robotic arms and adhesive application equipment

Abstract

This utility model discloses a robotic arm and adhesive application device. The robotic arm includes a support, a variable-pitch drive mechanism, and multiple actuators. The variable-pitch drive mechanism is connected to the support and includes a first drive member and a worm gear. The first drive member is connected to the worm gear, which has a central axis. The circumferential outer wall of the worm gear defines multiple helical grooves, each extending helically around the central axis. Each actuator is connected to a specific helical groove. The first drive member drives the worm gear to rotate around the central axis, so that the multiple helical grooves respectively drive the multiple actuators to move closer to or further away from each other along the axial direction of the central axis. The robotic arm of this utility model has a relatively simple structure and low cost.

Description

Technical Field

[0001] This utility model relates to the field of adhesive application equipment technology, and in particular to a robotic arm and adhesive application equipment. Background Technology

[0002] On automated adhesive application production lines, adhesive application is required for battery cells of different specifications.

[0003] In related technologies, multiple adhesive application mechanisms and multiple pitch-changing drive mechanisms are set up. The pitch-changing drive mechanisms are connected to the adhesive application mechanisms, and each mechanism drives the adhesive application mechanisms to move closer to or further away from each other along a preset direction, thereby achieving pitch variation between the adhesive application mechanisms. This allows the multiple adhesive application mechanisms to adapt to the distance between adhesive application positions on battery cells of different specifications. However, each adhesive application mechanism requires a separate pitch-changing drive mechanism, resulting in a complex overall structure and high cost. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a robotic arm and adhesive application equipment, which simplifies the structure of the robotic arm and reduces costs.

[0005] In a first aspect, this utility model provides a robotic arm, which includes a support, a pitch-changing drive mechanism, and multiple actuators. The pitch-changing drive mechanism is connected to the support and includes a first drive member and a worm gear. The first drive member is connected to the worm gear, which has a central axis. The circumferential outer wall of the worm gear defines multiple helical grooves, each of which extends helically around the central axis. Each actuator is connected to each helical groove. The first drive member is used to drive the worm gear to rotate around the central axis, so that the multiple helical grooves drive the multiple actuators to move closer to or further away from each other along the axial direction of the central axis.

[0006] The robotic arm according to the embodiments of this utility model has at least the following beneficial effects: By defining multiple helical grooves on the worm gear, which are connected to multiple actuators respectively, the worm gear can drive multiple actuators to move closer to or further away from each other as it rotates around its central axis, each corresponding to a different work station. This allows multiple actuators to adapt to work stations with different spacing, resulting in good versatility. Furthermore, the worm gear drive has high-precision positioning and high stability, ensuring that the actuators move accurately to the preset work positions, meeting the requirements of high-precision production. On the other hand, one worm gear can connect to multiple actuators, meaning one variable-pitch drive mechanism can drive multiple actuators to move. Multiple actuators do not need to be configured with a separate variable-pitch drive mechanism, which simplifies the structure of the robot and reduces costs.

[0007] According to some embodiments of the present invention, the plurality of spiral grooves include at least one first sub-groove and at least one second sub-groove, the at least one first sub-groove and at least one second sub-groove are axially spaced along the central axis, the first sub-groove and the second sub-groove have opposite rotation directions, and each first sub-groove and each second sub-groove is used to connect to an actuator.

[0008] According to some embodiments of this utility model, when the number of first sub-slots is greater than or equal to two, the pitch of each first sub-slot is not equal; When the number of second sub-slots is greater than or equal to two, the pitch of each second sub-slot is not equal.

[0009] According to some embodiments of this utility model, the multiple spiral grooves have the same direction of rotation but different pitches.

[0010] According to some embodiments of the present invention, the variable pitch drive mechanism further includes a guide mechanism that extends along the central axis, and multiple actuators are respectively connected to the guide mechanism. The guide mechanism is used to guide the multiple actuators to move axially along the central axis.

[0011] According to some embodiments of the present invention, the actuator includes a second driving member and an adsorption disk. The second driving member is connected to the spiral groove, and the adsorption disk is connected to the second driving member. The second driving member is used to drive the adsorption disk to move in a direction perpendicular to the central axis.

