A vision-guided battery cell clamping device

Abstract

This utility model discloses a vision-guided battery cell gripping device, comprising: a frame assembly, a vision assembly, and a gripping assembly; both the vision assembly and the gripping assembly are mounted on the frame assembly; the vision assembly includes: a picking camera and a discharging camera; the picking camera is located on one side of the frame assembly in the picking direction and is used to visually photograph the material to be gripped, and the discharging camera is located on one side of the frame assembly in the discharging direction and is used to photograph the material frame on which the material is placed; the gripping assembly includes: a driving component, a gripper mechanism, and a distance sensor; the driving component is fixed on the frame assembly, and the output end of the driving component is connected to the gripper mechanism to drive the gripper mechanism to grip the material; the distance sensor is located below the driving component and is used to detect the distance between the material and the battery cell when gripping the material. This utility model can ensure that the material is centered in the material frame, avoiding damage to the blue film or crushing of the battery cell during the gripping process.

Description

Technical Field

[0001] This utility model relates to the field of battery cell technology, and in particular to a visually guided battery cell clamping device. Background Technology

[0002] In recent years, with the rapid development of industries such as new energy vehicles and electronic equipment, battery cells, as important energy storage components, play a crucial role in production. However, the handling of electrode rolls in the battery cell production process has always been a challenging task. To address this problem, robotic arms have emerged and have demonstrated remarkable effectiveness in practical applications. Currently, the most common plastic battery cell frames on the market have a single-sided spacing of 3mm, making it difficult to ensure that the cells are centered within the frame. This can lead to damage to the blue film or crushing of the cells during the gripping process, with severe crushing damage potentially causing lithium battery fires. Summary of the Invention

[0003] According to an embodiment of the present invention, a vision-guided battery cell clamping device is provided, comprising: a frame assembly, a vision assembly, and a clamping assembly;

[0004] Both the vision component and the gripping component are mounted on the frame component;

[0005] The vision components include: a material picking camera and a material placing camera;

[0006] The material picking camera is located on one side of the frame assembly in the material picking direction and is used to visually photograph the material to be picked up. The material discharging camera is located on one side of the frame assembly in the material discharging direction and is used to photograph the material frame on which the material is placed.

[0007] The gripping assembly includes: a drive unit, a gripper mechanism, and a ranging sensor;

[0008] The drive unit is fixed on the frame assembly, and the output end of the drive unit is connected to the gripper mechanism for driving the gripper mechanism to grasp the material. The distance sensor is located below the drive unit for detecting the distance between the sensor and the battery cell when the material is grasped.

[0009] Furthermore, the gripper mechanism includes: a left gripper, a right gripper, and a clamping plate;

[0010] The driving component has two output ends, which are respectively connected to the left gripper and the right gripper, and are used to drive the left gripper and the right gripper to move closer or further apart. The ends of the left gripper and the right gripper are provided with clamping plates. When the left gripper and the right gripper move closer to each other, the two clamping plates clamp the material.

[0011] Furthermore, the gripper mechanism also includes: a gripping side plate and a limiting plate;

[0012] Both sides of the clamping plate are provided with clamping side plates, and the distance between the two clamping side plates is set according to the width of the material. The limiting plate is provided on the top of the clamping plate to restrict the material between the two clamping plates.

[0013] Furthermore, the vision component includes: a barcode scanner;

[0014] The barcode scanner is mounted on the frame assembly and is used to scan the barcodes of materials that are gripped.

[0015] Furthermore, the frame assembly includes: a movable frame and a connecting flange;

[0016] Both the vision component and the gripping component are mounted on the movable frame. One end of the connecting flange is connected to the movable frame, and the other end is used to connect to the robotic arm.

[0017] Furthermore, the frame assembly also includes: a control module;

[0018] The control module is mounted on the mobile frame, and the control module controls the gripping component according to the detection mechanism of the vision component.

[0019] Furthermore, the frame assembly also includes: a calibrator;

[0020] The calibrator is located on one side of the moving frame and is used to perform zero-point calibration of the moving frame's position.

[0021] According to an embodiment of this utility model, a vision-guided battery cell gripping device uses a picking camera to visually detect the position of the material to be gripped, accurately determining the material's location. During material gripping, a distance sensor detects the distance between the gripper and the material, ensuring the gripper mechanism is at a suitable gripping height. This allows the drive unit to precisely grip the material. A dispensing camera visually detects the material frame, enabling the gripper mechanism to accurately place the material into the frame. This ensures the material is centered within the frame, preventing damage to the blue film or crushing of the battery cell during gripping.

