WO2024007729A1 - Mechanical gripper for automatic grasping and stacking of battery cell and extruded board - Google Patents

Mechanical gripper for automatic grasping and stacking of battery cell and extruded board Download PDF

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Publication number
WO2024007729A1
WO2024007729A1 PCT/CN2023/093714 CN2023093714W WO2024007729A1 WO 2024007729 A1 WO2024007729 A1 WO 2024007729A1 CN 2023093714 W CN2023093714 W CN 2023093714W WO 2024007729 A1 WO2024007729 A1 WO 2024007729A1
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WO
WIPO (PCT)
Prior art keywords
fixed
claw
plate
seat
cylinder
Prior art date
Application number
PCT/CN2023/093714
Other languages
French (fr)
Chinese (zh)
Other versions
WO2024007729A9 (en
Inventor
王会超
刘振国
刘木子
郭瑞
曹翀
李培申
马杰
Original Assignee
北京机械工业自动化研究所有限公司
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Application filed by 北京机械工业自动化研究所有限公司 filed Critical 北京机械工业自动化研究所有限公司
Publication of WO2024007729A1 publication Critical patent/WO2024007729A1/en
Publication of WO2024007729A9 publication Critical patent/WO2024007729A9/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the invention relates to a special mechanical claw, in particular to a mechanical claw used for automatically grabbing and stacking electric cores and extruded boards.
  • the technical problem to be solved by the present invention is to provide a mechanical claw for automatically grabbing and stacking electric cores and extruded boards, which can realize fully automated picking and placing of electric cores and extruded boards.
  • the present invention provides a mechanical claw for automatically grabbing and stacking electric cores and extruded boards, including: a claw base plate, a suction cup mechanism, a grabbing mechanism, a distance changing mechanism and an anti-drop mechanism. ;
  • the suction cup mechanism, grabbing mechanism, distance changing mechanism and anti-drop mechanism are fixed on the claw base plate; the extruded board is picked up and placed through the sucking cup mechanism, and the grabbing mechanism, the distance changing mechanism and the anti-drop mechanism to pick up and discharge the battery core.
  • the hand claw base plate includes a bottom plate, a robot connection base, a robot connection flange, a solenoid valve assembly, a solenoid valve mounting plate, a light source mounting plate and a light source.
  • the robot connection base is fixed on the hand claw base plate
  • the The robot connection flange is fixed on the robot connection base
  • the solenoid valve assembly is fixed on the solenoid valve mounting plate
  • the solenoid valve mounting plate is fixed on the robot connection base
  • the light source mounting plate is installed At the bottom of the base plate, the light sources are respectively installed on the bottom of the light source mounting plate.
  • the suction cup mechanism includes a linear bearing, a suction cup, a guide shaft, a cylinder fixed plate, a suction cup installation plate, and a suction cup cylinder.
  • the linear bearings are respectively installed at the bottom of the cylinder fixed plate, and the suction cups are respectively installed on the suction cup installation plate.
  • the guide shafts respectively pass through the holes of the linear bearings
  • the cylinder fixing plates are respectively installed on the sides of the base plate
  • the suction cup mounting plates are installed on the bottom of the guide shafts
  • the suction cup cylinders are installed on the The cylinder fixed plate.
  • the gripping mechanism includes a pneumatic finger cylinder, a pneumatic finger mounting block, a camera mounting plate, a spring assembly, a photoelectric sensor, a claw seat, a claw, a claw pad, an anti-collision pad and a vision camera.
  • the pneumatic finger cylinder Fixed on the pneumatic finger mounting block, the pneumatic finger mounting block is fixed on the guide shaft on the spring assembly, the camera mounting plate is fixed on the side end of the pneumatic finger mounting block, the spring assembly They are respectively installed on the moving air claw holder, the fixed air claw holder and the mirror moving air claw holder.
  • the photoelectric sensor is fixed on the upper part of the hand claw seat, and the hand claw seat is fixed on the pneumatic finger cylinder.
  • the hand claw is fixed on the end of the hand claw seat, the hand claw rubber pad is fixed on the inner large surface of the hand claw, and the anti-collision pad is fixed on the bottom of the hand claw seat.
  • the vision camera is fixed outside the camera mounting plate On the side.
  • the spring assembly includes a lower end gasket, an upper end gasket, a guide shaft, a spring and a linear bearing.
  • the lower end gasket passes through the guide shaft and is floated between the lower end of the linear bearing and the spring.
  • the upper end The gasket is fixed on the end of the guide shaft, the guide shaft is fixed on the upper part of the pneumatic finger mounting block, the spring is sleeved on the guide shaft, and the linear bearings are respectively installed on the mobile air claw fixing seat. , on the fixed air claw holder and the mirror moving air claw holder.
