A battery cell gripping mechanism and robotic arm device

Abstract

This utility model discloses a battery cell gripping mechanism and a robotic arm device in the field of robotic arm technology, aiming to solve the problems of localized high stress and wear on the battery cell shell during the gripping process of existing technologies. It includes a robotic arm body, a gripper portion mounted on the robotic arm body, and an elastic portion. The elastic portion includes a clamping block and an elastic component. The clamping block is connected to the gripper portion. An elastic component for covering the battery cell is installed on the side of each pair of clamping blocks that are close to each other. The end of the elastic component is provided with a flexible component for abutting against the battery cell. This utility model uses an elastic portion to achieve gripping and covering of the battery cell during the gripping process, reducing the localized stress generated by the contact between the gripping mechanism and the battery cell, reducing localized wear on the battery cell shell, and avoiding the danger of the battery cell falling. This structure is simple in design and can be applied in automated operations to achieve efficient gripping operations.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a battery cell gripping mechanism and a robotic arm device. Background Technology

[0002] Battery cells are a common form of lithium-ion battery. Due to their high energy density, structural strength, and good heat dissipation performance, they are widely used in electric vehicles and energy storage. In battery cell production, automated robotic arms are now used to replace manual operations for gripping and loading / unloading cells, improving production efficiency. CN118906081A discloses a battery cell gripping mechanism for liquid-cooled energy storage batteries. The mechanism uses the inclined edge of a linkage to push the gripper seat outwards from the slide block. When gripping the battery cell, the linkage moves upwards, while the gripper seat resets under the action of a gripping spring to fix the battery cell in place.

[0003] Currently, most of the battery cells used are square aluminum-cased cells. Unlike the continuous curved surface of cylindrical cells, square cells have obvious edges around their perimeter due to their geometric characteristics. During automated gripping by robotic arms, when the edges of square cells come into contact with the gripper claws, the small contact area can easily generate high local stress, leading to damage to the cell casing. Furthermore, the contact between the edges and the gripper claws may cause localized wear or scratches on the cell casing. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a battery cell gripping mechanism and a robotic arm device, which can grasp and cover the battery cell during the gripping process, thereby reducing the local stress generated by the contact between the gripping mechanism and the battery cell, and at the same time avoiding local wear on the battery cell shell.

[0005] This utility model provides the following technical solution: In a first aspect, a battery cell gripping mechanism is provided, including a gripper portion and an elastic portion; The elastic part includes clamping blocks and elastic components. The clamping blocks are connected to the gripper part and are arranged in pairs. On the side of each pair of clamping blocks that are close to each other, a plurality of elastic components for covering the battery cell are installed. The end of the elastic component is provided with a flexible component for abutting against the battery cell.

[0006] In the above technical solution, the elastic part of the battery cell gripping mechanism covers and protects the battery cell during the gripping process. When the elastic component comes into contact with the edge of the battery cell shell, it will retract to avoid mechanical hard contact. The elastic component that does not come into contact with the edge of the battery cell can cover both sides of the battery cell, which plays the role of adapting the battery cell and solving the problem of high local stress caused by the small contact area of ​​the battery cell. When the flexible component abuts against the edge of the battery cell shell, it can play the role of flexible protection, avoiding mechanical hard contact and hard friction, and preventing damage to the battery cell shell.

[0007] Furthermore, the elastic component includes a first spring and a limiting rod. The clamping block has an insertion cavity, the first spring is installed in the insertion cavity, one end of the limiting rod is inserted into the insertion cavity and connected to the first spring, and the other end of the limiting rod is provided with the flexible component.

[0008] In the above technical solution, when the battery cell casing contacts the limiting rod, the limiting rod will retract into the insertion cavity opened in the clamping block and press against the first spring. The first spring will then be compressed and the reaction force will be fed back to the surface of the battery cell through the limiting rod, increasing the clamping force of the battery cell gripping mechanism on the battery cell, while avoiding mechanical damage to the battery cell casing caused by hard contact.

[0009] Furthermore, the flexible component includes an elastic element and a rubber disc, with one end of the elastic element inserted into the elastic component and the rubber disc mounted on the other end.

[0010] In the above technical solution, the elastic element of the flexible component can stretch and contract freely, avoiding mechanical hard damage when it comes into contact with the battery cell. The rubber disc used is made of a relatively soft rubber material, which can increase the contact area to avoid the problem of local high stress, and also play a flexible protection role for the battery cell.

[0011] Furthermore, the elastic element includes a second spring and a plug rod. The second spring is installed inside the elastic assembly, one end of the plug rod is inserted into the elastic assembly and connected to the second spring, and the other end of the plug rod is connected to the rubber disc.