[0012] According to some embodiments of the present invention, the adsorption disk is movably connected to the output shaft of the second driving member in a direction perpendicular to the central axis, and the actuator further includes an elastic member connected between the output shaft of the second driving member and the adsorption disk.

[0013] According to some embodiments of the present invention, the actuator further includes an adapter and a guide rod. The adapter is connected to the output shaft of the second drive member, and the guide rod extends in a direction perpendicular to the central axis. The two ends of the guide rod are respectively connected to the adapter and the adsorption disk. The guide rod is used to guide the adsorption disk to move relative to the adapter in a direction perpendicular to the central axis.

[0014] According to some embodiments of the present invention, the robotic arm also includes a vacuum generator, the adsorption plate has an inner cavity and an adsorption hole, the inner cavity and the adsorption hole are connected, the vacuum generator is connected to the inner cavity, and the vacuum generator is used to draw air from the inner cavity.

[0015] Secondly, this utility model embodiment also provides an adhesive application device, which includes the robotic arm described in any of the above embodiments.

[0016] The adhesive applicator of this utility model embodiment has the beneficial effects of a robotic arm, which will not be elaborated further here.

[0017] Additional aspects and advantages of this invention 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 the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A schematic diagram of the structure of the robotic arm provided in an embodiment of this utility model; Figure 2 An assembly diagram of the variable pitch drive mechanism and the actuator provided for an embodiment of this utility model; Figure 3 for Figure 2 Enlarged view of part A; Figure 4 A schematic diagram of the worm gear structure provided in an embodiment of this utility model; Figure 5 A schematic diagram of the structure of the actuator provided in this embodiment of the utility model; Figure 6 This is an exploded view of the actuator provided in an embodiment of the present invention.

[0019] Figure label: 100 robotic arms; Support 10; Pitch-changing drive mechanism 20; First drive component 21; Worm gear 22; Spiral groove 201; First sub-groove 2011; Second sub-groove 2012; Transmission assembly 23; First pulley 231; Second pulley 232; Guide mechanism 24; Guide rail 241; Slider 242; Connector 25; Actuator 30; Second drive component 31; Adsorption plate 32; Adsorption hole 302; Elastic component 33; Adapter 34; Guide hole 301; Guide rod 35; Anti-detachment part 351; Vacuum generator 40. Detailed Implementation

[0020] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0021] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0022] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0024] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. 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.

[0025] In related technologies, the variable pitch drive mechanism is usually a cylinder. The cylinder has poor motion accuracy and stability, which means that when it changes the pitch of the adhesive applicator, it cannot guarantee that the adhesive applicator will move accurately to the preset adhesive applicator position, making it difficult to meet the requirements of high-precision production.

[0026] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of the robotic arm 100 provided in this embodiment of the present invention. The following description uses the robotic arm 100 for applying adhesive to battery cells as an example. Of course, the robotic arm 100 can also be used in other operations, such as picking up and placing workpieces.

[0027] The robotic arm 100 can move autonomously on its own, or it can move under the drive of an external device to change its workstation and switch between different workstations.

[0028] The robotic arm 100 includes a support 10, a pitch-changing drive mechanism 20, and multiple actuators 30. The pitch-changing drive mechanism 20 is connected to the support 10, and the multiple actuators 30 are respectively connected to the pitch-changing drive mechanism 20. The pitch-changing drive mechanism 20 is used to drive the multiple actuators 30 to move closer to each other or further away from each other.

[0029] Please combine Figure 2 and Figure 3 , Figure 2 This is an assembly diagram of the variable pitch drive mechanism 20 and the actuator 30 provided in an embodiment of the present invention. Figure 3 for Figure 2 The enlarged view of part A shows that the variable pitch drive mechanism 20 is connected to the bracket 10. The variable pitch drive mechanism 20 includes a first drive member 21 and a worm gear 22. The first drive member 21 is connected to the worm gear 22. The worm gear 22 has a central axis L. The circumferential outer wall of the worm gear 22 defines a plurality of helical grooves 201. Each helical groove 201 extends helically around the central axis L. Each actuator 30 is connected to each helical groove 201. The first drive member 21 is used to drive the worm gear 22 to rotate around the central axis L, so that the plurality of helical grooves 201 respectively drive the plurality of actuators 30 to move closer to or further away from each other along the axial direction of the central axis L of the worm gear 22.