  • the distance-changing mechanism includes a movable air claw holder, a slider, a fixed air claw holder, a guide rail, a proximity switch holder, a mirror moving air claw holder, a proximity switch and a motor assembly.
  • the mobile air claw holder is fixed respectively.
  • the slider is installed on the guide rail
  • the fixed air claw holder is installed on the bottom plate
  • the guide rails are respectively installed on the bottom plate
  • the proximity switch holder is installed
  • the mirror moving air claw fixing seat is installed on the slider
  • the proximity switch is fixed on the proximity switch fixing seat
  • the motor components are respectively fixed on the base plate.
  • the motor assembly includes a motor head assembly, a screw nut, a long screw, a deep groove ball bearing and a short screw.
  • the motor head assembly is installed on the base plate, and the screw nuts are respectively installed on the bottom plate.
  • both ends of the long screw rod are respectively installed on the deep groove ball bearings and the motor head assembly, and the deep groove ball bearings are respectively installed on the fixed
  • the two ends of the short screw rod are respectively installed on the deep groove ball bearing and the motor head assembly.
  • the motor head assembly includes an angular contact ball bearing, a servo motor, a screw holder, a locking nut, a synchronous wheel, a synchronous belt, a motor mounting base, a screw limit sleeve and a bearing piece.
  • the angular contact ball bearing is installed On the screw holder, the servo motor is installed on the motor mount, the screw holder is installed on the bottom plate, and the locking nuts are installed on the long screw and the screw respectively.
  • the synchronous wheel is installed on the servo motor, the long screw rod and the short screw rod respectively, the synchronous belt is installed on the synchronous wheel, and the motor mounting base is installed on On the screw holder, the screw limit sleeves are installed on the long screw and the short screw respectively, and the bearing piece is installed on the screw holder.
  • the anti-falling mechanism includes an anti-falling traversing mechanism, a supporting plate extension cylinder, a rubber-coated screw, a limiting block, a supporting plate and a supporting plate connecting block.
  • the falling and traversing mechanism is installed on the bottom plate.
  • the supporting plate extends out of the cylinder and is installed on the drop traverse mechanism.
  • the rubber-coated screw is installed on the limiting block.
  • the limiting block is installed on the supporting plate.
  • the supporting plate is installed on the supporting plate.
  • On the supporting plate connecting block the supporting plate connecting block is installed on the supporting plate extending cylinder;
  • the anti-drop traversing mechanism includes a cylinder fixed seat, a floating joint fixed seat, a traversing cylinder, a guide rail block, a slide rail fixed seat, a guide rail, a slide block and a floating joint, and the cylinder fixed seat is fixed on one of the On the slide block, the floating joint fixing seat is fixed on the other slide block, the traverse cylinder is installed on the cylinder fixing seat, the guide rail stopper is installed on the bottom plate, and the The slide rail fixing seat is installed on the cylinder fixing seat, the guide rail is fixed on the bottom plate, the slide blocks are respectively installed on the guide rails, and the floating joint is installed on the floating joint fixing seat.
  • the mechanical claw of the present invention for automatically grabbing and stacking electric cores and extruded boards adopts the form of cylinder + suction cup + camera. It ensures the accurate position of picking and placing the extruded board, and the efficient integration of the grabbing mechanism, distance changing mechanism, anti-falling mechanism and vision system ensures the accuracy and safety of grabbing the battery cells.
  • the invention realizes fully automated picking and placing of battery cores and extruded boards, and at the same time makes up for the shortcomings of poor environment, high labor intensity and low efficiency when manually stacking and stacking battery cores during traditional battery production.
  • Figure 1 is an overall schematic diagram of the mechanical claw used for automatically grabbing and stacking electric cores and extruded boards according to the present invention
  • Figure 2 is a schematic structural diagram of the claw substrate of the present invention.
  • Figure 3 is a schematic structural diagram of the suction cup mechanism of the present invention.
  • Figure 4 is a schematic structural diagram of the grabbing mechanism of the present invention.
  • Figure 5 is a schematic structural diagram of the spring assembly of the present invention.
  • Figure 6 is a schematic structural diagram of the pitch changing mechanism of the present invention.
  • Figure 7 is a schematic structural diagram of the motor assembly of the present invention.
  • Figure 8 is a schematic structural diagram of the motor head assembly of the present invention.
  • Figure 9 is a schematic structural diagram of the anti-falling mechanism of the present invention.
