Material gripping device

Abstract

The utility model discloses a kind of material grabbing devices, including grabbing frame body and be set to the opposite end of the grabbing frame body Servo drive assembly and positioning drive assembly, the Servo drive assembly and positioning drive assembly are respectively mounted with the mobile clamping component and clamping positioning component driven by it, for grabbing material, suction assembly is also installed on the grabbing frame body, for preventing material from falling.The utility model simple structure, the application is through the cooperation of Servo drive assembly, positioning drive assembly, mobile clamping component, clamping positioning component, the grabbing, transfer and placement of material are quickly completed, and the suction of suction assembly prevents the risk of battery drop, the position of mobile clamping component and clamping positioning component is adjusted by Servo drive assembly and positioning drive assembly respectively, ensure that longer material is compatible on existing jaw size.

Description

Technical Field

[0001] This utility model relates to the field of battery processing technology, specifically a material gripping device. Background Technology

[0002] With the rapid development of the new energy vehicle industry, the market demand for power batteries, as their core components, continues to grow, while higher requirements are being placed on the safety, consistency, and production efficiency of battery packs. In the automated production process of lithium battery module PACKs, after individual cells are attached with separators, they need to be neatly stacked into single-row modules using stacking equipment. Then, a gripping mechanism transfers the module from the stacking station to a pallet or AGV for subsequent assembly processes. However, existing module gripping mechanisms generally suffer from complex structures and insufficient reliability: on the one hand, most gripping devices use a clamping and bottom-supporting method for handling, which can support the cell modules to a certain extent, but it is still difficult to completely avoid the risk of cell drops due to vibration, acceleration / deceleration, or positioning deviation; on the other hand, existing gripping mechanisms mostly rely on a single-sided fixed positioning structure, resulting in poor compatibility with cell modules of different lengths and specifications. When changing products, multiple mechanical parts often need to be replaced, which not only reduces the flexibility of the production line but also increases debugging time and maintenance costs. Therefore, a material gripping device is proposed. Utility Model Content

[0003] The purpose of this invention is to provide a material gripping device to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a material gripping device, comprising a gripping frame and a servo drive assembly and a positioning drive assembly disposed on opposite end faces of the gripping frame, wherein the servo drive assembly and the positioning drive assembly are respectively equipped with a moving clamping assembly and a clamping positioning assembly driven by them for gripping materials, and an adsorption assembly is also installed on the gripping frame to prevent materials from falling.

[0005] As a further embodiment of this utility model: the servo drive assembly includes a motor mounting plate, a fixed seat mounting base, and a long lead screw tail fixing base mounted on the gripping frame. A servo motor is mounted on the motor mounting plate, a coupling is mounted on the output end of the servo motor, a long lead screw with its end connected to the long lead screw tail fixing base is mounted on the coupling, a lead screw fixing base is mounted on the fixed seat mounting base, and a long lead screw bearing is mounted on the long lead screw.

[0006] As a further embodiment of this utility model: the positioning drive assembly includes a bearing fixing connection plate and a short lead screw tail fixing seat mounted on the gripping frame. A bearing with a seat is mounted on the bearing fixing connection plate, and a lead screw displacement digital display is mounted on the bearing with a seat. A short lead screw connected to the bearing with a seat is mounted on the short lead screw, and a short lead screw bearing is mounted on the short lead screw. A handwheel is mounted at the end of the short lead screw.

[0007] As a further embodiment of this utility model: the movable clamping assembly includes a long screw bearing connecting plate mounted on a long screw bearing, a first connecting plate mounted on the long screw bearing connecting plate, a first clamping plate body mounted on the first connecting plate, a positioning pin mounted on the surface of the first clamping plate body adjacent to the material, a pressure sensor mounting plate mounted on the positioning pin, a pressure sensor mounted on the pressure sensor mounting plate located between the pressure sensor mounting plate and the first clamping plate body, and a clamping pad mounted on the surface of the first clamping plate body away from the pressure sensor.

[0008] As a further embodiment of this utility model: the clamping and positioning assembly includes a short lead screw bearing connecting plate mounted on a short lead screw bearing, a second connecting upright plate mounted on the short lead screw bearing connecting plate, a second clamping plate body mounted on the second connecting upright plate, a jaw base plate mounted on the second clamping plate body, and a clamping rubber plate mounted on the jaw base plate.