[0030] When multiple actuators 30 approach each other along the central axis L of the worm gear 22, their positions correspond to the positions of multiple films, and each actuator 30 can pick up the films. When multiple actuators 30 move away from each other along the central axis L of the worm gear 22, their positions correspond to the positions of multiple battery cells to be glued, and each actuator 30 can place the films it has picked up onto the corresponding positions to be glued.

[0031] In this embodiment of the invention, multiple helical grooves 201 are defined on the worm gear 22, and these grooves 201 are respectively connected to multiple actuators 30. On the one hand, when the worm gear 22 rotates around its central axis L, it can drive the multiple actuators 30 to move closer to or further away from each other, corresponding to different work positions. This allows the multiple actuators 30 to adapt to work positions with different spacing, resulting in good versatility. Furthermore, the worm gear 22 drive has high-precision positioning and high-stability motion characteristics, ensuring that the actuators 30 move accurately to the preset work position, meeting the requirements of high-precision production. On the other hand, one worm gear 22 can be connected to multiple actuators 30, meaning that one variable-pitch drive mechanism 20 can drive multiple actuators 30 to move. Multiple actuators 30 do not need to be configured with a separate variable-pitch drive mechanism 20, which simplifies the structure of the robot arm 100 and reduces costs.

[0032] Please see Figure 2 In some embodiments, the variable pitch drive mechanism 20 further includes a transmission assembly 23. The first drive member 21 is a motor, and the output shaft of the motor and the worm gear 22 are connected through the transmission assembly 23. The transmission assembly 23 is used to transmit motion between the output shaft of the motor and the worm gear 22.

[0033] Specifically, the transmission assembly 23 includes a first pulley 231, a second pulley 232, and a transmission belt. The first pulley 231 is sleeved on the output shaft of the motor, and the second pulley 232 is sleeved on one end of the worm gear 22. The axes of the first pulley 231 and the second pulley 232 are parallel to each other and radially opposite. The transmission belt is respectively sleeved between the first pulley 231 and the second pulley 232. When the motor starts, its output shaft can drive the first pulley 231 to rotate. The first pulley 231 drives the second pulley 232 to rotate through the transmission belt. The second pulley 232 drives the worm gear 22 to rotate around the central axis L of the worm gear 22, thereby driving each actuator 30.

[0034] It is understood that the motor's output shaft and the worm 22 can also be linked through other types of components, not limited to the first pulley 231, the second pulley 232, and the transmission belt mentioned above. For example, in some embodiments, the transmission assembly 23 includes a worm gear, which is sleeved on the motor's output shaft. One end of the worm 22 is provided with helical teeth, and the worm gear engages with the helical teeth on one end of the worm 22. When the motor starts, its output shaft can drive the worm gear to rotate, and the worm gear drives the worm 22 to rotate around the central axis L of the worm 22, thereby driving each actuator 30.

[0035] Please see Figure 4 , Figure 4 The diagram illustrates the structure of the worm gear 22 provided in an embodiment of the present invention. In some embodiments, the plurality of helical grooves 201 include at least one first sub-groove 2011 and at least one second sub-groove 2012, which are axially spaced along the central axis L of the worm gear 22. The first sub-groove 2011 and the second sub-groove 2012 have opposite rotation directions, and each first sub-groove 2011 and each second sub-groove 2012 is respectively used to connect to an actuator 30. Since the first sub-slot 2011 and the second sub-slot 2012 rotate in opposite directions, when the worm 22 rotates around its own central axis L in the first direction, the actuator 30 connected to the first sub-slot 2011 and the actuator 30 connected to the second sub-slot 2012 move in opposite directions along the axial direction of the central axis L of the worm 22, thus allowing them to approach each other. When the worm 22 rotates around its own central axis L in the second direction, the actuator 30 connected to the first sub-slot 2011 and the actuator 30 connected to the second sub-slot 2012 move in opposite directions along the axial direction of the central axis L of the worm 22, thus allowing them to move away from each other.