[0012] In the above technical solution, the elastic element uses a spring and a plug rod to freely extend and retract within the insertion hole of the limiting rod. When the battery cell shell squeezes the plug rod, the plug rod retracts into the insertion hole and transmits the force to the second spring. The second spring is then compressed and the reaction force is fed back to the surface of the battery cell through the plug rod, increasing the clamping force on the battery cell. At the same time, it can also avoid hard contact, efficiently utilize the area of ​​the limiting rod, and save space and cost.

[0013] Furthermore, the flexible component also includes an abutment disposed between the elastic component and the rubber disc.

[0014] In the above technical solution, the abutting component is used to abut the battery cell.

[0015] Furthermore, the abutment includes a rubber post and an opening. The rubber post is installed at one end of the elastic component near the rubber disc, and the opening is opened in the rubber disc and corresponds one-to-one with the rubber post.

[0016] In the above technical solution, the rubber column has a first position state and a second position state. When the battery cell is not in contact with the elastic part, the insertion rod is not compressed, and the rubber column is in the first position state, where the rubber column is separated from the opening. When the battery cell is gripped, the elastic part is subjected to a squeezing force, and the rubber disc along with the insertion rod retracts, placing the rubber column in the second position state. The rubber column is inserted into the opening and abuts against the battery cell. The rubber column is made of rubber, which can increase its soft friction with the battery cell, increase the anti-slip ability of the battery cell during the clamping process, and prevent the battery cell from falling off during the clamping process.

[0017] Furthermore, the rubber columns are evenly arranged circumferentially around the periphery of the elastic member.

[0018] In the above scheme, the uniformly arranged rubber columns enable the abutment to be subjected to uniform force when in contact with the battery cell, thereby improving the service life of the abutment and the elastic component.

[0019] Furthermore, the gripper portion includes a gripper body and a pair of gripper arms mounted on the gripper body, the gripper arms being connected to the gripper block.

[0020] In the above solution, the gripper body and gripper arm of the gripper part can move flexibly and grasp the battery cell. The gripper block installed on the gripper arm has an elastic part that can just contact the outer shell of the battery cell. This allows the battery cell gripping mechanism to cover and protect the outer shell of the battery cell when gripping the battery cell, avoiding the danger of damage and falling, and also to achieve high-efficiency battery cell gripping operation.

[0021] In a second aspect, a battery cell gripping robot device is provided, comprising a robot body and a battery cell gripping mechanism as described in the first aspect, wherein the gripper portion of the battery cell gripping mechanism is mounted on the drive end of the robot body.

[0022] In the above technical solution, the battery cell gripping mechanism can be installed in the battery cell gripping robot arm device. The robot arm can grip the battery cell more gently and firmly, reducing the risk of the battery cell falling or being damaged. At the same time, it can complete the efficient gripping of the battery cell through automated operation, which greatly saves manpower and material resources.

[0023] Compared with the prior art, the beneficial effects of this utility model are: (1) When the gripping mechanism grips the battery cell, the gripping arm installed on the gripper body drives the gripping block of the elastic part to approach the square battery cell. When the multiple elastic components on the gripping block come into contact with the edge of the battery cell shell, they will retract to avoid hard contact. The elastic components that do not come into contact with the edge of the battery cell cover the two sides of the battery cell, which plays the role of adapting the battery cell and reducing the high local stress caused by the small contact area, thereby reducing the risk of damage to the battery cell shell. (2) The end of the elastic component is provided with a flexible component. When the elastic component comes into contact with the edge of the battery cell, the flexible component can abut against the edge of the battery cell, which can protect the part where the battery cell is clamped, prevent mechanical hard friction, and effectively prevent scratches generated during clamping. This structure further protects the edge of the battery cell and prevents hard friction and scratches by using the flexible component. (3) The combined use of elastic and flexible components enables the robot to grip the battery cell more gently and firmly, reducing the risk of the battery cell falling or being damaged due to improper gripping. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the battery cell gripping robot device in this embodiment of the present invention; Figure 2 This is a schematic diagram of the battery cell gripping mechanism in an embodiment of this utility model; Figure 3 This is a schematic diagram of the structure of the elastic part in an embodiment of this utility model; Figure 4 This is a schematic diagram of the structure of the flexible component in an embodiment of this utility model.

[0025] The components in the diagram are labeled as follows: 1. Robotic arm body; 2. Gripper part; 21. Gripper body; 22. Gripper arm; 3. Elastic part; 31. Gripping block; 311. Insertion cavity; 32. Elastic component; 321. First spring; 322. Limiting rod; 4. Flexible component; 41. Elastic element; 411. Second spring; 412. Insertion rod; 42. Rubber disc; 5. Abutment; 51. Rubber column; 52. Opening. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0027] It should be noted that in the description of this utility model, the terms "front", "rear", "left", "right", "up", "down", "inner", "outer", etc., 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 this utility model and do not require that this utility model must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0029] Example 1

[0030] like Figure 2 As shown, this embodiment provides a battery cell gripping mechanism, including a gripper portion 2 and an elastic portion 3; the gripper portion 2 includes a gripper body 21 and a gripper arm 22, the gripper body 21 is equipped with two gripper arms 22, and the bottom of each of the two gripper arms 22 is equipped with an elastic portion 3, the elastic portion 3 being a multi-point rod type elastic portion.

