Multifunctional flexible integrated gripper

Abstract

This utility model relates to a multifunctional flexible integrated gripper. A three-axis mechanism drives the frame to move, allowing the suction cup assembly to reach above the insulating board. The suction assembly is used to adsorb the release paper, causing the release paper and the insulating board bonded to it to move synchronously. Then, the three-axis mechanism moves the insulating board to above the end plate of the bonding station, allowing the bottom of the insulating board to be bonded to the end plate. An electric cylinder actuates, causing the finger cylinder to approach the release paper in the vertical direction. Then, the three-axis mechanism drives the frame to move horizontally, allowing the finger cylinder to approach the protrusion of the release paper in the horizontal direction. Adjusting bolts are installed on the grippers to fine-tune the distance between the two grippers. When the finger cylinder is open, the distance between the two grippers in the vertical direction can meet the height of the release paper's curling and bending. Even if the release paper on the insulating board is not in ideal condition, with curling, wrinkles, etc., it will be compensated by the distance between the grippers, ensuring the release paper can be removed.

Description

Technical Field

[0001] This utility model relates to the field of battery production equipment technology, specifically to a multifunctional flexible integrated gripper. Background Technology

[0002] Release paper is attached to both the top and bottom surfaces of the insulation board. The gripper needs to attach the bottom of the insulation board to the end plate, and then peel off the release paper on the top of the insulation board to ensure that the top of the insulation board can be attached to the large surface of the battery cell later. However, the protrusions of the top release paper may curl or lift during the material receiving process, which will prevent the gripper from peeling off the release paper on the insulation board. In related technologies, the curled or lifted release paper on the top of the insulation board is peeled off manually, resulting in low work efficiency. Summary of the Invention

[0003] To overcome the problem of low work efficiency caused by manually tearing off the curled and peeling release paper on the top of the insulation board, this utility model provides a multifunctional flexible integrated gripper.

[0004] To achieve the above objectives, this disclosure provides a multifunctional flexible integrated gripper, comprising: The frame is used for connection to the three-axis mechanism; A suction cup assembly, connected to the frame, is used to adsorb release paper; The peeling assembly includes an electric cylinder, a finger cylinder, an adjusting bolt, and two grippers. The electric cylinder is connected to the frame. The fixed part of the finger cylinder is connected to the output shaft of the electric cylinder. The two output shafts of the finger cylinder are parallel to the end plate on the pasting station, and the two output shafts of the finger cylinder are respectively connected to the two grippers. The two grippers are used to hold the protrusions of the release paper. The adjusting bolt is screwed to one of the two grippers, and the bottom of the adjusting bolt is used to abut against the other gripper.

[0005] Optionally, the maximum distance between the two output shafts of the finger cylinder in the height direction is 14-18 mm.

[0006] Optionally, the tearing assembly further includes a cylinder mounting component, which is connected to the output shaft of the electric cylinder, and the fixing part of the finger cylinder is connected to the cylinder mounting component; The number of finger cylinders is two, and they are mounted on the cylinder mounting component in the left-right direction.

[0007] Optionally, the suction cup assembly includes a leveling plate and four suction cup bodies. The suction cup bodies are used to adsorb the release paper, and the leveling plate is used to abut against the insulating plate. The leveling plate has four strip holes, and the four strip holes are arranged one-to-one with the four suction cup bodies. A stud is installed on the top of the suction cup body, and two nuts are installed on the stud. The two nuts are used to abut against the upper and lower holes of the strip holes, respectively.

[0008] Optionally, the multifunctional flexible integrated gripper further includes a flexible component, the flexible component comprising: Upper base plate, used for connection with the frame; A lower substrate is connected to the upper substrate by four springs, and the bottom of the lower substrate is connected to the top of the leveling plate; and A diffuse reflection switch is mounted on the substrate. The upper substrate, the lower substrate, and the leveling plate are all provided with light-avoiding holes, through which the light from the diffuse reflection switch passes.