[0036] The first direction and the second direction are opposite.

[0037] It is understandable that if the pitch of each first sub-slot 2011 is equal, then when the worm 22 rotates around its own central axis L, the actuators 30 connected to each first sub-slot 2011 will maintain a fixed distance during their axial movement along the central axis L of the worm 22, making it impossible to achieve pitch variation among the actuators 30. Therefore, in some embodiments, when the number of first sub-slots 2011 is greater than or equal to two, the pitch of each first sub-slot 2011 is not equal. Since the first sub-slots 2011 have the same rotation direction, when the worm 22 rotates around its own central axis L, the actuators 30 connected to each first sub-slot 2011 move in the same axial direction along the central axis L of the worm 22. However, due to the unequal pitch, the axial displacement generated by the actuators 30 corresponding to each first sub-slot 2011 under a unit rotation angle of the worm 22 is different. As a result, during the movement, the actuators 30 corresponding to each first sub-slot 2011 generate relative displacements with each other, thus moving closer to or further away from each other.

[0038] It is understandable that if the pitch of each second sub-slot 2012 is equal, then when the worm 22 rotates around its own central axis L, the actuators 30 connected to each second sub-slot 2012 will maintain a fixed distance during their axial movement along the central axis L of the worm 22, making it impossible to achieve pitch variation for each actuator 30. Therefore, in some embodiments, when the number of second sub-slots 2012 is greater than or equal to two, the pitch of each second sub-slot 2012 is not equal. Since the second sub-slots 2012 have the same rotation direction, when the worm 22 rotates around its own central axis L, the actuators 30 connected to each second sub-slot 2012 move in the same axial direction along the central axis L of the worm 22. Furthermore, due to the unequal pitch, the axial displacement generated by the actuators 30 corresponding to each second sub-slot 2012 at a unit rotation angle of the worm 22 is different. This results in relative displacement between the actuators 30 corresponding to each second sub-slot 2012 during movement, causing them to move closer to or further away from each other.

[0039] In the specific implementation process, the number of the first sub-slot 2011 and the second sub-slot 2012 can be selected according to actual needs, as long as there is at least one first sub-slot 2011 and at least one second sub-slot 2012. For example, Figure 4As shown, in some embodiments, there are two first sub-slots 2011 and two second sub-slots 2012. The pitches of the two first sub-slots 2011 are not equal, and the pitches of the two second sub-slots 2012 are not equal. The two first sub-slots 2011 and two second sub-slots 2012 are symmetrically distributed around the center plane of the worm 22, which is perpendicular to the central axis L of the worm 22. The first sub-slot 2011 with a smaller pitch is closer to the center plane than the first sub-slot 2011 with a larger pitch, and the second sub-slot 2012 with a smaller pitch is closer to the center plane than the second sub-slot 2012 with a larger pitch. For example, in other embodiments, one of the two first sub-slots 2011 with a larger pitch or / and one of the two second sub-slots 2012 with a larger pitch is omitted, or both the one of the two first sub-slots 2011 with a smaller pitch and the one of the two second sub-slots 2012 with a smaller pitch are omitted.

[0040] Furthermore, when the first sub-slot 2011 and the second sub-slot 2012 are symmetrically distributed with the worm 22 centered on the central plane of the worm 22, the actuator 30 connected to the first sub-slot 2011 and the actuator 30 connected to the second sub-slot 2012 can also be symmetrically distributed with the central plane of the worm 22 as the center. In this way, each actuator 30 can simultaneously move away from the central plane and disperse, or simultaneously move closer to the central plane and converge, as it moves along the central axis L of the worm 22.

[0041] In other embodiments, the helical grooves 201 have the same direction of rotation but different pitches. Since the helical grooves 201 have the same direction of rotation, when the worm 22 rotates around its own central axis L, the actuators 30 connected to each helical groove 201 move in the same axial direction along the central axis L of the worm 22. However, since the pitches are different, the axial displacement of the actuators 30 corresponding to each helical groove 201 under a unit rotation angle of the worm 22 is different. As a result, during the movement, the actuators 30 corresponding to each helical groove 201 generate relative displacements with each other, and thus move closer to or further away from each other.

