Battery gripping mechanism, battery handling device, and battery manufacturing apparatus

Abstract

The application relates to a battery grabbing mechanism, a battery carrying device and a battery manufacturing equipment, and belongs to the technical field of battery manufacturing. The battery grabbing mechanism comprises a support, a clamping jaw assembly comprising a pair of clamping jaws, the clamping jaws being slidably arranged on the support, and a clamping jaw driving element for driving the clamping jaw assembly to switch between an open state and a clamping state, the clamping jaw driving element being capable of locking the clamping jaw assembly in the clamping state. The battery grabbing mechanism can reliably grab and carry large square shell batteries, and reduces the risk of the large square shell batteries falling off during the carrying process. The application further provides a battery carrying device and a battery manufacturing equipment, both of which comprise the battery grabbing mechanism.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, and more specifically, to a battery gripping mechanism, a battery handling device, and battery manufacturing equipment. Background Technology

[0002] With the rapid development of new energy technologies, the demand for lithium batteries is increasing day by day, and the level of automated manufacturing processes for lithium batteries is also constantly improving. Battery gripping mechanisms are used to grip battery cells and realize the transfer of battery cells.

[0003] For large prismatic batteries weighing over 10kg, their weight makes them prone to gripping failures and detachment from the grippers during movement. However, current small-sized gripper mechanisms are unsuitable for handling large batteries. Utility Model Content

[0004] Therefore, this application proposes a battery gripping mechanism, a battery handling device, and a battery manufacturing equipment, which can reliably grip and handle large prismatic batteries, reducing the risk of large prismatic batteries falling off during handling.

[0005] The battery gripping mechanism of the first aspect of this application includes: a bracket; a gripper assembly including a pair of grippers slidably disposed on the bracket; and a gripper drive for driving the gripper assembly to switch between an open state and a clamping state, wherein the gripper drive can lock the gripper assembly in the clamping state.

[0006] Optionally, the gripper drive is a self-locking cylinder.

[0007] Optionally, each of the grippers is slidably engaged with the bracket via a first guide rail assembly.

[0008] Optionally, the support includes: a first support for mounting on the end of a robotic arm; a second support slidably mounted on the first support, the gripper drive being disposed on the second support, and the gripper being slidably disposed on the second support; and an elastic member connecting the first support and the second support.

[0009] Optionally, the battery gripping mechanism includes a first sensing component, which includes: a first marker disposed on the second bracket; and a first sensor disposed on the first bracket. The first sensor is configured to send a lifting-to-position signal when the first marker is detected, and to send an obstacle signal when the first marker is not detected.

[0010] Optionally, the battery gripping mechanism includes two second sensing components, each corresponding to a gripper. Each second sensing component includes: a second marker disposed on the corresponding gripper; and a second sensor disposed on the second bracket. The second sensor is configured to send a lateral movement positioning signal when it detects the second marker.

[0011] Optionally, two elastic elements are provided, and the two elastic elements are respectively arranged on both sides of the gripper drive.

[0012] Optionally, the gripper includes: a gripper body slidably disposed on the bracket; and an anti-slip member disposed on the inner side of the gripper body.

[0013] The battery handling device according to a second aspect of this application includes: the battery gripping mechanism described in the first aspect of this application; and a robotic arm, the end of which is fitted with the bracket.

[0014] The battery manufacturing apparatus of the third aspect of this application includes the battery handling device described in the second aspect of this application.

[0015] Compared with existing technologies, this solution has the following advantages:

[0016] The grippers of the battery gripping mechanism in this application embodiment are slidably mounted on the bracket, and the gripper drive has a self-locking function, which can lock a pair of grippers in a clamped state, reliably gripping and transporting heavier battery cells, reducing the risk of large square-shell batteries falling off during transport.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A first-view structural schematic diagram of the battery gripping mechanism provided in an embodiment of this application;

[0020] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0021] Figure 3 for Figure 1A magnified view of a section at point B in the middle;

[0022] Figure 4 A second-view structural schematic diagram of the battery gripping mechanism provided in an embodiment of this application;

[0023] Figure 5 for Figure 4 A magnified view of a section at point C;

[0024] Figure 6 This is a schematic diagram of a battery handling device provided in an embodiment of this application.