[0031] like Figure 2 As shown, the elastic part 3 includes a clamping block 31 and an elastic component 32. The clamping block 31 is connected to the gripper part 2 and is arranged in pairs. In this embodiment, the elastic component is the elastic component 32. The two clamping blocks 31 are respectively installed at the bottom of the two clamping arms 22. The two clamping blocks 31 are each installed on the side close to each other. There are multiple elastic components 32 and they are evenly distributed on the clamping blocks 31. The multiple evenly distributed elastic components 32 are elastic and can cover the battery cell through elastic action after contacting the battery cell.

[0032] like Figure 3 As shown, in this embodiment, the elastic component 32 includes a first spring 321 and a limiting rod 322. The clamping block 31 has a plurality of evenly distributed insertion cavities 311. The elastic component 32 and the clamping block 31 have the same number of insertion cavities 311 and correspond one-to-one. The first spring 321 of the elastic component 32 is installed in the insertion cavity 311 respectively. The limiting rod 322 is inserted into the insertion cavity 311 and connected to the first spring 321 in the insertion cavity 311, so that the limiting rod 322 can freely extend and retract through the first spring 321.

[0033] like Figure 4As shown, in this embodiment, the elastic component 32 is provided with a flexible component 4. Specifically, the end of the limiting rod 322 away from the first spring 321 is provided with the flexible component 4. The flexible component 4 can be used to abut against the battery cell, alleviating the problem of damage to the battery cell surface caused by hard contact in ordinary gripping mechanisms, and effectively protecting the battery cell shell. The flexible component 4 includes an elastic element 41 and a rubber disc 42. The rubber disc 42 is installed at the end of the elastic element 41 for direct contact with the battery cell. In this embodiment, the limiting rod 322 has an insertion hole inside, and the other end of the elastic element 41 can be inserted into the insertion hole of the limiting rod 322. Specifically, the elastic element 41 includes a second spring 411 and a plug 412. The second spring 411 is installed in the insertion hole opened in the limiting rod 322, and the plug 412 is inserted into the insertion hole and connected to the second spring 411. The rubber disc 42 is installed at the end of the plug 412 away from the second spring 411.

[0034] like Figure 4 As shown, in this embodiment, the flexible component 4 also includes abutting member 5 disposed between the elastic component 32 and the rubber disc 42. The abutting member 5 directly contacts the battery cell for abutting against the battery cell. The abutting member 5 includes rubber pillars 51 and openings 52. A rubber pillar 51 is installed at one end of the limiting rod 322 near the rubber disc 42. Multiple rubber pillars 51 are evenly distributed around the periphery of the elastic component 41. Multiple evenly distributed openings 52 are opened in the rubber disc 42, and each opening 52 corresponds to a rubber pillar 51. The rubber post 51 exists in two states: a first position and a second position. When the battery cell is not in contact with the elastic part 3, the insertion rod 412 is not compressed, and the rubber post 51 is in the first position, that is, the rubber post 51 is separated from the opening 52. When the battery cell gripping mechanism grips the battery cell, the elastic part 3 is subjected to a squeezing force, and the rubber disc 42, together with the insertion rod 412, retracts. The rubber post 51 is in the second position, that is, the rubber post 51 is inserted into the opening 52 and abuts against the battery cell. The rubber post 51 is made of rubber, which can increase its soft friction with the battery cell, improve the anti-slip ability during the clamping process, and avoid the danger of the battery cell falling.

[0035] Example 2

[0036] like Figure 1 As shown, this embodiment provides a battery cell gripping robot device, which, in addition to the robot body 1, also includes the battery cell gripping mechanism in embodiment 1, with the gripper body 21 installed on the drive end of the robot body 1.

[0037] The working principle of the battery cell gripping robot device in this embodiment for gripping square aluminum-cased battery cells is as follows: like Figure 2 and Figure 3As shown, after receiving an instruction, the gripper 2 on the robot body 1 grasps the square aluminum-cased battery cell. The elastic component 32 installed on the side of the two gripping blocks 31 that are close to each other will directly contact the battery cell casing. The elastic component 32 is elastic. The limiting rod 322 located on the side of the battery cell casing will retract into the insertion cavity 311 of the gripping block 31 after contacting the battery cell through the elastic action of the first spring 321, and press against the first spring 321. The first spring 321 will then compress and feed back the reaction force to the surface of the battery cell through the limiting rod 322, increasing the gripping force. At the same time, it can avoid mechanical damage to the battery cell casing caused by hard contact. The part that does not contact the edge of the battery cell can form a cover on both sides, which can adapt to the battery cell and reduce local stress. This structure, through the rod-type elastic component 32, can adapt and cover according to the shape of the edge of the battery cell, reducing the high local stress caused by the small contact area, thereby reducing the risk of damage to the battery cell casing.

