A square lithium battery robot gripper device guided by CCD vision

Abstract

A kind of square lithium battery robot gripper device of CCD visual guidance, including gripper main body bottom plate, the top of gripper main body bottom plate is connected with external movement mechanism by gripper connecting column, the bottom of gripper main body bottom plate is sequentially connected with gripper cylinder by guide column, and battery is clamped by battery clamping plate of gripper cylinder;The longitudinal two sides of gripper main body bottom plate are connected with camera mounting bracket between gripper main body bottom plate and suction cup cylinder;The bottom of the camera mounting bracket is installed with downward CCD camera;The end of gripper main body bottom plate is connected with bottom bar of can be clamped in the battery two sides by finger cylinder;The top of gripper cylinder is equipped with overpressure sensing sheet matched with photoelectric sensor;The device identifies abnormal conditions such as foreign matter, battery position deviation, overall positioning inclination before battery gripper grabs battery, guarantees safety and accuracy when grabbing.

Description

Technical Field

[0001] This utility model belongs to the field of battery gripper technology, and specifically relates to a CCD vision-guided square lithium battery robot gripper device. Background Technology

[0002] Currently, the country is vigorously promoting new energy, and the lithium battery production and testing industry is developing rapidly. Square lithium batteries have significant advantages in energy storage scenarios due to their large capacity, small number of modules, and ease of supervision. However, due to their relatively large size, they are not easy to handle. Therefore, using robots for handling during production and packaging has become a relatively simple and easy-to-use production method. In order to improve the accuracy of lithium battery production, packaging, and stacking, and at the same time reduce the impact and wear on the battery casing, higher standards have been set for the grippers that hold the batteries. To address this challenge, robotic handling systems have become the mainstream solution in the lithium battery production and packaging process, and intelligent grippers that integrate visual inspection and safety control technologies have become the key to improving handling accuracy and safety. Summary of the Invention

[0003] To address the aforementioned issues, this invention proposes a CCD vision-guided square lithium battery robot gripper device. The design involves installing a CCD camera structure with 3D recognition on the side of the battery gripper. This allows the gripper to identify abnormal situations such as foreign objects, battery position shifts, and overall positioning tilt before gripping the battery, ensuring safety and accuracy during gripping.

[0004] The CCD vision-guided square lithium battery robot gripper device includes a gripper main body base plate 17. The top of the gripper main body base plate 17 is connected to an external motion mechanism via a gripper connecting column 1. Several guide shafts 15 are sequentially connected to the bottom of the gripper main body base plate 17 in a horizontal direction. A cylinder base plate 71 that can slide up and down is connected to the guide shafts 15. A clamping cylinder 7 is connected to the bottom of the cylinder base plate 71. A battery clamping plate 9 is connected to each of the two longitudinal ends of the bottom of the clamping cylinder 7. The clamping cylinder 7 can push the battery clamping plate 9, so that the spacing of the battery clamping plate 9 changes and clamps the external battery 10. An overpressure buffer spring 8 is sleeved on the guide shaft 17. A first column platform 21 is connected to the middle of the gripper body base plate 17 in the horizontal direction. The two ends of the first column platform 21 in the longitudinal direction are respectively connected to suction cup cylinders 13 located on both sides of the gripper body base plate 17 in the longitudinal direction. The bottom of the suction cup cylinders 13 is respectively connected to sponge suction cups 12. The suction cup cylinders 13 can push the sponge suction cups 12 up and down, so that the sponge suction cups 12 contact the battery tray below. The first column platform has a second column platform 22 on each of its horizontal sides, which is connected to the gripper body base plate 17. The bottom of the second column platform 22 is connected to a cylinder pressure plate mechanism 3. The cylinder pressure plate mechanism 3 can be pushed up and down to push the external battery tray away from the sponge suction cup 12. A laser sensor 20 is mounted on one longitudinal side of the cylinder base plate via a laser sensor bracket 19. Camera mounting brackets 11 are connected to the longitudinal sides of the gripper body base plate 17, which are located between the gripper body base plate 17 and the suction cup cylinder 13; a downward-facing CCD camera is mounted on the bottom of the camera mounting bracket 11.

[0005] More specifically, a vertical overpressure sensor 18 is connected to the cylinder base plate, and a photoelectric sensor 16 corresponding to the overpressure sensor 18 is connected to the bottom of the gripper body base plate 17. The photoelectric sensor 16 senses obstacles in the lateral direction.

[0006] More specifically, a solenoid valve module 4 is connected to the top of the gripper body base plate 17, and the solenoid valve module 4 is connected to control the sponge suction cup 12 to generate local negative pressure.