  • Figure 10 is a schematic structural diagram of the anti-falling and traversing mechanism of the present invention.
  • Figure 1 is a schematic diagram of the mechanical claw used for automatically grabbing and stacking electric cores and extruded boards according to the present invention.
  • the invention is a mechanical claw for automatically grabbing and stacking electric cores and extruded boards, which includes: a claw base plate 1, a suction cup mechanism 2, a grabbing mechanism 3, a variable distance mechanism 4 and an anti-drop mechanism 5.
  • the suction cup Mechanism 2, grabbing mechanism 3, distance changing mechanism 4 and anti-drop mechanism 5 are fixed on the claw base plate 1; the extruded board is picked up and placed through the suction cup mechanism 2, and the pitch changing mechanism 3 is used to pick up and place the extruded board through the suction cup mechanism 2.
  • Mechanism 4 and anti-drop mechanism 5 take and discharge the battery core;
  • the gripper substrate 1 includes a bottom plate 11, a robot connection base 12, a robot connection flange 13, a solenoid valve assembly 14, a solenoid valve mounting plate 15, a light source mounting plate 16 and a light source 17.
  • the robot connection The base 12 is fixed on the gripper bottom plate 11, the robot connecting flange 13 is fixed on the robot connecting base 12, the solenoid valve assembly 14 is fixed on the solenoid valve mounting plate 15, the The solenoid valve mounting plate 15 is fixed on the robot connection base 12, the light source mounting plate 16 is mounted on the bottom of the base plate 11, and the light sources 17 are respectively mounted on the bottom of the light source mounting plate 16;
  • the suction cup mechanism 2 includes a linear bearing 21, a suction cup 22, a guide shaft 23, a cylinder fixed plate 24, a suction cup mounting plate 25, and a suction cup cylinder 26.
  • the linear bearings 21 are respectively installed on the cylinder fixed plate 24.
  • the suction cups 22 are respectively installed on the suction cup mounting plate 25, the guide shafts 23 pass through the holes of the linear bearings 21, and the cylinder fixing plates 24 are installed on the bottom plate 11.
  • the suction cup mounting plate 25 is installed on the bottom of the guide shaft 23, and the suction cup cylinder 26 is installed on the cylinder fixed plate 24.
  • the suction cup mechanism can absorb one extruded board material at a time;
  • the grasping mechanism 3 includes a pneumatic finger cylinder 30, a pneumatic finger mounting block 31, a camera mounting plate 32, a spring assembly 33, a photoelectric sensor 34, a claw seat 35, a claw 36, and a claw rubber pad 37.
  • Anti-collision pad 38 and vision camera 39 the pneumatic finger cylinder 30 is fixed on the pneumatic finger mounting block 31, the pneumatic finger mounting block 31 is fixed on the guide shaft on the spring assembly 33, the camera
  • the mounting plate 32 is fixed on the side end of the pneumatic finger mounting block 31, and the spring assembly 33 is installed on the moving air claw fixing seat 41, the fixed air claw fixing seat 43 and the mirror moving air claw fixing seat 46, respectively.
  • the photoelectric sensor 34 is fixed on the upper part of the hand claw seat 35, the hand claw seat 35 is fixed on the pneumatic finger cylinder 30, the hand claw 36 is fixed on the end of the hand claw seat 35, the The hand claw rubber pad 37 is fixed on the inner large surface of the hand claw 36 , the anti-collision pad 38 is fixed on the bottom of the hand claw seat 35 , and the vision camera 39 is fixed on the outer large surface of the camera mounting plate 32 superior.
  • the grabbing mechanism can grab 4 batteries at a time, saving manpower and improving production efficiency;
  • the spring assembly 33 includes a lower gasket 331, an upper gasket 332, a guide shaft 333, a spring 334 and a linear bearing 335.
  • the lower gasket 331 passes through the guide shaft 333 and is floated on the straight line.
  • the upper end gasket 332 is fixed on the end of the guide shaft 333
  • the guide shaft 333 is fixed on the upper part of the pneumatic finger mounting block 31, and the spring 334 is sleeved on the end of the guide shaft 333.
  • the linear bearings 335 are respectively installed on the moving air claw fixed seat 41, the fixed air claw fixed seat 43 and the mirror moving air claw fixed seat 46;
  • the distance changing mechanism 4 includes a moving air claw fixed seat 41, a slider 42, a fixed air claw fixed seat 43, a guide rail 44, a proximity switch fixed seat 45, a mirror moving air claw fixed seat 46, a proximity switch 47 and
  • the motor assembly 48, the moving air claw holder 41 are respectively fixed on the slider 42, the slider 42 is installed on the guide rail 44, and the fixed air claw holder 43 is installed on the base plate 11 , the guide rails 44 are respectively installed on the base plate 11, the proximity switch fixing seat 45 is installed on the base plate 11, the mirror moving air claw fixing seat 46 is installed on the slider 42, and the proximity switch fixing seat 45 is installed on the base plate 11.