[0025] Icons: 100-Battery gripping mechanism; 110-Bracket; 111-First bracket; 1111-Connecting part; 112-Second bracket; 1121-Positioning block; 120-Gripper assembly; 121-Gripper; 122-Gripper body; 123-Anti-slip component; 130-Gripper drive component; 131-Cylinder; 132-Actuating finger; 140-Elastic component; 150-First sensing assembly; 151-First marker; 152-First sensor; 160-Second sensing assembly; 161-Second marker; 162-Second sensor; 170-First guide rail assembly; 180-Second guide rail assembly; 200-Battery handling device; 210-Robot arm; 300-Battery cell. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] like Figure 1 and Figure 4 As shown, the battery gripping mechanism 100 of some embodiments of this application includes a bracket 110, a gripper assembly 120, and a gripper drive 130. The gripper assembly 120 includes a pair of grippers 121, which are slidably disposed on the bracket 110; the gripper drive 130 is used to drive the gripper assembly 120 to switch between an open state and a clamping state, and the gripper drive 130 can lock the gripper assembly 120 in the clamping state.

[0029] The battery gripping mechanism 100 extends along the first direction X in the length direction, along the second direction Y in the width direction, and along the third direction Z in the height direction. The first direction X, the second direction Y, and the third direction Z are arranged perpendicular to each other.

[0030] The grippers 121 are slidably mounted on the bracket 110 along the first direction X. Driven by the gripper drive 130, the pair of grippers 121 move away from each other along the first direction X to an open state, and move closer together along the first direction X to a clamping state. When the pair of grippers 121 are in the open state, the battery gripping mechanism 100 moves to the gripping position under the drive of the robot 210, with the pair of grippers 121 located on both sides of the battery cell 300. The gripper drive 130 drives the pair of grippers 121 to move closer together to a clamping state to clamp the battery cell 300. The gripper drive 130 has a self-locking function to lock the pair of grippers 121 in the clamping state.

[0031] The gripper 121 of the battery gripping mechanism 100 in this embodiment is slidably mounted on the bracket 110, and the gripper drive 130 has a self-locking function, which can lock a pair of grippers 121 in a clamping state, and can reliably grip and transport heavy battery cells 300, reducing the risk of large square-shell batteries falling off during transportation.

[0032] In some embodiments of this application, the gripper drive 130 is a self-locking cylinder.

[0033] The gripper drive 130 is a finger cylinder with a self-locking function, which can drive a pair of grippers 121 to come close to each other, clamp the battery cell 300 and maintain it in a clamped state, preventing the battery cell 300 from falling off due to external force or changes in air pressure. For example, the gripper drive 130 can be an AirTAC HFZ series, AirTAC HFKL / HFK series, SMC finger cylinder with locking module, etc.

[0034] like Figure 5 As shown, the gripper drive 130 includes a cylinder 131 and two actuator fingers 132. The cylinder 131 is fixed to the second bracket 112 of the bracket 110. The two actuator fingers 132 are respectively connected to a pair of grippers 121. The cylinder 131 drives the pair of grippers 121 to move closer or further apart through the two actuator fingers 132.

[0035] This configuration allows the pair of grippers 121 to be locked in a clamped state, reducing the risk of the battery cell 300 falling off during handling and improving the reliability and safety of handling large-scale prismatic batteries.

[0036] In other embodiments, the gripper drive 130 may also be other forms of drive mechanisms with self-locking function.

[0037] like Figure 5 As shown, in some embodiments of this application, each gripper 121 is slidably engaged with the bracket 110 via a first guide rail assembly 170.

[0038] The first guide rail assembly 170 includes a slide rail and a slider. The slide rail is disposed on the second bracket 112 of the bracket 110. The slider is connected to the gripper body 122. The slider is slidably mounted on the slide rail along the first direction X, so that the gripper 121 is slidably mounted on the bracket 110 along the first direction X.

[0039] With this configuration, a pair of grippers 121 can be smoothly and reliably switched between the open and clamped states along the first direction X, and the first guide rail assembly 170 can increase the load weight of the grippers 121 and reduce the risk of the grippers 121 breaking during the process of the gripper assembly 120 clamping a heavier battery cell 300.

[0040] like Figure 1 and Figure 4 As shown, in some embodiments of this application, the bracket 110 includes a first bracket 111, a second bracket 112, and an elastic member 140. The first bracket 111 is used to be installed at the end of the robot arm 210. The second bracket 112 is slidably installed on the first bracket 111. The gripper drive member 130 is disposed on the second bracket 112. The gripper 121 is slidably disposed on the second bracket 112. The elastic member 140 is connected between the first bracket 111 and the second bracket 112 along the third direction Z.