[0009] As a further embodiment of this utility model: the adsorption assembly includes a pressing cylinder installed on the gripping frame and a floating joint installed at the end of the pressing cylinder. A suction cup mounting plate is installed at the end of the floating joint. A guide shaft fixing support is installed on the suction cup mounting plate, and a guide shaft penetrating into the interior of the gripping frame is installed on the guide shaft fixing support. A guide shaft bearing and a stop ring are respectively installed on the guide shaft. The guide shaft bearing and the stop ring are both located inside the gripping frame. A plurality of suction cups are installed on the suction cup mounting plate.

[0010] As a further embodiment of this utility model, it also includes a guide component and a detection component installed on the gripping frame. The guide component is used to provide guidance for the movement of the moving clamping component and the clamping positioning component, and the detection component is used to detect whether a battery cell module is gripped between the clamping component and the clamping positioning component.

[0011] As a further embodiment of this utility model: the guiding component includes a guide rail mounted on the gripping frame, and two sliders are mounted on the guide rail. The two sliders are respectively connected to the moving clamping component and the clamping positioning component.

[0012] As a further embodiment of this invention: the detection component includes a sensor mounting bracket mounted on the gripping frame and a photoelectric sensor mounted on the sensor mounting bracket.

[0013] As a further embodiment of this utility model: the gripping frame is connected to the end of the six-axis robot via a flange connecting plate, and a robot base is installed at the bottom of the six-axis robot.

[0014] Compared with the prior art, the beneficial effects of this utility model are: This application achieves rapid material gripping, transfer, and placement through the coordinated operation of a servo drive component, a positioning drive component, a moving gripping component, and a gripping positioning component. The suction component eliminates the risk of battery cells falling. The servo drive component and the positioning drive component adjust the positions of the moving gripping component and the gripping positioning component respectively, ensuring compatibility with longer materials within the existing gripper size. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the material gripping device of this utility model; Figure 2 This is a first-view schematic diagram of the grabbing frame of this utility model; Figure 3 This is a second-view schematic diagram of the gripping frame of this utility model; Figure 4 This is a schematic diagram of the assembly of the guide component and the detection component of this utility model; Figure 5 This is a schematic diagram of the internal structure of the gripping frame of this utility model; In the picture: 1. Grab the frame; 2. Servo drive assembly; 201. Motor mounting plate; 202. Fixing base mounting base; 203. Long lead screw tail fixing base; 204. Servo motor; 205. Coupling; 206. Long lead screw; 207. Lead screw fixing base; 208. Long lead screw bearing; 3. Positioning drive assembly; 301. Bearing fixing connection plate; 302. Short lead screw tail fixing seat; 303. Bearing with seat; 304. Lead screw displacement digital display; 305. Short lead screw; 306. Short lead screw bearing; 307. Handwheel; 4. Moving clamping assembly; 401. Long lead screw bearing connecting plate; 402. First connecting vertical plate; 403. First clamping plate body; 404. Positioning pin; 405. Pressure sensor mounting plate; 406. Pressure sensor; 407. Clamping pad; 5. Clamping and positioning assembly; 501. Short lead screw bearing connecting plate; 502. Second connecting vertical plate; 503. Second clamping plate body; 504. Gripper base plate; 505. Clamping rubber plate; 6. Adsorption assembly; 601. Pressing cylinder; 602. Floating joint; 603. Suction cup mounting plate; 604. Guide shaft fixing support; 605. Guide shaft; 606. Guide shaft bearing; 607. Stop ring; 608. Suction cup; 7. Guide assembly; 701. Guide rail; 702. Slider; 8. Detection components; 801. Sensor mounting bracket; 802. Photoelectric sensor; 9. Flange connecting plate; 10. Six-axis robot; 11. Robot base. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Please see Figures 1-5 In this embodiment of the present invention, a material gripping device includes a gripping frame 1 and a servo drive component 2 and a positioning drive component 3 disposed on opposite end faces of the gripping frame 1. The servo drive component 2 and the positioning drive component 3 are respectively equipped with a movable clamping component 4 and a clamping positioning component 5 driven by them for gripping materials. An adsorption component 6 is also installed on the gripping frame 1 to prevent materials from falling. Furthermore, the servo drive component 2 and the positioning drive component 3 can drive the adjustment of the distance between the movable clamping component 4 and the clamping positioning component 5 to accommodate gripping materials of more sizes. The movable clamping component 4 and the clamping positioning component 5 contact and clamp the sides of the material respectively, thereby completing the gripping of the material. The adsorption component 6 adsorbs the top of the material, reducing the clamping force and preventing the material from falling.