  • the switch 47 is fixed on the proximity switch holder 45, and the motor components 48 are respectively fixed on the base plate 11;
  • the motor assembly 48 includes a motor head assembly 481, a screw nut 482, a long screw rod 483, a deep groove ball bearing 484 and a short screw rod 485.
  • the motor head assembly 481 is installed on the base plate. 11, the screw nuts 482 are respectively installed on the long screw 483 and the short screw 485, and both ends of the long screw 483 are installed on the deep groove ball bearing 484 and the motor respectively.
  • the deep groove ball bearings 484 are respectively installed on the fixed air claw holder 43, and both ends of the short screw rod 485 are installed on the deep groove ball bearings 484 and the motor head respectively.
  • the motor head assembly 481 includes an angular contact ball bearing 4811, a servo motor 4812, a screw holder 4813, a locking nut 4814, a synchronous wheel 4815, a synchronous belt 4816, a motor mounting base 4817, and a screw limiter.
  • the angular contact ball bearing 4811 is installed on the screw rod fixed seat 4813
  • the servo motor 4812 is installed Installed on the motor mounting base 4817
  • the screw rod fixing base 4813 is installed on the bottom plate 11
  • the locking nuts 4814 are installed on the long screw rod 483 and the short screw rod 485, so
  • the synchronous wheel 4815 is installed on the servo motor 4812, the long screw rod 483 and the short screw rod 485 respectively
  • the synchronous belt 4816 is installed on the synchronous wheel 4815
  • the motor mounting base 4817 is installed on On the screw holder 4813
  • the screw limit sleeve 4818 is installed on the long screw 483 and the short screw 485 respectively
  • the bearing piece 4819 is installed on the screw holder 4813.
  • the anti-falling mechanism 5 includes an anti-falling traverse mechanism 51, a supporting plate extension cylinder 52, a rubber-coated screw 53, a limiting block 54, a supporting plate 55 and a supporting plate connecting block 56.
  • the drop and traverse mechanism 51 is installed on the bottom plate 11
  • the supporting plate extension cylinder 52 is installed on the drop and traverse mechanism 51
  • the rubber-coated screw 53 is installed on the limit block 54
  • the limiting block 54 is installed on the supporting plate 55
  • the supporting plate 55 is installed on the supporting plate connecting block 56
  • the supporting plate connecting block 56 is installed on the supporting plate extending cylinder 52;
  • the anti-drop traversing mechanism 51 includes a cylinder fixed seat 511, a floating joint fixed seat 512, a traversing cylinder 513, a guide rail block 514, a slide rail fixed seat 515, a guide rail 516, a slider 517 and a floating joint. 518.
  • the cylinder fixed seat 511 is fixed on one of the slide blocks 517
  • the floating joint fixed seat 512 is fixed on the other slide block 517
  • the traverse cylinder 513 is installed on the cylinder.
  • the guide rail stopper 514 is installed on the bottom plate 11
  • the slide rail fixed seat 515 is installed on the cylinder fixed seat 511
  • the guide rail 516 is fixed on the bottom plate 11
  • the sliding blocks 517 are respectively installed on the guide rails 516
  • the floating joints 518 are installed on the floating joint fixing base 512 .
  • the mechanical claw is used to automatically grab and stack battery cells and extruded boards. It can grab n battery cells (the following takes 4 as an example) or 1 extruded board at the same time, and can complete n battery cells at the same time. Or the picking and placing, stacking and stacking operations of an extruded board; the suction cup mechanism 2 realizes the picking and placing operations of the extruded board through the form of cylinder + suction cup + camera; the grabbing mechanism 3 uses a cylinder + camera to realize the automatic picking and placing operation of the battery core; the distance-changing mechanism 4 can realize the distance adjustment between the grabbing mechanisms through the form of motor + belt + screw + sensor, thereby achieving precise grasping. Pick up and place the battery core; the anti-falling mechanism 5 uses the form of a cylinder + a slide rail to prevent the risk of the battery core from falling during its grabbing and movement.
  • the invention has the functions of automatic distance change, automatic drop prevention and automatic deviation correction. It has high production flexibility and can realize efficient automatic grabbing, stacking and stacking of battery cells and extruded boards, realizing full automation and Intelligent operation reduces the intensity of manual operations and saves a lot of labor costs.