[0007] More specifically, finger cylinders 5 are connected to the bottom of both ends of the gripper body base plate 17 in the horizontal direction, and the bottom of the finger cylinders 5 is provided with bottom-holding arms 6; the bottom-holding arms 6 at both ends of the gripper body base plate 17 in the horizontal direction are connected to horizontal bottom-holding rods 61; the finger cylinders 5 can control the bottom-holding arms 6 to rotate around the horizontal rotation axis, so that the bottom-holding rods 61 are clamped on both sides of the longitudinal direction of the external battery 10 held by the battery clamping plate 9.

[0008] More specifically, the CCD camera is connected to an external host computer.

[0009] The working process of this utility model is as follows: 1. The battery tray containing the battery is conveyed to the bottom plate 17 of the gripper body via an external conveyor belt; 2. The laser sensor 20 on the laser sensor bracket 19 detects the battery tray. The CCD camera at the bottom of the camera mounting bracket 11 captures the battery tray and transmits the image information to the external host computer. The external host computer obtains the position parameters from the image information through robot vision processing software and controls the external motion mechanism connected to the connecting column 1 of the gripper according to the position parameters to move the gripper body base plate 17 to the specified parameter position. At this time, the finger cylinder 5 opens the bottom blocking arms 66 on both longitudinal sides, so that the bottom blocking rod 61 moves away from the battery clamping plate 9 and the battery tray. 3. The clamping cylinder 7 pushes the longitudinally adjacent battery clamping plates 9 to open, and the external motion mechanism controls the battery clamping plate 17 to descend as a whole, so that the battery clamping plate 9 descends to both sides of the first row of batteries; when the sensor on the battery clamping plate 9 detects the battery, the descent stops. 4. The clamping cylinder 7 pushes the battery clamping plate 9 to clamp the battery on the battery tray; the external motion mechanism controls the gripper body base plate 17 to rise. During the rising process, the finger cylinder 5 closes, so that the bottom stop bar 61 blocks the lower sides of the battery clamped by the battery clamping plate 9 to prevent the battery from falling off during transportation. 5. The external motion mechanism controls the gripper body base plate 17 to move to the designated position, the battery clamping plate 9 places the battery to the designated work station, and the external motion mechanism controls the gripper body base plate 17 to return to the top of the battery tray to clamp the next row of batteries. 6. Repeat steps 2-5. When the last row of batteries is picked up, the battery clamping plate 9 descends normally until the sensor detection distance of the battery clamping plate 9 is reached. At this time, the cylinder pressing mechanism 3 pushes down to press down on the battery tray below the battery to prevent the battery tray from being lifted and affecting the operation of the equipment. After the battery clamping plate 9 picks up the battery, the cylinder pressing mechanism 3 retracts upward. The external motion mechanism controls the gripper body base plate 17 to complete all battery picking and handling actions, and then controls the gripper body base plate 17 to return to the top of the battery tray. 7. The CCD camera takes another picture, and the external host computer processes the new position parameters through the robot vision processing software. The suction cup cylinder 13 at the bottom of the first column platform 21 pushes the sponge suction cup 12 to the top of the battery tray. The solenoid valve module 4 controls the sponge suction cup 12 to generate local negative pressure. The gripper body base plate 17 descends to the position of the specified parameters. The sponge suction cup 12 adsorbs the bottom tray below and is transported to the corresponding workstation for recycling, completing the entire action process.

[0010] In step 3, if the battery clamping plate 9 deviates from its lowering position, causing pressure on the battery, the overpressure sensor 18 on the cylinder base plate rises along the guide shaft, and the photoelectric sensor 16 detects the overpressure sensor 18 laterally, triggering an alarm and stopping the battery handling process.

[0011] The beneficial effects of this utility model are as follows: 1. The gripper is equipped with a CCD camera for recognition, which ensures the position parameter data after software processing, greatly reduces the probability of collision between the gripping mechanism and the battery, ensures the accuracy of the suction cup when picking up the base, and can also identify abnormal situations such as foreign objects on the battery. 2. The gripper is designed with a bottom-catching and anti-drop device during the handling process. When gripping the battery, the bottom-catching cylinder closes, and the bottom-catching lever prevents the battery from falling and potentially catching fire or exploding. Together with the detection distance sensor above the battery gripping device, this provides double protection, greatly improving the safety and reliability of the production process. 3. The grippers have an overpressure sensor to prevent squeezing and collision. When the grippers grab the battery, if the battery clamping plate presses on the battery, the overpressure sensor moves upward, causing the photoelectric sensor to detect the signal and generate an overpressure alarm. At this time, the battery clamping plate will stop moving to avoid damaging the battery and causing risks. Attached Figure Description

[0012] Figure 1 This is a structural diagram of a CCD vision-guided square lithium battery robot gripper device according to this utility model.

[0013] Figure 2 This is a front view of a CCD vision-guided square lithium battery robot gripper device according to this utility model.

[0014] Figure 3 This is a structural diagram of the battery tray that accompanies a CCD vision-guided square lithium battery robot gripper device in an embodiment of this utility model.