[0042] When the worm gear 22 converts its rotational motion around its central axis L into the linear motion of the actuator 30 along the central axis L, if the motion of the actuator 30 is not guided, the actuator 30 will rotate along with the worm gear 22.

[0043] In view of this, please refer to Figure 3In some embodiments, the variable pitch drive mechanism 20 further includes a guide mechanism 24, which extends along the central axis L of the worm 22. A plurality of actuators 30 are respectively connected to the guide mechanism 24. The guide mechanism 24 is used to guide the plurality of actuators 30 to move axially along the central axis L of the worm 22, so as to limit the actuators 30 from deflecting when moving axially along the central axis L of the worm 22, thereby ensuring that the actuators 30 maintain a fixed posture under the drive of the variable pitch drive mechanism 20.

[0044] Specifically, the guiding mechanism 24 includes a guide rail 241 and a slider 242. The guide rail 241 extends axially along the central axis L of the worm gear 22. The slider 242 is slidably connected to the guide rail 241. The actuator 30 is connected to the slider 242. The slider 242 can slide back and forth along the guide rail 241. The cooperation between the guide rail 241 and the slider 242 can guide the actuator 30 to move axially along the central axis L of the worm gear 22 and limit the actuator 30 from deflection.

[0045] It is understood that the specific structure of the guiding mechanism 24 can be set according to actual needs and is not limited to the combination of the guide rail 241 and the slider 242 described above. For example, in some other embodiments, the guiding mechanism 24 includes a guide post that extends axially along the worm gear 22, and the actuator 30 defines a guide groove. The guide post passes through the guide groove, and the cooperation between the guide post and the guide groove can guide the actuator 30 to move axially along the central axis L of the worm gear 22 and limit the actuator 30 from deflection.

[0046] Please see Figure 3 In some embodiments, the variable pitch drive mechanism 20 further includes a connector 25, one end of which is connected to the actuator 30, and the other end of which is inserted into the helical groove 201. Thus, the actuator 30 is connected to the helical groove 201 through the connector 25.

[0047] Please see Figure 5 and Figure 6 , Figure 5 This is a schematic diagram of the structure of the actuator 30 provided in an embodiment of the present utility model. Figure 6 This is an exploded view of the structure of the actuator 30 provided in the embodiment of the present utility model. In some embodiments, the actuator 30 is used to perform the operation of picking up and placing film. The actuator 30 includes a second driving member 31 and an adsorption disk 32. The second driving member 31 is connected to the spiral groove 201, and the adsorption disk 32 is connected to the second driving member 31. The second driving member 31 is used to drive the adsorption disk 32 to move in a direction perpendicular to the central axis L of the worm gear 22. The adsorption disk 32 is used to adsorb and fix the film.

[0048] When the worm gear 22 rotates around its central axis L in the first direction, each actuator 30 can approach each other and be positioned at its corresponding adhesive dispensing station. At this time, the second drive member 31 can drive the suction plate 32 to move away from the worm gear 22 in a direction perpendicular to the central axis L of the worm gear 22, and bring the suction plate 32 closer to the corresponding adhesive sheet so that the suction plate 32 can adsorb the adhesive sheet and fix it to the suction plate 32. Then, the second drive member 31 drives the suction plate 32 to move towards the worm gear 22 in a direction perpendicular to the central axis L of the worm gear 22 so that the suction plate 32 is reset, thereby completing the adhesive dispensing process of the actuator 30. Picking up the film; when the worm gear 22 rotates around its own central axis L in the second direction, each actuator 30 can move away from each other and be located at the corresponding adhesive application station. At this time, the second drive member 31 can drive the suction plate 32 to move away from the worm gear 22 in a direction perpendicular to the central axis L of the worm gear 22, and make the adhesive on the suction plate 32 abut against the corresponding adhesive application position of the battery cell, so that the adhesive is attached to the battery cell. Then, the second drive member 31 drives the suction plate 32 to move towards the worm gear 22 in a direction perpendicular to the central axis L of the worm gear 22, so that the suction plate 32 is reset, thereby completing the adhesive application of the battery cell by the actuator 30.

[0049] In some embodiments, the second drive element 31 is a cylinder.