  • a machine vision system is designed on the gripper, which can automatically identify and correct the position error of the battery cores to be stacked, improving the grasping accuracy and reliability.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

A mechanical gripper for automatic grasping and stacking of a battery cell and an extruded board. The mechanical gripper comprises a gripper base plate (1), a suction cup mechanism (2), a grasping mechanism (3), a variable-distance mechanism (4) and an anti-falling mechanism (5), wherein the suction cup mechanism (2), the grasping mechanism (3), the variable-distance mechanism (4) and the anti-falling mechanism (5) are fixed to the gripper base plate (1); and an extruded board is picked up or placed by means of the suction cup mechanism (2), and a battery cell is picked up or placed by means of the grasping mechanism (3), the variable-distance mechanism (4) and the anti-falling mechanism (5).

Description

用于自动抓取和码垛电芯及挤塑板的机械手爪Robotic gripper for automatically grabbing and palletizing battery cells and extruded boards 技术领域Technical field
本发明涉及一种专用机械手爪，特别是一种用于自动抓取和码垛电芯及挤塑板的机械手爪。The invention relates to a special mechanical claw, in particular to a mechanical claw used for automatically grabbing and stacking electric cores and extruded boards.
背景技术Background technique
随着我国新能源汽车和储能电池行业的快速发展，对方形电芯码垛的生产效率提出了更高的要求。电芯生产完成后，人工完成电芯入挤塑板再进行叠盘，在生产上已经不能满足电芯对高效率、高可靠、高容错的工艺要求。With the rapid development of my country's new energy vehicles and energy storage battery industries, higher requirements have been placed on the production efficiency of square battery core stacking. After the battery core production is completed, the battery core is manually inserted into the extruded board and then stacked. In terms of production, it can no longer meet the process requirements for high efficiency, high reliability, and high fault tolerance of the battery core.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种用于自动抓取和码垛电芯及挤塑板的机械手爪，能实现对电芯及挤塑板的全自动化取放。The technical problem to be solved by the present invention is to provide a mechanical claw for automatically grabbing and stacking electric cores and extruded boards, which can realize fully automated picking and placing of electric cores and extruded boards.
为了实现上述目的，本发明提供了一种用于自动抓取和码垛电芯及挤塑板的机械手爪，包括：手爪基板、吸盘机构、抓取机构、变距机构和防掉落机构；所述吸盘机构、抓取机构、变距机构和防掉落机构固定在所述手爪基板上；通过所述吸盘机构取放挤塑板，通过所述抓取机构、所述变距机构和所述防掉落机构取放电芯。In order to achieve the above object, the present invention provides a mechanical claw for automatically grabbing and stacking electric cores and extruded boards, including: a claw base plate, a suction cup mechanism, a grabbing mechanism, a distance changing mechanism and an anti-drop mechanism. ; The suction cup mechanism, grabbing mechanism, distance changing mechanism and anti-drop mechanism are fixed on the claw base plate; the extruded board is picked up and placed through the sucking cup mechanism, and the grabbing mechanism, the distance changing mechanism and the anti-drop mechanism to pick up and discharge the battery core.
所述手爪基板包括底板、机器人连接底座、机器人连接法兰、电磁阀组件、电磁阀安装板、光源安装板和光源，所述的机器人连接底座固定在所述手爪底板上，所述的机器人连接法兰固定在所述机器人连接底座上，所述的电磁阀组件固定在所述电磁阀安装板上，所述电磁阀安装板固定在所述机器人连接底座上，所述光源安装板安装在所述底板的底部，所述光源分别安装在所述光源安装板的底部。The hand claw base plate includes a bottom plate, a robot connection base, a robot connection flange, a solenoid valve assembly, a solenoid valve mounting plate, a light source mounting plate and a light source. The robot connection base is fixed on the hand claw base plate, and the The robot connection flange is fixed on the robot connection base, the solenoid valve assembly is fixed on the solenoid valve mounting plate, the solenoid valve mounting plate is fixed on the robot connection base, and the light source mounting plate is installed At the bottom of the base plate, the light sources are respectively installed on the bottom of the light source mounting plate.