[0015] Figure 4 This is a left view of a CCD vision-guided square lithium battery robot gripper device according to this utility model. Detailed Implementation

[0016] The specific embodiments of the present invention 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 the scope of the present invention.

[0017] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0018] Furthermore, the terms "first" and "second" 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0019] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0020] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0021] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0023] The CCD vision-guided square lithium battery robot gripper device includes a gripper main body base plate 17. The top of the gripper main body base plate 17 is connected to an external motion mechanism via a gripper connecting column 1. Several guide shafts 15 are sequentially connected to the bottom of the gripper main body base plate 17 in a horizontal direction. Several cylinder base plates that can slide up and down are connected to the guide shafts 15. Clamping cylinders 7 are connected to the bottom of the cylinder base plates. A battery clamping plate 9 is connected to each of the longitudinal ends of the bottom of the clamping cylinder 7. The clamping cylinders 7 can push the battery clamping plates 9, so that the spacing of the battery clamping plates 9 changes and clamps the external battery 10. An overpressure buffer spring 8 is sleeved on the guide shafts 17. A first column platform 21 is connected to the middle of the gripper body base plate 17 in the horizontal direction. The two ends of the first column platform 21 in the longitudinal direction are respectively connected to suction cup cylinders 13 located on both sides of the gripper body base plate 17 in the longitudinal direction. The bottom of the suction cup cylinders 13 is respectively connected to sponge suction cups 12. The suction cup cylinders 13 can push the sponge suction cups 12 up and down, so that the sponge suction cups 12 contact the battery tray below. The first column platform has a second column platform 22 on each of its horizontal sides, which is connected to the gripper body base plate 17. The bottom of the second column platform 22 is connected to a cylinder pressure plate mechanism 3. The cylinder pressure plate mechanism 3 can be pushed up and down to push the external battery tray away from the sponge suction cup 12. A laser sensor 20 is mounted on one longitudinal side of the cylinder base plate via a laser sensor bracket 19.

[0024] In some embodiments, a vertical overpressure sensing plate 18 is connected to the cylinder base plate, and a photoelectric sensor 16 corresponding to the overpressure sensing plate 18 is connected to the bottom of the gripper body base plate 17. The photoelectric sensor 16 senses obstacles in the lateral direction.

[0025] In some embodiments, a solenoid valve module 4 is connected to the top of the gripper body base plate 17, and the solenoid valve module 4 is connected to control the sponge suction cup 12 to generate local negative pressure.

[0026] In some embodiments, finger cylinders 5 are connected to the bottom of the two horizontal ends of the gripper body base plate 17, and the bottom of the finger cylinders 5 is provided with bottom-holding arms 6; horizontal bottom-holding rods 61 are connected between the horizontally flush bottom-holding arms 6 at the two horizontal ends of the gripper body base plate 17; the finger cylinders 5 can control the bottom-holding arms 6 to rotate around the horizontal rotation axis, so that the bottom-holding rods 61 are clamped on the longitudinal sides of the external battery 10 clamped by the battery holding plate 9.

[0027] In some embodiments, camera mounting brackets 11 are connected to the longitudinal sides of the gripper body base plate 17, which is located between the gripper body base plate 17 and the suction cup cylinder 13; a downward-facing CCD camera is mounted on the bottom of the camera mounting bracket 11.

[0028] In some embodiments, the CCD camera is connected to an external host computer.

[0029] The working process of this utility model is as follows: 1. The battery tray containing the battery is conveyed to the bottom plate 17 of the gripper body via an external conveyor belt; 2. The laser sensor 20 on the laser sensor bracket 19 detects the battery tray. The CCD camera at the bottom of the camera mounting bracket 11 captures the battery tray and transmits the image information to the external host computer. The external host computer obtains the position parameters from the image information through robot vision processing software and controls the external motion mechanism connected to the connecting column 1 of the gripper according to the position parameters to move the gripper body base plate 17 to the specified parameter position. At this time, the finger cylinder 5 opens the bottom blocking arms 66 on both longitudinal sides, so that the bottom blocking rod 61 moves away from the battery clamping plate 9 and the battery tray. 3. The clamping cylinder 7 pushes the longitudinally adjacent battery clamping plates 9 to open, and the external motion mechanism controls the battery clamping plate 17 to descend as a whole, so that the battery clamping plate 9 descends to both sides of the first row of batteries; when the sensor on the battery clamping plate 9 detects the battery, the descent stops. 4. The clamping cylinder 7 pushes the battery clamping plate 9 to clamp the battery on the battery tray; the external motion mechanism controls the gripper body base plate 17 to rise. During the rising process, the finger cylinder 5 closes, so that the bottom stop bar 61 blocks the lower sides of the battery clamped by the battery clamping plate 9 to prevent the battery from falling off during transportation. 5. The external motion mechanism controls the gripper body base plate 17 to move to the designated position, the battery clamping plate 9 places the battery to the designated work station, and the external motion mechanism controls the gripper body base plate 17 to return to the top of the battery tray to clamp the next row of batteries. 6. Repeat steps 2-5. When the last row of batteries is picked up, the battery clamping plate 9 descends normally until the sensor detection distance of the battery clamping plate 9 is reached. At this time, the cylinder pressing mechanism 3 pushes down to press down on the battery tray below the battery to prevent the battery tray from being lifted and affecting the operation of the equipment. After the battery clamping plate 9 picks up the battery, the cylinder pressing mechanism 3 retracts upward. The external motion mechanism controls the gripper body base plate 17 to complete all battery picking and handling actions, and then controls the gripper body base plate 17 to return to the top of the battery tray. 7. The CCD camera takes another picture, and the external host computer processes the new position parameters through the robot vision processing software. The suction cylinder 13 at the bottom of the first column platform 21 pushes the sponge suction cup (12) to the top of the battery tray. The solenoid valve module 4 controls the sponge suction cup 12 to generate local negative pressure. The gripper body base plate 17 descends to the position of the specified parameters. The sponge suction cup 12 adsorbs the bottom tray below and is transported to the corresponding work station for recycling, completing the entire action process.