[0009] Optionally, the flexible component further includes four leveling bolts and four linear bearings. The linear bearings are connected to the upper substrate, the leveling bolts are connected to the lower substrate and are slidably connected to the linear bearings, and the springs are sleeved on the outer periphery of the leveling bolts.

[0010] Optionally, the number of suction cup assemblies is multiple, and they are spaced apart along the left and right direction of the frame; The number of the tear-off component and the number of the flexible component are both multiple, and each is set in a one-to-one correspondence with the multiple suction cup components.

[0011] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: The three-axis mechanism drives the frame to move, allowing the suction cup assembly to reach above the insulating board. The suction assembly is used to pick up the release paper, causing the release paper and the insulating board bonded to it to move synchronously. Then, the three-axis mechanism moves the insulating board to above the end plate of the bonding station, allowing the bottom of the insulating board to be bonded to the end plate. The electric cylinder actuates, causing the finger cylinder to approach the release paper in the vertical direction. Then, the three-axis mechanism drives the frame to move horizontally, allowing the finger cylinder to approach the protrusion of the release paper in the horizontal direction. Adjusting bolts are installed on the grippers to fine-tune the distance between the two grippers, ensuring that the grippers can clamp tightly without breaking the release paper. When the finger cylinder is open, the distance between the two grippers in the vertical direction can accommodate the height of the release paper's curling or bending. Even if the release paper on the insulating board is not in ideal condition, with curling or curling, the distance between the grippers will compensate for this, ensuring the release paper can be removed. Attached Figure Description

[0012] Figure 1This is an isometric view of a multifunctional flexible integrated gripper shown according to an exemplary embodiment of the present disclosure.

[0013] Figure 2 This is an isometric view of a multifunctional flexible integrated gripper frame according to an exemplary embodiment of the present disclosure.

[0014] Figure 3 This is an isometric view of a suction cup assembly in a multifunctional flexible integrated gripper according to an exemplary embodiment of the present disclosure.

[0015] Figure 4 This is an isometric view of a partial structure of a suction cup assembly in a multifunctional flexible integrated gripper, according to an exemplary embodiment of this disclosure.

[0016] Figure 5 This is an isometric view of a flexible component in a multifunctional flexible integrated gripper according to an exemplary embodiment of the present disclosure.

[0017] Figure 6 This is an isometric view of a tear-off component in a multifunctional flexible integrated gripper according to an exemplary embodiment of the present disclosure.

[0018] Figure 7 This is a top view of release paper and insulating board shown according to an exemplary embodiment of the present disclosure.

[0019] Figure 8 This is an isometric view of an end plate shown according to an exemplary embodiment of the present disclosure.

[0020] Figure 9 This is an isometric view of the end plate, release paper, and insulating plate shown according to an exemplary embodiment of the present disclosure.

[0021] Explanation of reference numerals: 1. Frame; 101. Square tube; 102. Flange plate; 103. First mounting plate; 104. Second mounting plate; 105. Cable tray; 2. Suction cup assembly; 201. Leveling plate; 202. Suction cup body; 203. Stud; 204. Nut; 205. Strip hole; 3. Flexible components; 301. Upper substrate; 302. Lower substrate; 303. Light-avoiding hole; 304. Diffuse reflection switch; 305. Linear bearing; 306. Height-equalizing bolt; 307. Spring; 309. Limiting block; 4. Removal assembly; 402. Electric cylinder; 403. Cylinder mounting component; 405. Finger cylinder; 408. Gripper; 410. Adjusting bolt; 501, Insulating board; 502, Release paper; 5021, Protrusion; 503, End plate. Detailed Implementation

[0022] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0023] In this disclosure, unless otherwise stated, directional terms such as "upper," "lower," "front," "rear," "left," and "right" are used for ease of description based on the drawing orientations of the corresponding figures, while "inner" and "outer" are defined based on the contours of the corresponding components themselves. Terms such as "first" and "second" used in this disclosure are used to distinguish one element from another and do not have sequential or importance implications. Furthermore, when the following description refers to the figures, unless otherwise indicated, the same numbers in different figures represent the same or similar elements.