所述吸盘机构包括直线轴承、吸盘、导向轴、气缸固定板、吸盘安装板、吸盘气缸，所述直线轴承分别安装在所述气缸固定板底部，所述吸盘分别安装在所述吸盘安装板上，所述导向轴分别穿过所述直线轴承的孔，所述气缸固定板分别安装在所述底板的侧边，所述吸盘安装板安装在所述导向轴底部，所述吸盘气缸安装在所述气缸固定板上。The suction cup mechanism includes a linear bearing, a suction cup, a guide shaft, a cylinder fixed plate, a suction cup installation plate, and a suction cup cylinder. The linear bearings are respectively installed at the bottom of the cylinder fixed plate, and the suction cups are respectively installed on the suction cup installation plate. , the guide shafts respectively pass through the holes of the linear bearings, the cylinder fixing plates are respectively installed on the sides of the base plate, the suction cup mounting plates are installed on the bottom of the guide shafts, and the suction cup cylinders are installed on the The cylinder fixed plate.
所述抓取机构包括气动手指气缸、气动手指安装块、相机安装板、弹簧组件、光电传感器、手爪座、手爪、手爪胶垫、防撞垫块和视觉相机，所述气动手指气缸固定在所述气动手指安装块上，所述气动手指安装块固定在所述弹簧组件上的导向轴上，所述相机安装板固定在所述气动手指安装块侧边端部，所述弹簧组件分别安装在所述移动气爪固定座、固定气爪固定座和镜像移动气爪固定座上，所述光电传感器固定在所述手爪座上部，所述手爪座固定在所述气动手指气缸上，所述手爪固定在所述手爪座的端部，所述手爪胶垫固定在所述手爪内侧大面上，所述防撞垫块固定在所述手爪座底部，所述视觉相机固定在所述相机安装板外 侧大面上。The gripping mechanism includes a pneumatic finger cylinder, a pneumatic finger mounting block, a camera mounting plate, a spring assembly, a photoelectric sensor, a claw seat, a claw, a claw pad, an anti-collision pad and a vision camera. The pneumatic finger cylinder Fixed on the pneumatic finger mounting block, the pneumatic finger mounting block is fixed on the guide shaft on the spring assembly, the camera mounting plate is fixed on the side end of the pneumatic finger mounting block, the spring assembly They are respectively installed on the moving air claw holder, the fixed air claw holder and the mirror moving air claw holder. The photoelectric sensor is fixed on the upper part of the hand claw seat, and the hand claw seat is fixed on the pneumatic finger cylinder. The hand claw is fixed on the end of the hand claw seat, the hand claw rubber pad is fixed on the inner large surface of the hand claw, and the anti-collision pad is fixed on the bottom of the hand claw seat. The vision camera is fixed outside the camera mounting plate On the side.
所述弹簧组件包括下端垫片、上端垫片、导向轴、弹簧和直线轴承，所述下端垫片穿过所述导向轴浮装在所述直线轴承下端与所述弹簧之间，所述上端垫片固定在所述导向轴端部，所述导向轴固定在所述气动手指安装块上部，所述弹簧套在所述导向轴上，所述直线轴承分别安装在所述移动气爪固定座、固定气爪固定座和镜像移动气爪固定座上。The spring assembly includes a lower end gasket, an upper end gasket, a guide shaft, a spring and a linear bearing. The lower end gasket passes through the guide shaft and is floated between the lower end of the linear bearing and the spring. The upper end The gasket is fixed on the end of the guide shaft, the guide shaft is fixed on the upper part of the pneumatic finger mounting block, the spring is sleeved on the guide shaft, and the linear bearings are respectively installed on the mobile air claw fixing seat. , on the fixed air claw holder and the mirror moving air claw holder.
所述变距机构包括移动气爪固定座、滑块、固定气爪固定座、导轨、接近开关固定座、镜像移动气爪固定座、接近开关和电机组件，所述移动气爪固定座分别固定在所述滑块上，所述滑块安装在所述导轨上，所述固定气爪固定座安装在所述底板上，所述导轨分别安装在所述底板上，所述接近开关固定座安装在所述底板上，所述镜像移动气爪固定座安装在所述滑块上，所述接近开关固定在所述接近开关固定座上，所述电机组件分别固定在所述底板上。The distance-changing mechanism includes a movable air claw holder, a slider, a fixed air claw holder, a guide rail, a proximity switch holder, a mirror moving air claw holder, a proximity switch and a motor assembly. The mobile air claw holder is fixed respectively. On the slider, the slider is installed on the guide rail, the fixed air claw holder is installed on the bottom plate, the guide rails are respectively installed on the bottom plate, and the proximity switch holder is installed On the base plate, the mirror moving air claw fixing seat is installed on the slider, the proximity switch is fixed on the proximity switch fixing seat, and the motor components are respectively fixed on the base plate.