[0041] The first support 111 is provided with a connecting part 1111, which is used for assembly with the end effector of the robot arm 210.

[0042] The second support 112 is slidably mounted on the first support 111 along the third direction Z. The two ends of the elastic element 140 are connected to the first support 111 and the second support 112, respectively. The elastic element 140 can be a gas spring or a mechanical spring. Driven by the robotic arm 210, the battery gripping mechanism 100 descends along the third direction Z to the gripping height of the battery cell 300. After the gripper assembly 120 clamps the battery cell 300, the battery gripping mechanism 100 rises along the third direction Z.

[0043] The second bracket 112 is slidably engaged with the first bracket 111 along the third direction Z by a second guide rail assembly 180 on each side along the first direction X.

[0044] By setting the elastic element 140, the impact force during the lifting and lowering process of the gripper assembly 120 can be buffered, the stability of the gripper assembly 120 itself can be improved, and the shaking and trembling of the battery cell 300 during the movement can be reduced.

[0045] In some embodiments of this application, two elastic elements 140 are provided, and the two elastic elements 140 are respectively arranged on both sides of the gripper drive 130.

[0046] In other words, two elastic members 140 are arranged along the first direction X on both sides of the cylinder 131 of the gripper drive member 130.

[0047] This configuration allows for balanced buffering of the impact force on the gripper assembly 120 during movement from both sides, thereby improving the service life of both the gripper assembly 120 and the battery gripping mechanism 100.

[0048] like Figure 2 As shown, in some embodiments of this application, the battery gripping mechanism 100 includes a first sensing component 150, which includes a first marker 151 and a first sensor 152. The first marker 151 is disposed on a second bracket 112, and the first sensor 152 is disposed on a first bracket 111. The first sensor 152 is configured to send a lifting-to-position signal when the first marker 151 is detected, and to send an obstacle signal when the first marker 151 is not detected.

[0049] Driven by the robotic arm 210, the first support 111 of the battery gripping mechanism 100 descends to a preset gripping height. Correspondingly, if the second support 112 and the gripper assembly 120 descend synchronously to the preset height, the first sensor 152 can detect the first marker 151 and send a signal indicating that the lifting position has been reached. The robotic arm 210 then responds and stops driving the battery gripping mechanism 100 to continue descending. The gripper drive 130 responds and drives a pair of grippers 121 to grip the battery cell 300. If there is an obstacle below the gripper assembly 120, the second support 112 will be obstructed and cannot descend synchronously. The first marker 151 will not remain at the preset position, and the first sensor 152 will not detect the first marker 151. In this case, the first sensor 152 sends an obstacle signal, the robotic arm 210 responds and stops driving the battery gripping mechanism 100 to continue descending, and manual troubleshooting is required.

[0050] Two positioning blocks 1121 are also provided on the lower side of the second bracket 112. When the bracket 110 descends to the preset gripping height position, the second bracket 112 descends synchronously, and the positioning blocks 1121 abut against the top surface of the battery cell 300 to position the relative position of the gripper 121 and the battery cell 300 in the third direction Z, so as to ensure that the gripper 121 accurately grips the preset position of the battery cell 300.

[0051] This configuration allows for accurate detection of whether the gripper assembly 120 of the battery gripping mechanism 100 has descended into position, thus improving the reliability of the gripping action.

[0052] like Figure 1 and Figure 3 As shown, in some embodiments of this application, the battery gripping mechanism 100 includes two second sensing components 160, each corresponding to a gripper 121. Each second sensing component 160 includes a second marker 161 and a second sensor 162. The second marker 161 is disposed on the corresponding gripper 121, and the second sensor 162 is disposed on the second bracket 112. The second sensor 162 is configured to send a lateral movement positioning signal when it detects the second marker 161.

[0053] Two second sensors 162 are spaced apart along the first direction X on the second bracket 112, and each gripper 121 is provided with a corresponding second marker 161. When the gripper drive 130 drives a pair of grippers 121 to move closer to each other and clamp them together along the first direction X, the second marker 161 moves to a preset position. The second sensors 162 can detect the corresponding second marker 161 and send a lateral movement signal. The gripper drive 130 provides feedback and locks the pair of grippers 121 in the clamped state. The robot arm 210 provides feedback and drives the battery gripping mechanism 100 to move upward.