[0024] Please see Figures 1 to 3 as well as Figures 7 to 9 This disclosure provides a multifunctional flexible integrated gripper, including a frame 1, a suction cup assembly 2, and a tearing assembly 4. The frame 1 is used to connect to a three-axis mechanism (existing technology, not shown in the figure). The suction cup assembly 2 is connected to the frame 1 and is used to adsorb release paper 502. The tearing assembly 4 includes an electric cylinder 402, a finger cylinder 405, an adjusting bolt 410, and two grippers 408. The electric cylinder 402 is connected to the frame 1. The fixed part of the finger cylinder 405 is connected to the output shaft of the electric cylinder 402. The two output shafts of the finger cylinder 405 are parallel to the end plate 503 on the pasting station, and the two output shafts of the finger cylinder 405 are respectively connected to the two grippers 408. The two grippers 408 are used to grip the protrusions 5021 of the release paper 502. The adjusting bolt 410 is screwed to one of the two grippers 408, and the bottom of the adjusting bolt 410 is used to abut against the other gripper 408. In this embodiment, the insulating plate 501 is made of soft plastic. The insulating plate 501, the end plate 503, and the release paper 502 are all existing technologies and will not be described in detail here.

[0025] Understandably, the three-axis mechanism drives the frame 1 to move, allowing the suction cup assembly 2 to reach above the insulating plate 501. The suction assembly is used to suction the release paper 502, causing the release paper 502 and the insulating plate 501, which is bonded to the release paper 502, to transfer synchronously. The release paper 502 under the insulating plate 501 is manually peeled off, exposing the adhesive backing on the underside of the insulating plate 501, ensuring the subsequent bonding of the insulating plate 501 and the end plate 503. Then, the three-axis mechanism moves the insulating plate 501 to above the end plate 503 at the bonding station, allowing the underside of the insulating plate 501 to be bonded to the end plate 503. When the electric cylinder 402 is activated, the finger cylinder 405 moves closer to the release paper 502 in the vertical direction. Then, the three-axis mechanism drives the frame 1 to move horizontally, allowing the finger cylinder 405 to approach the protrusion 5021 of the release paper 502 in the horizontal direction. Adjusting bolts 410 are installed on the grippers 408 to fine-tune the distance between the two grippers 408, ensuring that the grippers 408 can clamp tightly without breaking the release paper 502. When the finger cylinder 405 is open, the distance between the two grippers 408 in the vertical direction is sufficient to accommodate the lifting and bending height of the release paper 502. Even if the release paper 502 on the insulating plate 501 is not in ideal condition, with curling or lifting, the distance between the grippers 408 will compensate for this, ensuring the release paper 502 can be removed. The two grippers 408 tear off the release paper 502 diagonally, exposing the adhesive surface, preparing for attaching the side of the insulating plate 501 away from the end plate 503 to the battery cell.

[0026] In one implementation, please refer to Figure 1 and Figure 6 The maximum distance between the two output shafts of the finger cylinder 405 in the height direction is 14-18 mm. For example, the maximum distance between the two output shafts of the finger cylinder 405 in the height direction is 14 mm, 16 mm, or 18 mm, that is, the maximum distance between the two grippers 408 can be 14 mm, 16 mm, or 18 mm. When the finger cylinder 405 is opened, the distance between the two grippers 408 in the height direction can meet the height of the release paper 502's curling and bending. Even if the release paper 502 on the insulating plate 501 is not in an ideal state, such as curling or curling, it will be compensated by the distance between the grippers 408, ensuring the removal of the release paper 502.