所述电机组件包括电机头部组件、丝杆螺帽、长丝杆、深沟球轴承和短丝杆，所述电机头部组件安装在所述底板上，所述丝杆螺帽分别安装在所述长丝杆和所述短丝杆上，所述长丝杆两端分别安装在所述深沟球轴承和所述电机头部组件上，所述深沟球轴承分别安装在所述固定气爪固定座上，所述短丝杆两端分别安装在所述深沟球轴承和所述电机头部组件上。The motor assembly includes a motor head assembly, a screw nut, a long screw, a deep groove ball bearing and a short screw. The motor head assembly is installed on the base plate, and the screw nuts are respectively installed on the bottom plate. On the long screw rod and the short screw rod, both ends of the long screw rod are respectively installed on the deep groove ball bearings and the motor head assembly, and the deep groove ball bearings are respectively installed on the fixed On the air claw fixed seat, the two ends of the short screw rod are respectively installed on the deep groove ball bearing and the motor head assembly.
所述电机头部组件包括角接触球轴承、伺服电机、丝杆固定座、锁定螺帽、同步轮、同步带、电机安装座、丝杆限位套和轴承片，所述角接触球轴承安装在所述丝杆固定座上，所述伺服电机安装在所述电机安装座上，所述丝杆固定座安装在所述底板上，所述锁定螺帽分别安装在所述长丝杆和所述短丝杆上，所述同步轮分别安装在所述伺服电机和所述长丝杆和所述短丝杆上，所述同步带安装在所述同步轮上，所述电机安装座安装在所述丝杆固定座上，所述丝杆限位套分别安装在所述长丝杆和所述短丝杆上，所述轴承片安装在所述丝杆固定座上。The motor head assembly includes an angular contact ball bearing, a servo motor, a screw holder, a locking nut, a synchronous wheel, a synchronous belt, a motor mounting base, a screw limit sleeve and a bearing piece. The angular contact ball bearing is installed On the screw holder, the servo motor is installed on the motor mount, the screw holder is installed on the bottom plate, and the locking nuts are installed on the long screw and the screw respectively. On the short screw rod, the synchronous wheel is installed on the servo motor, the long screw rod and the short screw rod respectively, the synchronous belt is installed on the synchronous wheel, and the motor mounting base is installed on On the screw holder, the screw limit sleeves are installed on the long screw and the short screw respectively, and the bearing piece is installed on the screw holder.
所述防掉落机构包括防掉落横移机构、托板伸出气缸、包胶螺丝、限位块、托板和托板连接块，所述掉落横移机构安装在所述底板上，所述托板伸出气缸安装在所述掉落横移机构上，所述包胶螺丝安装在所述限位块上，所述限位块安装在所述托板上，所述托板安装在所述托板连接块上，所述托板连接块安装在所述托板伸出气缸上；The anti-falling mechanism includes an anti-falling traversing mechanism, a supporting plate extension cylinder, a rubber-coated screw, a limiting block, a supporting plate and a supporting plate connecting block. The falling and traversing mechanism is installed on the bottom plate. The supporting plate extends out of the cylinder and is installed on the drop traverse mechanism. The rubber-coated screw is installed on the limiting block. The limiting block is installed on the supporting plate. The supporting plate is installed on the supporting plate. On the supporting plate connecting block, the supporting plate connecting block is installed on the supporting plate extending cylinder;
所述防掉落横移机构包括气缸固定座、浮动接头固定座、横移气缸、导轨挡块、滑轨固定座、导轨、滑块和浮动接头，所述气缸固定座固定在其中一个所述滑块上，所述浮动接头固定座固定在所述另外一个所述滑块上，所述横移气缸安装在所述气缸固定座上，所述导轨挡块安装在所述底板上，所述滑轨固定座安装在所述气缸固定座上，所述导轨固定在所述底板上，所述滑块分别安装在所述导轨上，所述浮动接头安装在所述浮动接头固定座上。The anti-drop traversing mechanism includes a cylinder fixed seat, a floating joint fixed seat, a traversing cylinder, a guide rail block, a slide rail fixed seat, a guide rail, a slide block and a floating joint, and the cylinder fixed seat is fixed on one of the On the slide block, the floating joint fixing seat is fixed on the other slide block, the traverse cylinder is installed on the cylinder fixing seat, the guide rail stopper is installed on the bottom plate, and the The slide rail fixing seat is installed on the cylinder fixing seat, the guide rail is fixed on the bottom plate, the slide blocks are respectively installed on the guide rails, and the floating joint is installed on the floating joint fixing seat.