[0054] This configuration allows for accurate detection of whether the gripper assembly 120 of the battery gripping mechanism 100 is holding the battery cell 300, thus improving the reliability of the gripping action.

[0055] like Figure 5 As shown, in some embodiments of this application, the gripper 121 includes a gripper body 122 and an anti-slip member 123. The gripper body 122 is slidably disposed on the bracket 110, and the anti-slip member 123 is disposed on the inner side of the gripper body 122.

[0056] The inner side of the gripper body 122 refers to the side where the two gripper bodies 122 are close to each other along the first direction X. The anti-slip component 123 can be made of rubber. The inner side of the gripper body 122 has a mounting part. The anti-slip component 123 can be glued to the mounting part, or it can be installed in the mounting part by snap-fit ​​or threaded connection. The actuating finger 132 of the gripper drive component 130 acts on the slider of the first guide rail assembly 170, and the slider drives the gripper body 122 to move laterally along the first direction X.

[0057] This configuration increases the friction between the gripper 121 and the battery cell 300, reduces the risk of the battery cell 300 falling off, and improves the reliability of the gripping action.

[0058] like Figure 6 As shown, the battery handling device 200 of some embodiments of this application includes a robotic arm 210 and a battery gripping mechanism 100, with a bracket 110 mounted at the end of the robotic arm 210.

[0059] The robotic arm 210 can be a six-axis robotic arm or a three-axis drive mechanism.

[0060] Some embodiments of the battery manufacturing apparatus of this application include a battery handling device 200.

[0061] Due to the characteristics of the battery gripping mechanism 100 in this application embodiment, the battery handling device 200 and battery manufacturing equipment in this application embodiment can also reliably grip and handle large prismatic batteries, reducing the risk of large prismatic batteries falling off during handling.

[0062] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0063] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A battery gripping mechanism (100), characterized in that, include: Stent (110); The gripper assembly (120) includes a pair of grippers (121) slidably disposed on the bracket (110); A gripper drive (130) is used to drive the gripper assembly (120) to switch between an open state and a clamping state. The gripper drive (130) can lock the gripper assembly (120) in the clamping state.

2. The battery gripping mechanism (100) according to claim 1, characterized in that, The gripper drive (130) is a self-locking cylinder.

3. The battery gripping mechanism (100) according to claim 1, characterized in that, Each of the grippers (121) is slidably engaged with the bracket (110) via a first guide rail assembly (170).

4. The battery gripping mechanism (100) according to claim 1, characterized in that, The support (110) includes: The first bracket (111) is used to be installed at the end of the robotic arm; The second bracket (112) is slidably mounted on the first bracket (111), the gripper drive (130) is disposed on the second bracket (112), and the gripper (121) is slidably disposed on the second bracket (112). An elastic element (140) is connected between the first bracket (111) and the second bracket (112).

5. The battery gripping mechanism (100) according to claim 4, characterized in that, The battery gripping mechanism (100) includes a first sensing component (150), which includes: A first marker (151) is disposed on the second bracket (112); A first sensor (152) is disposed on the first bracket (111). The first sensor (152) is configured to send a lifting-to-position signal when the first marker (151) is detected, and to send an obstacle signal when the first marker (151) is not detected.

6. The battery gripping mechanism (100) according to claim 4, characterized in that, The battery gripping mechanism (100) includes two second sensing components (160), each corresponding to a gripper (121). Each second sensing component (160) includes: A second marker (161) is disposed on the corresponding gripper (121); A second sensor (162) is disposed on the second bracket (112), and the second sensor (162) is configured to send a lateral positioning signal when the second marker (161) is detected.

7. The battery gripping mechanism (100) according to claim 4, characterized in that, Two elastic elements (140) are provided, and the two elastic elements (140) are respectively arranged on both sides of the gripper drive (130).

8. The battery gripping mechanism (100) according to claim 1, characterized in that, The gripper (121) includes: The gripper body (122) is slidably disposed on the bracket (110); An anti-slip component (123) is disposed on the inner side of the gripper body (122).

9. A battery handling device (200), characterized in that, include: The battery gripping mechanism (100) as described in any one of claims 1 to 8; A robotic arm (210), the end of which is fitted with the bracket (110).

10. A battery manufacturing apparatus, characterized in that, Includes the battery handling device as described in claim 9.

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