[0030] In step 3, if the battery clamping plate 9 deviates from its lowering position, causing pressure on the battery, the overpressure sensor 18 on the cylinder base plate rises along the guide shaft, and the photoelectric sensor 16 detects the overpressure sensor 18 laterally, triggering an alarm and stopping the battery handling process.

Claims

1. A CCD vision-guided square lithium battery robot gripper device, characterized in that: The system includes a gripper main body base plate (17), the top of which is connected to an external motion mechanism via a gripper connecting column (1); several guide shafts (15) are sequentially connected to the bottom of the gripper main body base plate (17) in the horizontal direction, and cylinder base plates (71) that can slide up and down are connected to the guide shafts (15); clamping cylinders (7) are connected to the bottom of the cylinder base plates (71); a battery clamping plate (9) is connected to the longitudinal ends of the bottom of the clamping cylinder (7); the clamping cylinder (7) can push the battery clamping plate (9) to change the spacing of the battery clamping plate (9) and clamp the external battery (10); an overpressure buffer spring (8) is sleeved on the guide shaft (15); The gripper body base plate (17) is connected to the first column platform (21) in the middle of the horizontal direction. The first column platform (21) is connected to the suction cup cylinders (13) located on the longitudinal sides of the gripper body base plate (17) at both ends of the vertical direction. The bottom of the suction cup cylinders (13) is connected to the sponge suction cups (12). The suction cup cylinders (13) can push the sponge suction cups (12) up and down, so that the sponge suction cups (12) contact the battery tray below. The first column platform has a second column platform (22) on each side of the horizontal direction, which is connected to the main body base plate (17) of the gripper. The bottom of the second column platform (22) is connected to a cylinder pressure plate mechanism (3). The cylinder pressure plate mechanism (3) can be pushed up and down and push the external battery tray away from the sponge suction cup (12). A laser sensor (20) is mounted on one longitudinal side of the cylinder base plate (71) via a laser sensor bracket (19); The gripper body base plate (17) is connected to camera mounting brackets (11) located between the gripper body base plate (17) and the suction cup cylinder (13) on both longitudinal sides; a downward-facing CCD camera is mounted on the bottom of the camera mounting bracket (11).

2. The CCD vision-guided square lithium battery robot gripper device according to claim 1, characterized in that: A vertical overpressure sensor (18) is connected to the cylinder base plate, and a photoelectric sensor (16) corresponding to the overpressure sensor (18) is connected to the bottom of the gripper body base plate (17). The photoelectric sensor (16) senses obstacles in the horizontal direction.

3. The CCD vision-guided square lithium battery robot gripper device according to claim 1, characterized in that: The top of the gripper body base plate (17) is connected to a solenoid valve module (4), which controls the sponge suction cup (12) to generate local negative pressure.

4. The CCD vision-guided square lithium battery robot gripper device according to claim 1, characterized in that: The bottom of the gripper body base plate (17) is connected to finger cylinders (5) at both ends of the horizontal direction. The bottom of the finger cylinders (5) is provided with bottom-holding arms (6). The bottom-holding arms (6) at both ends of the gripper body base plate (17) are connected to horizontal bottom-holding rods (61). The finger cylinders (5) can control the bottom-holding arms (6) to rotate around the horizontal rotation axis, so that the bottom-holding rods (61) are clamped on both sides of the external battery (10) held by the battery clamping plate (9).

5. A CCD vision-guided square lithium battery robot gripper device according to claim 1, characterized in that: The CCD camera is connected to an external host computer.

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