[0022] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0023] Figure 1 This is a structural diagram of a vision-guided battery cell clamping device according to an embodiment of the present invention;

[0024] Figure 2 This is a structural diagram of a visually guided battery cell clamping device according to an embodiment of the present invention;

[0025] Figure 3This is a structural diagram of a vision-guided battery cell clamping device according to an embodiment of the present invention;

[0026] Figure 4 This is a structural diagram of the left gripper of a vision-guided battery cell gripping device according to an embodiment of the present invention.

[0027] In the attached diagram, the following labels are used: 1 is the frame assembly, 11 is the movable frame, 12 is the connecting flange, 13 is the control module, 14 is the calibrator, 2 is the vision assembly, 21 is the material picking camera, 22 is the material releasing camera, 23 is the barcode scanner, 3 is the clamping assembly, 31 is the drive component, 32 is the distance sensor, 33 is the left gripper, 34 is the right gripper, 35 is the clamping plate, 36 is the clamping side plate, and 37 is the limit plate. Detailed Implementation

[0028] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, further illustrating the present invention.

[0029] First, combine Figures 1-4 This invention describes a vision-guided battery cell clamping device according to an embodiment of the present invention, used to accurately transport battery cells onto a material frame.

[0030] like Figures 1-4 As shown, a vision-guided battery cell clamping device according to an embodiment of the present invention includes: a frame assembly 1, a vision assembly 2, and a clamping assembly 3.

[0031] Both the vision component 2 and the gripping component 3 are mounted on the frame component 1;

[0032] The vision component 2 includes: a material picking camera 21 and a material dispensing camera 22;

[0033] The material picking camera 21 is located on one side of the material picking direction of the frame assembly 1 and is used to visually photograph the material to be picked up. The material dispensing camera 22 is located on one side of the material dispensing direction of the frame assembly 1 and is used to photograph the material frame on which the material is placed.

[0034] The clamping assembly 3 includes: a driving component 31, a gripper mechanism, and a ranging sensor 32;

[0035] The drive unit 31 is fixed on the frame assembly 1. The output end of the drive unit 31 is connected to the gripper mechanism for driving the gripper mechanism to grasp the material. The distance sensor 32 is located below the drive unit 31 for detecting the distance between the sensor and the battery cell when the material is grasped.

[0036] This application uses a picking camera 21 to visually detect the position of the material to be gripped, enabling precise determination of the material's location. During material gripping, a distance sensor 32 detects the distance between itself and the material, ensuring the gripper mechanism is at a suitable gripping height. This allows the drive unit 31 to precisely grip the material. The unloading camera 22 visually detects the material frame, ensuring the gripper mechanism accurately places the material into the frame. This ensures the material is centered within the frame, preventing damage to the blue film or crushing of the battery cells during gripping.

[0037] like Figures 2-4 As shown, the gripper mechanism includes: a left gripper 33, a right gripper 34, and a clamping plate 35;

[0038] The driving component 31 has two output ends, which are respectively connected to the left gripper 33 and the right gripper 34. The two output ends are used to drive the left gripper 33 and the right gripper 34 to move closer or further away from each other. The ends of the left gripper 33 and the right gripper 34 are provided with clamping plates 35. When the left gripper 33 and the right gripper 34 move closer to each other, the two clamping plates 35 clamp the material.

[0039] As the drive unit 31 drives the left gripper 33 and right gripper 34 to approach each other, the clamping plates 35 on the left and right grippers 33 and 34 grip the material. In this embodiment, the clamping plates 35 can be made of flexible material or polyurethane, allowing the material to come into contact with it, increasing the friction between the material and the grippers, and effectively preventing the material from slipping and being damaged during gripping. The edges of the clamping plates 35 have a 15° rounded chamfer, which acts as a guide during the gripping process. This greatly accommodates a 3mm accuracy difference on one side of the material within the frame, and even if the material has a slight angle, it can be accommodated, avoiding damage to the material. The clamping plates 35 are made of POM, which ensures both the hardness of the gripping accuracy and prevents damage to the material during gripping.

[0040] The distance sensor 32 detects whether the gripper has grabbed the material and the distance it descends, preventing the gripper mechanism from pressing down too much in the material frame and damaging the material. In particular, the clamping side plate 36 protects the material and also prevents the clinker module in the material frame from being damaged.

[0041] like Figure 4 As shown, the gripper mechanism further includes: a gripping side plate 36 and a limiting plate 37;

[0042] Both sides of the clamping plate 35 are provided with clamping side plates 36, and the distance between the two clamping side plates 36 is set according to the width of the material. The limiting plate 37 is provided on the top of the clamping plate 35 to restrict the material between the two clamping plates 35.

[0043] When the clamping plate 35 clamps the material, the two clamping side plates 36 are respectively clamped on both sides of the material to prevent the material from moving during the handling process. The limiting plate 37 can limit the material from above to prevent the material from sliding and being damaged when it is released.