[0050] It is understandable that the second driving element 31 can also be other devices capable of driving the adsorption disk 32 to move in a direction perpendicular to the central axis L of the worm gear 22, such as an electric push rod.

[0051] Understandably, the specific structure of the adsorption plate 32, as the actuator of the robot arm 100, can be set according to the actual operation mode. For example, when the adsorption plate 32 is used for picking up and placing workpieces, the adsorption plate 32 can be replaced with a gripper structure, and the workpiece can be picked up and placed by opening and closing the gripper.

[0052] Typically, when applying adhesive, the suction cup 32 is moved by a fixed stroke driven by the second driving component 31, which can easily cause the suction cup 32 to apply excessive pressure to the battery cell.

[0053] In view of this, in some embodiments, the adsorption disk 32 is movably connected to the output shaft of the second drive member 31 in a direction perpendicular to the central axis L of the worm gear 22; that is, the adsorption disk 32 can move relative to the second drive member 31 in a direction perpendicular to the central axis L of the worm gear 22. The actuator 30 also includes an elastic member 33, which is connected between the output shaft of the second drive member 31 and the adsorption disk 32, and provides an elastic force between the output shaft of the second drive member 31 and the adsorption disk 32.

[0054] In this embodiment, when the second driving member 31 drives the adsorption disk 32 and the adhesive film on it to the adhesive application position of the battery cell, and the adhesive film is just placed on the battery cell, the output shaft of the second driving member 31 can continue to move relative to the adsorption disk 32 towards the adsorption disk 32, and squeeze the elastic member 33. Under the squeezing action of the output shaft of the second driving member 31, the elastic member 33 applies an elastic force to the adsorption disk 32, so that the adsorption disk 32 can press the adhesive film tightly on the battery cell, thereby making the adhesive film adhere tightly to the battery cell, and the adhesive application effect is better. During the adhesive application process, the elastic effect of the elastic member 33 makes the mutual resistance between the second driving member 31 and the battery cell relatively gentle, avoiding overpressure due to rigid resistance, and preventing damage to the battery cell during the adhesive application process.

[0055] In some embodiments, the actuator 30 further includes an adapter 34 and a guide rod 35. The adapter 34 is connected to the output shaft of the second drive member 31. The guide rod 35 extends in a direction perpendicular to the central axis L of the worm gear 22. The two ends of the guide rod 35 are respectively connected to the adapter 34 and the adsorption disk 32. The guide rod 35 is used to guide the adsorption disk 32 to move relative to the adapter 34 in a direction perpendicular to the central axis L of the worm gear 22, so as to prevent the adsorption disk 32 from deviating during the movement in a direction perpendicular to the central axis L of the worm gear 22, thereby ensuring that the adsorption disk 32 maintains a fixed posture under the drive of the second drive member 31.

[0056] Specifically, there are two guide rods 35, and the adapter 34 defines two guide holes 301. Each guide rod 35 is movably inserted through a corresponding guide hole 301 and fixedly connected to the adsorption plate 32. An anti-detachment part 351 is provided at the end of each guide rod 35 away from the adsorption plate 32 to prevent the guide rod 35 from detaching from the guide hole 301. The elastic element 33 is a compression spring, located between the adapter 34 and the adsorption plate 32, and sleeved on the outside of the guide rod 35.

[0057] When the second driving member 31 drives the adsorption plate 32 and the adhesive film on it to the adhesive application position of the battery cell via the adapter 34, and the adhesive film is just placed on the battery cell, the output shaft of the second driving member 31 can continue to drive the adapter 34 to move relative to the guide rod 35 towards the adsorption plate 32. At the same time, the elastic member 33 is squeezed and deformed by the adapter 34 and the adsorption plate 32, and the adapter 34 gradually moves away from the anti-detachment part 351. After the adhesive application is completed, the output shaft of the second driving member 31 drives the adapter 34 to move relative to the guide rod 35 away from the adsorption plate 32. At the same time, the elastic member 33 gradually recovers its deformation, and the adapter 34 gradually approaches the anti-detachment part 351 until the adapter 34 abuts against the anti-detachment part 351. At this point, the adapter 34 can drive the adsorption plate 32 to move synchronously away from the battery cell via the guide rod 35.

