning effect when gripping the battery and preventing excessive pressure. The displacement sensor monitors the compression of the elastic buffer mechanism in real time, giving the robotic gripper a pressure feedback protection function. This prevents excessive force on the battery during gripping, avoiding defects such as electrode deformation and diaphragm damage, thus ensuring battery quality. This invention also provides a robotic gripper capable of precisely controlling gripping force and adapting to the gripping needs of batteries of different specifications and materials, achieving efficient and stable gripping of various batteries and effectively improving the versatility and adaptability of the robotic gripper. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the first embodiment of the robotic gripper of this utility model;

[0020] Figure 2 This is a schematic diagram of the second embodiment of the robotic gripper of this utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the robotic arm of this utility model.

[0022] Reference numerals: 1. Flange connector; 11. Flange plate; 12. Connecting post; 13. Connecting plate; 14. Sliding guide sleeve; 2. Elastic buffer mechanism; 21. Spring; 22. Guide post; 221. Installation limit; 23. Mounting plate; 3. Gripper mechanism; 31. Gripper cylinder; 32. Gripper; 4. Displacement sensing device; 41. Displacement sensor; 42. Proximity sensing assembly; 421. Proximity sensor; 422. Sensor plate; 423. Mounting base; 5. Battery; 6. Fixed base; 7. Robotic arm. Detailed Implementation

[0023] The following will clearly and completely describe the concept, specific structure, and technical effects of this utility model in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are all within the scope of protection of this utility model. Furthermore, all connections / connections involved in the patent do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. For example, fixed connections / fixed installations can use screw connections, bolt connections, pin connections, key connections, adhesive connections, mortise and tenon connections, welding, riveting, etc., as needed. For detachable connections, screw connections, bolt connections, threaded connections, snap-fit ​​connections, mortise and tenon connections, Velcro connections, etc., can be used as needed. The various technical features in this utility model can be combined interactively without contradicting each other.

[0024] Reference Figure 1 , Figure 2A robotic gripper includes a flange connector 1, an elastic buffer mechanism 2, a gripper mechanism 3, and a displacement sensing device 4. Multiple sets of the elastic buffer mechanisms 2 are evenly mounted on the flange connector 1. The gripper mechanism 3 is connected below the elastic buffer mechanisms 2, so that when the gripper mechanism 3 grips a battery 5, the elastic buffer mechanisms 2 can buffer the gripper mechanism 3 during the gripping process, preventing the battery from being subjected to excessive pressure. Furthermore, the displacement sensing device 4 is installed at the edge of the flange connector 1, and the displacement sensing device 4 can monitor the compression of the elastic buffer mechanisms 2 in real time, while simultaneously... The monitoring data is fed back to the control system of the robotic arm. When the compression of the elastic buffer mechanism 2 reaches 70% of the threshold, the control system will automatically decelerate and correct the clamping action to reduce the clamping force and prevent the battery from being over-compressed. When the compression of the elastic buffer mechanism 2 reaches 95% of the threshold, the control system will immediately stop and issue an audible and visual alarm, while pausing the current clamping operation to remind the operator to check and adjust the system. If the elastic buffer mechanism 2 continues to be pressurized, that is, the compression continues to increase, the control system will trigger the robotic arm to move in the opposite direction a certain distance, pausing the clamping of the battery 5 to avoid irreversible damage to the battery 5.

[0025] Reference Figure 1 In an embodiment of this utility model, the flange connecting seat 1 includes a flange plate 11, a connecting column 12, and a connecting plate 13. The flange plate 11 is fixedly connected to the upper end of the connecting column 12, and the connecting plate 13 is fixedly connected to the lower end of the connecting column 12. The connecting column 12 is located at the center of the flange plate 11 and the connecting plate 13, so that there is an installation space between the flange plate 11 and the connecting plate 13, so that the flange plate 11 can be fixedly connected to the robotic arm. The elastic buffer mechanism 2 is connected to the connecting plate 13, providing a stable and reliable connection foundation for the entire device, while also ensuring the connection strength and stability between the components, and reducing failures or damage caused by unstable connections.

[0026] Specifically, the connecting plate 13 is arranged in a square structure, and four sets of elastic buffer mechanisms 2 are respectively installed at the corners of the connecting plate 13. Two sets of gripper mechanisms 3 are arranged, so that the robot can grip two batteries at a time, improving production efficiency. The upper sides of the gripper mechanism 3 are respectively connected to two sets of elastic buffer mechanisms 2, so that the gripper mechanism 3 can be stably subjected to reverse buffering during the gripping process, ensuring the stability of the gripper mechanism 3 during operation.