[0044] like Figures 2-3 As shown, the vision component 2 includes: a barcode scanner 23;

[0045] The barcode scanner 23 is mounted on the frame assembly 1 and is used to scan the barcode of the material being gripped.

[0046] The material is scanned by barcode scanner 23 to ensure that the material model picked up by the clamping device corresponds to the material frame model.

[0047] like Figures 1-3 As shown, the frame assembly 1 includes: a movable frame 11 and a connecting flange 12;

[0048] The vision component 2 and the gripping component 3 are both mounted on the movable frame 11. One end of the connecting flange 12 is connected to the movable frame 11, and the other end is used to connect to the robotic arm.

[0049] The movable frame 11 can be connected to the robotic arm via the connecting flange 12. The robotic arm can move the gripping device to the material picking position and the material discharging position.

[0050] like Figures 2-3 As shown, the frame assembly 1 also includes: a control module 13;

[0051] The control module 13 is mounted on the mobile frame 11, and the control module 13 controls the gripping component 3 according to the detection mechanism of the vision component 2.

[0052] The control module 13 can control the gripping component 3 according to the detection results of the vision component 2, so that the gripping component 3 can accurately pick up and put down the material.

[0053] like Figures 2-3 As shown, the frame assembly 1 also includes: a corrector 14;

[0054] The calibrator 14 is located on one side of the movable frame 11 and is used to perform zero-point calibration of the position of the movable frame 11.

[0055] The zero-point calibration of the clamping device can be performed by the calibrator 14 to ensure the accuracy of material clamping.

[0056] Above, refer to Figures 1-4This invention describes a vision-guided battery cell gripping device according to an embodiment of the present invention. The device uses a material-grabbing camera 21 to visually detect the position of the material to be gripped, enabling precise determination of the material's location. During material gripping, a distance sensor 32 detects the distance between itself and the material, ensuring the gripper mechanism is at a suitable gripping height. The drive unit 31 then drives the gripper mechanism to precisely grip the material. A material-dispensing camera 22 visually detects the material frame, allowing the gripper mechanism to accurately place the material into the frame. This ensures the material is centered within the frame, preventing damage to the blue film or crushing of the battery cell during gripping.

[0057] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0058] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above content. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A vision-guided cell gripping device, characterized by, include: Frame components, vision components, and gripping components; Both the vision component and the gripping component are mounted on the frame component; The vision components include: a material picking camera and a material placing camera; The material picking camera is located on one side of the frame assembly in the material picking direction and is used to visually photograph the material to be picked up. The material discharging camera is located on one side of the frame assembly in the material discharging direction and is used to photograph the material frame on which the material is placed. The gripping assembly includes: a drive unit, a gripper mechanism, and a ranging sensor; The drive unit is fixed on the frame assembly, and the output end of the drive unit is connected to the gripper mechanism for driving the gripper mechanism to grasp the material. The distance sensor is located below the drive unit for detecting the distance between the sensor and the battery cell when the material is grasped.

2. The vision-guided battery cell clamping device as described in claim 1, characterized in that, The gripper mechanism includes: a left gripper, a right gripper, and a clamping plate; The driving component has two output ends, which are respectively connected to the left gripper and the right gripper, and are used to drive the left gripper and the right gripper to move closer or further apart. The ends of the left gripper and the right gripper are provided with clamping plates. When the left gripper and the right gripper move closer to each other, the two clamping plates clamp the material.

3. The vision-guided battery cell clamping device as described in claim 2, characterized in that, The gripper mechanism further includes: a clamping side plate and a limiting plate; Both sides of the clamping plate are provided with clamping side plates, and the distance between the two clamping side plates is set according to the width of the material. The limiting plate is provided on the top of the clamping plate to restrict the material between the two clamping plates.

4. The visually guided battery cell clamping device as described in claim 1, characterized in that, The vision component includes: a barcode scanner; The barcode scanner is mounted on the frame assembly and is used to scan the barcodes of materials that are gripped.

5. The visually guided battery cell clamping device as described in claim 1, characterized in that, The frame assembly includes: a movable frame and a connecting flange; Both the vision component and the gripping component are mounted on the movable frame. One end of the connecting flange is connected to the movable frame, and the other end is used to connect to the robotic arm.

6. The vision-guided battery cell clamping device as described in claim 5, characterized in that, The frame assembly also includes: a control module; The control module is mounted on the mobile frame, and the control module controls the gripping component according to the detection mechanism of the vision component.

7. The vision-guided battery cell clamping device as described in claim 5, characterized in that, The frame assembly also includes: a corrector; The calibrator is located on one side of the moving frame and is used to perform zero-point calibration of the moving frame's position.

Images