[0018] Please see Figure 2 In one embodiment, preferably, the servo drive assembly 2 includes a motor mounting plate 201, a fixed seat mounting base 202, and a long lead screw tail fixing base 203 mounted on the gripping frame 1. A servo motor 204 is mounted on the motor mounting plate 201. A coupling 205 is mounted on the output end of the servo motor 204. A long lead screw 206 with its end connected to the long lead screw tail fixing base 203 is mounted on the coupling 205. A lead screw fixing base 207 is mounted on the fixed seat mounting base 202. A long lead screw bearing 208 is mounted on the long lead screw 206.

[0019] Specifically, the motor mounting plate 201, the fixed seat mounting base 202, and the long lead screw tail fixed base 203 are all fixedly installed inside the gripping frame 1. The servo motor 204 fixedly installed on the motor mounting plate 201 serves as the drive source for the long lead screw 206. The servo motor 204 is connected to the long lead screw 206 through the coupling 205. When the servo motor 204 starts, it can drive the long lead screw 206 to rotate. The long lead screw 206 is rotatably connected to the lead screw fixed base 207 and the long lead screw tail fixed base 203. While fixing the position of the long lead screw 206, it will not affect the normal rotation of the long lead screw 206. When the long lead screw 206 rotates, the position of the first connecting plate 402 will change, providing power to the moving clamping assembly 4 and realizing its self-locking function.

[0020] Please see Figure 2 In one embodiment, preferably, the positioning drive assembly 3 includes a bearing fixing connection plate 301 and a short lead screw tail fixing seat 302 mounted on the gripping frame 1. A seated bearing 303 is mounted on the bearing fixing connection plate 301, a lead screw displacement digital display 304 is mounted on the seated bearing 303, a short lead screw 305 connected to the seated bearing 303 is mounted on the short lead screw tail fixing seat 302, a short lead screw bearing 306 is mounted on the short lead screw 305, and a handwheel 307 is mounted on the end of the short lead screw 305.

[0021] Specifically, the bearing fixing connection plate 301 is installed on the end face of the gripping frame 1, and the short lead screw tail fixing seat 302 is installed inside the gripping frame 1. The bearing fixing connection plate 301 is installed with a seated bearing 303 on the end face away from the gripping frame 1. One end of the short lead screw 305 is rotatably connected to the short lead screw tail fixing seat 302, and the other end of the short lead screw 305 passes through the bearing fixing connection plate 301, the seated bearing 303 and the lead screw displacement digital display 304 in sequence before a handwheel 307 is installed. The short lead screw 305 is rotatably connected to the bearing fixing connection plate 301, the seated bearing 303 and the lead screw displacement digital display 304. By rotating the handwheel 307, the short lead screw 305 can be rotated, thereby adjusting the position of the second connecting plate 502 and precisely adjusting the position of the clamping and positioning component 5 according to the length of different materials.

[0022] Please see Figure 2In one embodiment, preferably, the movable clamping assembly 4 includes a long screw bearing connecting plate 401 mounted on a long screw bearing 208, a first connecting plate 402 mounted on the long screw bearing connecting plate 401, a first clamping plate body 403 mounted on the first connecting plate 402, a positioning pin 404 mounted on the surface of the first clamping plate body 403 adjacent to the material, a pressure sensor mounting plate 405 mounted on the positioning pin 404, a pressure sensor 406 mounted on the pressure sensor mounting plate 405 located between the pressure sensor mounting plate 405 and the first clamping plate body 403, and a clamping pad 407 mounted on the surface of the first clamping plate body 403 away from the pressure sensor 406.

[0023] Specifically, the long screw bearing connecting plate 401 is connected to the long screw bearing 208 and can move together with the long screw bearing 208. The first connecting plate 402 installed on the long screw bearing connecting plate 401 passes through the gripping frame 1 and is equipped with the first clamping plate body 403. The first clamping plate body 403 is equipped with a positioning pin 404. The positioning pin 404 can limit the position of the pressure sensor mounting plate 405 and reserve space for the installation of the pressure sensor 406. The clamping pad 407 can prevent the surface of the material from being damaged during the gripping process. At the same time, the pressure sensor 406 is used to monitor the pressure during the gripping process to prevent the material from being pinched.