[0027] Reference Figure 1In this embodiment of the present invention, the elastic buffer mechanism 2 includes a spring 21, a guide post 22, and a mounting plate 23. The upper end of the guide post 22 is slidably connected to the flange connecting seat 1, so that the elastic buffer mechanism 2 is connected to the flange connecting seat 1, while ensuring the normal operation of the spring 21. The spring 21 is sleeved on the guide post 22, and the guide post 22, as a support and guiding component, provides a stable guide for the extension and contraction of the spring 21, avoiding the spring 21 from shifting or shaking during deformation, and ensuring the stability and reliability of the buffering effect. The mounting plate 23 is fixedly connected to the lower end of the guide post 22, forming a stable and elastic buffer structure. The gripper mechanism 3 is fixedly connected to the mounting plate 23, so that the gripper mechanism 3 is subjected to a reverse buffering effect during the gripping process, effectively reducing the impact force of the gripper mechanism 3 on the battery and protecting the battery from damage.

[0028] Specifically, a sliding guide sleeve 14 is installed on the connecting plate 13, and the guide post 22 is inserted into the sliding guide sleeve 14. The guide post 22 slides up and down in the sliding guide sleeve 14, providing precise guidance for the guide post 22. This ensures that the elastic buffer mechanism 2 maintains a straight motion trajectory during movement, reduces wear and jamming caused by motion deviation, and improves the stability and reliability of the elastic buffer mechanism 2.

[0029] Specifically, the lower end of the guide post 22 is provided with an installation limit 221, and the spring 21 is disposed on the installation limit 221, which can accurately limit the installation position of the spring 21, ensure the stability and working reliability of the spring 21 on the guide post 22, and also provide a certain installation space for the displacement sensing device 4.

[0030] Reference Figure 1 In an embodiment of this utility model, the gripper mechanism 3 includes a gripper cylinder 31 and grippers 32. The mounting end of the gripper cylinder 31 is fixedly connected to the mounting plate 23, so that the gripper mechanism 3 can be more stable when gripping the battery 5 with the help of the stable support of the elastic buffer mechanism 2. The two grippers 32 are symmetrically connected to the driving end of the gripper cylinder 31, which can apply clamping force to the battery 5 simultaneously and evenly.

[0031] Thanks to the excellent cooperation between the gripper mechanism 3 and the elastic buffer mechanism 2, as well as the precise control of the gripping force, the gripping device of this embodiment can adapt to the gripping requirements of batteries of different specifications and materials. During the lithium battery production process, the parameters of the spring 21 of the elastic buffer mechanism 2 and the pressure settings of the gripper cylinder 31 can be adjusted according to the characteristics of different battery models to achieve efficient and stable gripping of various batteries 5, thereby improving the versatility and adaptability of the device.

[0032] Reference Figure 1In the first embodiment of this utility model, the displacement sensing device 4 is configured as a displacement sensor 41. The mounting end of the displacement sensor 41 is fixedly connected to the flange connecting seat 1. The detection end of the displacement sensor 41 faces the mounting plate 23 and can directly and accurately measure the compression of the spring 21, thereby providing key data for subsequent control of the clamping force of the clamping device.

[0033] During the material unloading and descent process, when the robotic arm reaches the material unloading coordinate position, the control system simultaneously detects the compression of spring 21. When the compression of spring 21 is less than 70%, it indicates that the control system is in normal working condition, and the robotic arm can perform the material unloading operation normally. When the compression of spring 21 is greater than 70% but less than 95%, although the control system can still unload normally, the position is at the critical value that needs adjustment. At this time, the robotic arm will unload normally, but after unloading the current material, the robotic arm will rise and stop, and at the same time generate an alarm signal to remind the operator to adjust the coordinate position. When the compression of spring 21 is greater than 95% but less than 98%, the control system will immediately stop unloading and generate an alarm signal, requiring the operator to adjust the coordinate position immediately. When the compression of spring 21 is greater than 98% during the unloading process, the robotic arm will immediately reverse and move a certain height before stopping, and generate an alarm signal to prompt the operator to check the control system and adjust the coordinate position.