[0027] In one implementation, please refer to Figure 1 and Figure 6The tear-off assembly 4 also includes a cylinder mounting member 403, which is connected to the output shaft of the electric cylinder 402. The fixing part of the finger cylinder 405 is connected to the cylinder mounting member 403. There are two finger cylinders 405, which are mounted on the cylinder mounting member 403 in the left-right direction. When the protrusion 5021 of the release paper 502 is on the left side of the release paper 502, the left-side finger cylinder 405 peels the release paper 502 off the insulating plate 501 by acting on the protrusion 5021 of the release paper 502. When the protrusion 5021 of the release paper 502 is on the right side of the release paper 502, the right-side finger cylinder 405 peels the release paper 502 off the insulating plate 501 by acting on the protrusion 5021 of the release paper 502.

[0028] In one implementation, please refer to Figures 1 to 4 The suction cup assembly 2 includes a leveling plate 201 and four suction cup bodies 202. The suction cup bodies 202 are used to adsorb the release paper 502. The leveling plate 201 is used to abut against the insulating plate 501. The leveling plate 201 has four strip holes 205, which correspond one-to-one with the four suction cup bodies 202. A stud 203 is installed on the top of the suction cup body 202. Two nuts 204 are installed on the stud 203. The two nuts 204 are used to abut against the upper and lower walls of the strip holes 205, respectively. The height position of the suction cup body 202 on the leveling plate 201 is determined by adjusting the distance between the two nuts 204. The leveling plate 201 is used to prevent the insulating plate 501 from bending or tilting after being sucked up. That is, after the suction cup body 202 adsorbs the release paper 502, the top of the insulating plate 501 can contact the leveling plate 201, and the leveling plate 201 can prevent the insulating plate 501 from tilting or bending. By adjusting the position of the stud 203 in the strip hole 205, the suction cup can indirectly adsorb insulating plates 501 of different sizes.

[0029] In one implementation, please refer to Figures 1 to 4The multifunctional flexible integrated gripper also includes a flexible component 3, which comprises an upper substrate 301, a lower substrate 302, and a diffuse reflection switch 304. The upper substrate 301 is used to connect to the frame 1. The lower substrate 302 is connected to the upper substrate 301 by four springs 307. The springs 307 buffer the pressure generated during the adsorption and adhesion of the insulating plate 501, preventing excessive pressure from damaging the material. In other words, the springs 307 act as a flexible buffer, preventing excessive downward pressure from the suction cup body 202 from damaging the insulating plate 501. When the insulating plate 501 is adhered to the end plate 503, the springs 307 still provide flexible adjustment, preventing excessive downward pressure and compensating for height errors, ensuring that the insulating plate 501 is flatly adhered to the end plate 503. The bottom of the lower substrate 302 is connected to the top of the leveling plate 201. A diffuse reflection switch 304 is mounted on a substrate. The upper substrate 301, lower substrate 302, and leveling plate 201 are all provided with light-avoiding holes 303. The light from the diffuse reflection switch 304 passes through the light-avoiding holes 303. A diffuse reflection sensor is used to detect whether an insulating plate 501 is present at the gripping station. A limiting block 309 is mounted on the top of the lower substrate 302 to prevent the spring 307 from being excessively compressed.

[0030] In one implementation, please refer to Figures 1 to 5 The flexible component 3 also includes four equal-height bolts 306 and four linear bearings 305. The linear bearings 305 are connected to the upper substrate 301, the equal-height bolts 306 are connected to the lower substrate 302 and are slidably connected to the linear bearings 305, and the springs 307 are sleeved on the outer periphery of the equal-height bolts 306.

[0031] In one implementation, please refer to Figures 1 to 3 There are multiple suction cup components 2, which are spaced apart along the left and right directions of the frame 1. There are multiple tear-off components 4 and multiple flexible components 3, which are set one-to-one with the multiple suction cup components 2.