[0024] Please see Figure 2 In one embodiment, preferably, the clamping and positioning assembly 5 includes a short lead screw bearing connecting plate 501 mounted on the short lead screw bearing 306, a second connecting vertical plate 502 mounted on the short lead screw bearing connecting plate 501, a second clamping plate body 503 mounted on the second connecting vertical plate 502, a jaw base plate 504 mounted on the second clamping plate body 503, and a clamping rubber plate 505 mounted on the jaw base plate 504. Furthermore, the short lead screw bearing connecting plate 501 and the short lead screw bearing 306 can move together with the short lead screw bearing 306. When the short lead screw 305 rotates, the short lead screw bearing connecting plate 501 connected to the short lead screw bearing 306 will move together with it, thereby completing the clamping of the material. At the same time, the clamping rubber plate 505 can prevent the other side of the material from being damaged by the clamping force.

[0025] Please see Figure 3In one embodiment, preferably, the adsorption assembly 6 includes a pressing cylinder 601 mounted on the gripping frame 1 and a floating joint 602 mounted on the end of the pressing cylinder 601. A suction cup mounting plate 603 is mounted on the end of the floating joint 602. A guide shaft fixing support 604 is mounted on the suction cup mounting plate 603, and a guide shaft 605 penetrating into the gripping frame 1 is mounted on the guide shaft fixing support 604. A guide shaft bearing 606 and a stop ring 607 are respectively mounted on the guide shaft 605. Both the guide shaft bearing 606 and the stop ring 607 are located inside the gripping frame 1. A plurality of suction cups 608 are mounted on the mounting plate 603. Furthermore, there are multiple pressing cylinders 601, which are evenly arranged above the suction cup mounting plate 603 to ensure that the downward pressure on each area is consistent when the height of the suction cup mounting plate 603 is adjusted. The guide shaft bearing 606 is mounted on the gripping frame 1. By adjusting the position of the stop ring 607 on the guide shaft 605, the stroke of the pressing cylinder 601 required for different battery cell heights can be adapted. In addition, the suction cups 608 are used to hold the entire module during the robot's transfer process after the material is gripped.

[0026] Please see Figure 4 In one embodiment, preferably, it further includes a guide component 7 and a detection component 8 installed on the gripping frame 1. The guide component 7 is used to provide guidance for the movement of the moving gripping component 4 and the gripping positioning component 5. The detection component 8 is used to detect whether a battery cell module is gripped between the gripping component 4 and the gripping positioning component 5.

[0027] Please see Figure 4 In one embodiment, preferably, the guide component 7 includes a guide rail 701 mounted on the gripping frame 1. Two sliders 702 are mounted on the guide rail 701. The two sliders 702 are respectively connected to the movable clamping component 4 and the clamping positioning component 5. Further, there are two guide rails 701, which are arranged in parallel, and each guide rail 701 is equipped with two sliders 702. The sliders 702 establish the connection between the guide rail 701 and the first clamping plate body 403 or the second clamping plate body 503, and at the same time, prevent the first clamping plate body 403 and the second clamping plate body 503 from rotating with the lead screw, which would affect the gripping of materials.

[0028] Please see Figure 4 In one embodiment, preferably, the detection component 8 includes a sensor mounting bracket 801 mounted on the gripping frame 1 and a photoelectric sensor 802 mounted on the sensor mounting bracket 801. Further, the photoelectric sensor 802 is used to detect the presence or absence of the battery cell module.

[0029] Please see Figure 1In one embodiment, preferably, the gripping frame 1 is connected to the end of the six-axis robot 10 via a flange connecting plate 9. A robot base 11 is installed at the bottom of the six-axis robot 10. Furthermore, the six-axis robot 10 is fixed to the robot base 11 by bolts, and the robot base 11 is fixed to the ground by anchor bolts to support the entire mechanism. The six-axis robot 10 is used to control the movement of the entire gripping frame 1.

[0030] The working principle and usage process of this utility model are as follows: After the stacking slide completes the stacking of the battery cell modules, it sends a completion signal. The material gripping device moves above the material via the movement of the six-axis robot 10. The servo motor 204 starts working, rotating the lead screw 206. The lead screw 206, through the lead screw bearing 208, moves the moving clamping assembly 4 away from the material to a safe distance. Then, the six-axis robot 10 drives the gripping frame 1 to move downward to a fixed position. The servo motor 204 starts working, rotating the lead screw 206 in the opposite direction. Through the lead screw bearing 208, the moving clamping assembly 4 moves towards the material, clamping the material towards the clamping and positioning assembly 5 until pressure is transmitted. When sensor 406 stops moving within a specified range, the pressing cylinder 601 starts working, pressing the suction cup 608 down to the cell electrode surface and starting to draw a vacuum to form a negative pressure, ensuring that the suction cup 608 completely picks up the material. Then, the six-axis robot 10 moves the gripping frame 1 and the gripped material to the top of the tray, slowly presses it down, places it on the tray, releases the moving clamping component 4, and the suction cup 608 breaks the vacuum, completing the gripping and transfer of the material. When changing battery types, the handwheel 207 can be turned, and the screw displacement digital display 304 can be used to accurately move the short screw bearing 306 with the clamping and positioning component 5 to the required position, which is compatible with batteries of different thicknesses or materials of different lengths.