[0058] Please see Figure 1and Figure 6 In some embodiments, to enable the adsorption disk 32 to adsorb the film, the robot arm 100 also includes a vacuum generator 40. The adsorption disk 32 has an inner cavity and an adsorption hole 302, which are connected. The vacuum generator 40 is connected to the inner cavity and is used to draw air from the inner cavity to create a negative pressure in the inner cavity. When the adsorption disk 32 approaches the film, the film is adsorbed and fixed by the adsorption hole 302 under the negative pressure of the inner cavity.

[0059] This utility model embodiment also provides an adhesive application device, which includes the robotic arm 100 as described in any of the above embodiments.

[0060] The adhesive applicator of this utility model embodiment has the beneficial effects of the robotic arm 100, which will not be described in detail here.

[0061] It should be noted that the adhesive application device provided in this embodiment only shows the part related to the technical problem to be solved by this embodiment. It can be understood that the adhesive application device provided in this embodiment also includes other structures for realizing the function of the adhesive application device, including but not limited to a robotic arm for driving the overall movement of the robotic arm.

[0062] Within the scope of knowledge possessed by those skilled in the art, various modifications can be made without departing from the spirit of this utility model. Furthermore, embodiments of this utility model and features thereof can be combined with each other, unless otherwise specified.

Claims

1. A robotic arm, characterized in that, The device includes a support frame, a variable pitch drive mechanism, and multiple actuators. The variable pitch drive mechanism is connected to the support frame and includes a first drive member and a worm gear. The first drive member is connected to the worm gear, which has a central axis. The circumferential outer wall of the worm gear defines multiple helical grooves, each of which extends helically around the central axis. Each actuator is connected to a specific helical groove. The first drive member drives the worm gear to rotate around the central axis, so that the multiple helical grooves respectively drive the multiple actuators to move closer to or further away from each other along the axial direction of the central axis.

2. The robotic arm according to claim 1, characterized in that, The plurality of spiral grooves include at least one first sub-groove and at least one second sub-groove, the at least one first sub-groove and at least one second sub-groove being axially spaced along the central axis, the first sub-groove and the second sub-groove having opposite rotation directions, and each first sub-groove and each second sub-groove being used to connect to one of the actuators.

3. The robotic arm according to claim 2, characterized in that, When the number of the first sub-slots is greater than or equal to two, the pitch of each first sub-slot is not equal; When the number of second sub-slots is greater than or equal to two, the pitch of each second sub-slot is not equal.

4. The robotic arm according to claim 1, characterized in that, The multiple spiral grooves have the same direction of rotation but different pitches.

5. The robotic arm according to claim 1, characterized in that, The variable pitch drive mechanism further includes a guide mechanism that extends along the central axis. A plurality of the actuators are respectively connected to the guide mechanism, which guides the plurality of actuators to move axially along the central axis.

6. The robotic arm according to claim 1, characterized in that, The actuator includes a second driving member and an adsorption disk. The second driving member is connected to the spiral groove, and the adsorption disk is connected to the second driving member. The second driving member is used to drive the adsorption disk to move in a direction perpendicular to the central axis.

7. The robotic arm according to claim 6, characterized in that, The adsorption disk is movably connected to the output shaft of the second drive member in a direction perpendicular to the central axis. The actuator also includes an elastic element, which is connected between the output shaft of the second drive member and the adsorption disk.

8. The robotic arm according to claim 7, characterized in that, The actuator further includes an adapter and a guide rod. The adapter is connected to the output shaft of the second drive member. The guide rod extends in a direction perpendicular to the central axis. Both ends of the guide rod are connected to the adapter and the adsorption disk, respectively. The guide rod is used to guide the adsorption disk to move relative to the adapter in a direction perpendicular to the central axis.

9. The robotic arm according to claim 6, characterized in that, The robotic arm also includes a vacuum generator. The adsorption disk has an inner cavity and an adsorption hole. The inner cavity and the adsorption hole are connected. The vacuum generator is connected to the inner cavity and is used to draw air from the inner cavity.

10. An adhesive application device, characterized in that, Includes the robotic arm as described in any one of claims 1 to 9.

Images