[0032] In one implementation, please refer to Figure 1 , Figure 2 , Figure 5 and Figure 6 The frame 1 includes a square tube 101 and a flange plate 102, a first mounting plate 103, a second mounting plate 104, and a cable tray 105 mounted on the square tube 101. In the flexible component 3, the upper substrate 301 is connected to the square tube 101 via the first mounting plate 103. In the tear-off component 4, the electric cylinder 402 is connected to the square tube 101 via the second mounting plate 104. The three-axis mechanism is connected to the square tube 101 via the flange plate 102 to drive the square tube 101 to move in a three-dimensional coordinate system. The cable tray 105 is used for routing electrical wires and air pipes.

[0033] This invention has been described through embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of this invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this invention.

Claims

1. A multi-functional flexible integrated gripper, characterized by, include: Frame (1) is used to connect to the three-axis mechanism; The suction cup assembly (2) is connected to the frame (1) and is used to adsorb release paper (502). The tear-off assembly (4) includes an electric cylinder (402), a finger cylinder (405), an adjusting bolt (410), and two grippers (408). The electric cylinder (402) is connected to the frame (1). The fixed part of the finger cylinder (405) is connected to the output shaft of the electric cylinder (402). The two output shafts of the finger cylinder (405) are parallel to the end plate (503) on the pasting station. The two output shafts of the finger cylinder (405) are respectively connected to the two grippers (408). The two grippers (408) are used to hold the protrusion (5021) of the release paper (502). The adjusting bolt (410) is screwed to one of the two grippers (408). The bottom of the adjusting bolt (410) is used to abut against the other gripper (408).

2. The multi-functional flexible integrated gripper of claim 1, wherein, The maximum distance between the two output shafts of the finger cylinder (405) in the height direction is 14-18 mm.

3. The multi-functional flexible integrated gripper of claim 1, wherein, The tearing assembly (4) also includes a cylinder mounting part (403), which is connected to the output shaft of the electric cylinder (402), and the fixing part of the finger cylinder (405) is connected to the cylinder mounting part (403); The number of finger cylinders (405) is two, and they are mounted on the cylinder mounting part (403) in the left-right direction.

4. The multi-functional flexible integrated gripper of claim 1, wherein, The suction cup assembly (2) includes a leveling plate (201) and four suction cup bodies (202). The suction cup bodies (202) are used to adsorb the release paper (502). The leveling plate (201) is used to abut against the insulating plate (501). The leveling plate (201) is provided with four strip holes (205). The four strip holes (205) are arranged one-to-one with the four suction cup bodies (202). A stud (203) is installed on the top of the suction cup body (202). Two nuts (204) are installed on the stud (203). The two nuts (204) are used to abut against the upper and lower holes of the strip holes (205).

5. The multifunctional flexible integrated gripper according to claim 4, characterized in that, The multifunctional flexible integrated gripper also includes a flexible component (3), which comprises: Upper substrate (301) is used to connect to the frame (1); The lower substrate (302) is connected to the upper substrate (301) by four springs (307), and the bottom of the lower substrate (302) is connected to the top of the leveling plate (201); and A diffuse reflection switch (304) is mounted on the substrate. The upper substrate (301), the lower substrate (302) and the straightening plate (201) are all provided with light-avoiding holes (303). The light from the diffuse reflection switch (304) passes through the light-avoiding holes (303).

6. The multifunctional flexible integrated gripper according to claim 5, characterized in that, The flexible component (3) also includes four equal-height bolts (306) and four linear bearings (305). The linear bearings (305) are connected to the upper substrate (301), the equal-height bolts (306) are connected to the lower substrate (302) and are slidably connected to the linear bearings (305), and the springs (307) are sleeved on the outer periphery of the equal-height bolts (306).

7. The multifunctional flexible integrated gripper according to claim 5, characterized in that, The number of suction cup assemblies (2) is multiple, and they are spaced apart along the left and right directions of the frame (1); The number of the tear-off component (4) and the flexible component (3) are both multiple, and they are set one-to-one with the multiple suction cup components (2).

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