[0031] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0032] Therefore, the above description is only a preferred embodiment of this application and is not intended to limit the scope of this application; that is, all equivalent modifications made in accordance with the scope of the claims of this application shall be within the protection scope of the claims of this application.

Claims

1. A material gripping device, characterized in that, The device includes a gripping frame and a servo drive assembly and a positioning drive assembly disposed on opposite end faces of the gripping frame. The servo drive assembly and the positioning drive assembly are respectively equipped with a moving clamping assembly and a clamping positioning assembly driven by them for gripping materials. The gripping frame is also equipped with an adsorption assembly to prevent materials from falling.

2. The material gripping device according to claim 1, characterized in that, The servo drive assembly includes a motor mounting plate, a fixed mounting base, and a long lead screw tail fixing base mounted on the gripping frame. A servo motor is mounted on the motor mounting plate, a coupling is mounted on the output end of the servo motor, a long lead screw whose end is connected to the long lead screw tail fixing base is mounted on the coupling, a lead screw fixing base is mounted on the fixed mounting base, and a long lead screw bearing is mounted on the long lead screw.

3. The material gripping device according to claim 1, characterized in that, The positioning drive assembly includes a bearing fixing connection plate and a short lead screw tail fixing seat mounted on the gripping frame. A seated bearing is mounted on the bearing fixing connection plate, and a lead screw displacement digital display is mounted on the seated bearing. A short lead screw connected to the seated bearing is mounted on the short lead screw tail fixing seat, and a short lead screw bearing is mounted on the short lead screw. A handwheel is mounted at the end of the short lead screw.

4. The material gripping device according to claim 2, characterized in that, The movable clamping assembly includes a long screw bearing connecting plate mounted on a long screw bearing, a first connecting plate mounted on the long screw bearing connecting plate, a first clamping plate body mounted on the first connecting plate, a positioning pin mounted on the surface of the first clamping plate body adjacent to the material, a pressure sensor mounting plate mounted on the positioning pin, a pressure sensor mounted on the pressure sensor mounting plate located between the pressure sensor mounting plate and the first clamping plate body, and a clamping rubber pad mounted on the surface of the first clamping plate body away from the pressure sensor.

5. The material gripping device according to claim 3, characterized in that, The clamping and positioning assembly includes a short lead screw bearing connecting plate mounted on a short lead screw bearing, a second connecting plate mounted on the short lead screw bearing connecting plate, a second clamping plate body mounted on the second connecting plate, a jaw base plate mounted on the second clamping plate body, and a clamping rubber plate mounted on the jaw base plate.

6. The material gripping device according to claim 1, characterized in that, The adsorption assembly includes a pressing cylinder mounted on the gripping frame and a floating joint mounted on the end of the pressing cylinder. A suction cup mounting plate is mounted on the end of the floating joint. A guide shaft fixing support is mounted on the suction cup mounting plate, and a guide shaft penetrating into the interior of the gripping frame is mounted on the guide shaft fixing support. A guide shaft bearing and a stop ring are respectively mounted on the guide shaft. Both the guide shaft bearing and the stop ring are located inside the gripping frame. Several suction cups are mounted on the suction cup mounting plate.

7. The material gripping device according to claim 1, characterized in that, It also includes a guide component and a detection component installed on the gripping frame. The guide component is used to provide guidance for the movement of the moving gripping component and the gripping positioning component. The detection component is used to detect whether a battery cell module is gripped between the gripping component and the gripping positioning component.

8. The material gripping device according to claim 7, characterized in that, The guiding assembly includes a guide rail mounted on the gripping frame, and two sliders are mounted on the guide rail. The two sliders are respectively connected to a moving clamping assembly and a clamping positioning assembly.

9. The material gripping device according to claim 7, characterized in that, The detection component includes a sensor mounting bracket installed on the gripping frame and a photoelectric sensor installed on the sensor mounting bracket.

10. The material gripping device according to claim 1, characterized in that, The gripping frame is connected to the end of the six-axis robot via a flange connecting plate, and a robot base is installed at the bottom of the six-axis robot.

Images