[0038] like Figure 4 As shown, when the limiting rod 322 presses against the edge of the battery cell, the rubber disc 42 installed at the end of the limiting rod 322 allows the rubber disc 42 to abut against the edge of the battery cell. After being squeezed by the battery cell, the rubber disc 42 moves closer to the limiting rod 322 and pushes the insertion rod 412 to abut against the second spring 411. After the second spring 411 is subjected to force, the resulting reaction force is fed back to the battery cell through the rubber disc 42, increasing the clamping force. Since the rubber disc 42 is made of rubber, it can protect the part of the battery cell that is clamped, preventing mechanical hard friction and effectively preventing scratches generated during clamping. This structure, through the use of the flexible component 4, further protects the edge of the battery cell and prevents hard friction and scratches.

[0039] It should be further explained that when the rubber disc 42 comes into contact with the battery cell, the force generated during the contact acts on the rubber disc 42, causing the rubber disc 42 to move closer to the limiting rod 322. This allows the rubber pillars 51, which are evenly distributed at the end of the limiting rod 322, to pass through the openings 52 on the rubber disc 42. The part of the rubber pillars 51 that passes through the openings 52 presses against the battery cell. Since the rubber pillars 51 are also made of rubber, they can increase the soft friction between them and the battery cell, increase the anti-slip ability of the battery cell during the clamping process, and prevent the battery cell from falling off during the clamping process.

[0040] In this embodiment, through the combined use of the elastic component 32 and the flexible component 4 of the elastic part 3, the robot can grip the battery cell more gently and firmly, reducing mechanical damage caused by the gripping mechanism gripping the battery cell. At the same time, due to the reaction force provided by the internal gripping of the elastic component 32, the battery cell can make closer contact with the elastic part 3, reducing the risk of the battery cell falling or being damaged due to improper gripping.

[0041] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A battery cell gripping mechanism, characterized in that, It includes a gripper portion (2) and an elastic portion (3); The elastic part (3) includes a clamping block (31) and an elastic component (32). The clamping block (31) is connected to the clamping claw part (2) and is arranged in pairs. Each pair of clamping blocks (31) has multiple elastic components (32) for covering the battery cell installed on the side that is close to each other. The end of the elastic component (32) is provided with a flexible component (4) for abutting against the battery cell.

2. The cell gripping mechanism according to claim 1, characterized in that, The elastic component (32) includes a first spring (321) and a limiting rod (322). The clamping block (31) has a cavity (311). The first spring (321) is installed in the cavity (311). One end of the limiting rod (322) is inserted into the cavity (311) and connected to the first spring (321). The other end of the limiting rod (322) is provided with the flexible component (4).

3. The cell gripping mechanism according to claim 1, characterized in that, The flexible component (4) includes an elastic element (41) and a rubber disc (42). One end of the elastic element (41) is inserted into the elastic component (32), and the other end is fitted with the rubber disc (42).

4. The cell gripping mechanism according to claim 3, characterized in that, The elastic element (41) includes a second spring (411) and a plug (412). The second spring (411) is installed in the elastic assembly (32). One end of the plug (412) is inserted into the elastic assembly (32) and connected to the second spring (411). The other end of the plug (412) is connected to the rubber disc (42).

5. The cell gripping mechanism according to claim 3, characterized in that, The flexible component (4) further includes an abutment (5) disposed between the elastic component (32) and the rubber disc (42).

6. The cell gripping mechanism according to claim 5, characterized in that, The abutment (5) includes a rubber post (51) and an opening (52). The rubber post (51) is installed on one end of the elastic component (32) near the rubber disc (42). The opening (52) is opened on the rubber disc (42) and corresponds one-to-one with the rubber post (51).

7. The cell gripping mechanism according to claim 6, characterized in that, The rubber columns (51) are evenly arranged around the periphery of the elastic member (41).

8. The cell gripping mechanism according to claim 1, characterized in that, The gripper part (2) includes a gripper body (21) and a pair of gripper arms (22) mounted on the gripper body (21), the gripper arms (22) being connected to the gripper block (31).

9. A battery cell gripping robotic arm device, comprising a robotic arm body (1), characterized in that, It also includes the battery cell gripping mechanism according to any one of claims 1-8, wherein the gripper portion (2) of the battery cell gripping mechanism is installed at the drive end of the robot body (1).

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