[0034] Reference Figure 2 In the second embodiment of this utility model, the displacement sensing device 4 is configured as a proximity sensing component 42. The proximity sensing component 42 includes a proximity sensor 421, a sensor plate 422, and a mounting base 423. The mounting base 423 is fixedly connected to the flange connecting seat 1. The proximity sensor 421 is fixedly connected to the mounting base 423, and the sensor plate 422 is connected to the mounting plate 23. The sensor plate 422 and the proximity sensor 421 are in the same vertical direction, which can ensure that the proximity sensor 421 accurately detects the position change of the sensor plate 422, thereby measuring the compression of the elastic buffer mechanism 2. Unlike the displacement sensor 41 in the first embodiment, which directly measures displacement, the proximity sensing component 42 indirectly reflects the compression of the elastic buffer mechanism 2 through the relative position change between the sensor plate 422 and the proximity sensor 421. When the spring 21 is compressed to a certain extent, the proximity sensor 421 is triggered, and the robot arm will immediately move in the opposite direction a certain distance to avoid excessive pressure on the battery 5.

[0035] Reference Figure 3This utility model also discloses a robotic arm, including a fixed base 6, a robotic arm 7, and the robotic arm gripping device described in any one of the above embodiments. The fixed base 6 is connected to the bottom end of the robotic arm 7, and the robotic arm gripping device is fixedly connected to the drive end of the robotic arm 7 through the flange connecting seat 1. The robotic arm 7 has high motion accuracy and flexibility, and can accurately move the robotic arm gripping device to the target position. Combined with the elastic buffer mechanism 2 and the displacement sensing device 4 in the gripping device, precise control of the gripping force of the robotic arm is achieved, avoiding damage to the battery 5. The specific structure of the robotic arm gripping device is as described in the above embodiments. Since this sweeping machine 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 repeated here.

[0036] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A mechanical hand gripping device, characterized by: The device includes a flange connector, an elastic buffer mechanism, a gripper mechanism, and a displacement sensor. Multiple sets of the elastic buffer mechanisms are installed on the flange connector. The gripper mechanism is connected below the multiple sets of elastic buffer mechanisms and is used to hold the battery. The displacement sensor is installed at the edge of the flange connector and is used to monitor the compression of the elastic buffer mechanism in real time.

2. A mechanical hand gripping device according to claim 1, characterized in that: The flange connection seat includes a flange plate, a connecting column, and a connecting plate. The flange plate is fixedly connected to the upper end of the connecting column, and the connecting plate is fixedly connected to the lower end of the connecting column. The connecting column is located at the center of the flange plate and the connecting plate.

3. The robotic gripper according to claim 2, characterized in that: The connecting plate is square in shape, and multiple sets of elastic buffer mechanisms are respectively located at the corners of the connecting plate. The upper sides of the gripper mechanism are respectively connected to two sets of elastic buffer mechanisms.

4. The robotic gripper device according to claim 2, characterized in that: The elastic buffer mechanism includes a spring, a guide post, and a mounting plate. The upper end of the guide post is slidably connected to the flange connecting seat. The spring is sleeved on the guide post. The mounting plate is fixedly connected to the lower end of the guide post. The gripper mechanism is fixedly connected to the mounting plate.

5. The robotic gripper device according to claim 4, characterized in that: A sliding guide sleeve is installed on the connecting plate, and the guide post is inserted into the sliding guide sleeve and slides up and down within the sliding guide sleeve.

6. The robotic gripper device according to claim 4, characterized in that: The lower end of the guide post is provided with an installation limit, and the spring is disposed on the installation limit.

7. A robotic gripper according to claim 4, characterized in that: The gripper mechanism includes a gripper cylinder and grippers. The mounting end of the gripper cylinder is fixedly connected to the mounting plate, and the two grippers are symmetrically connected to the driving end of the gripper cylinder.

8. A robotic gripper according to claim 4, characterized in that: The displacement sensing device is configured as a displacement sensor, the mounting end of the displacement sensor is fixedly connected to the flange connection seat, and the detection end of the displacement sensor faces the mounting plate.

9. A robotic gripper according to claim 4, characterized in that: The displacement sensing device is configured as a proximity sensing assembly, which includes a proximity sensor, a sensor plate, and a mounting base. The mounting base is fixedly connected to the flange connection base, the proximity sensor is fixedly connected to the mounting base, and the sensor plate is connected to the mounting plate, with the sensor plate and the proximity sensor in the same vertical direction.

10. A robotic arm, characterized in that: The device includes a fixed base, a robotic arm, and a robotic gripper as described in any one of claims 1-6. The fixed base is connected to the bottom end of the robotic arm, and the robotic gripper is fixedly connected to the drive end of the robotic arm via the flange connector.

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