本发明的用于自动抓取和码垛电芯及挤塑板的机械手爪，采用气缸+吸盘+相机的形式， 保证了取放挤塑板位置的准确，抓取机构、变距机构、防掉落机构和视觉***高效集成，保证了抓取电芯的准确性及安全性。本发明实现了电芯和挤塑板的全自动化取放，同时也弥补了电芯传统生产时人工进行电芯码垛叠盘时环境恶劣、劳动强度高、效率低的不足。The mechanical claw of the present invention for automatically grabbing and stacking electric cores and extruded boards adopts the form of cylinder + suction cup + camera. It ensures the accurate position of picking and placing the extruded board, and the efficient integration of the grabbing mechanism, distance changing mechanism, anti-falling mechanism and vision system ensures the accuracy and safety of grabbing the battery cells. The invention realizes fully automated picking and placing of battery cores and extruded boards, and at the same time makes up for the shortcomings of poor environment, high labor intensity and low efficiency when manually stacking and stacking battery cores during traditional battery production.
附图说明Description of the drawings
图1为本发明用于自动抓取和码垛电芯及挤塑板的机械手爪总体示意图；Figure 1 is an overall schematic diagram of the mechanical claw used for automatically grabbing and stacking electric cores and extruded boards according to the present invention;
图2为本发明手爪基板结构示意图；Figure 2 is a schematic structural diagram of the claw substrate of the present invention;
图3为本发明吸盘机构结构示意图；Figure 3 is a schematic structural diagram of the suction cup mechanism of the present invention;
图4为本发明抓取机构结构示意图；Figure 4 is a schematic structural diagram of the grabbing mechanism of the present invention;
图5为本发明弹簧组件结构示意图；Figure 5 is a schematic structural diagram of the spring assembly of the present invention;
图6为本发明变距机构结构示意图；Figure 6 is a schematic structural diagram of the pitch changing mechanism of the present invention;
图7为本发明电机组件结构示意图；Figure 7 is a schematic structural diagram of the motor assembly of the present invention;
图8为本发明电机头部组件结构示意图。Figure 8 is a schematic structural diagram of the motor head assembly of the present invention.
图9为本发明防掉落机构结构示意图Figure 9 is a schematic structural diagram of the anti-falling mechanism of the present invention.
图10为本发明防掉落横移机构结构示意图Figure 10 is a schematic structural diagram of the anti-falling and traversing mechanism of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明的结构原理和工作原理作具体的描述：The structural principle and working principle of the present invention will be described in detail below in conjunction with the accompanying drawings:
参见图1，图1为本发明用于自动抓取和码垛电芯及挤塑板的机械手爪示意图。本发明用于自动抓取和码垛电芯及挤塑板的机械手爪，包括：手爪基板1、吸盘机构2、抓取机构3、变距机构4和防掉落机构5，所述吸盘机构2、抓取机构3、变距机构4和防掉落机构5固定在所述手爪基板1上；通过所述吸盘机构2取放挤塑板，通过所述抓取机构3、变距机构4和防掉落机构5取放电芯；Referring to Figure 1, Figure 1 is a schematic diagram of the mechanical claw used for automatically grabbing and stacking electric cores and extruded boards according to the present invention. The invention is a mechanical claw for automatically grabbing and stacking electric cores and extruded boards, which includes: a claw base plate 1, a suction cup mechanism 2, a grabbing mechanism 3, a variable distance mechanism 4 and an anti-drop mechanism 5. The suction cup Mechanism 2, grabbing mechanism 3, distance changing mechanism 4 and anti-drop mechanism 5 are fixed on the claw base plate 1; the extruded board is picked up and placed through the suction cup mechanism 2, and the pitch changing mechanism 3 is used to pick up and place the extruded board through the suction cup mechanism 2. Mechanism 4 and anti-drop mechanism 5 take and discharge the battery core;
参见图2，图2为本发明手爪基板结构示意图。本实施例中，所述手爪基板1包括底板11、机器人连接底座12、机器人连接法兰13、电磁阀组件14、电磁阀安装板15、光源安装板16和光源17，所述的机器人连接底座12固定在所述手爪底板11上，所述的机器人连接法兰13固定在所述机器人连接底座12上，所述的电磁阀组件14固定在所述电磁阀安装板15上，所述电磁阀安装板15固定在所述机器人连接底座12上，所述光源安装板16安装在所述底板11的底部，所述光源17分别安装在所述光源安装板16的底部；Refer to Figure 2, which is a schematic structural diagram of the gripper substrate of the present invention. In this embodiment, the gripper substrate 1 includes a bottom plate 11, a robot connection base 12, a robot connection flange 13, a solenoid valve assembly 14, a solenoid valve mounting plate 15, a light source mounting plate 16 and a light source 17. The robot connection The base 12 is fixed on the gripper bottom plate 11, the robot connecting flange 13 is fixed on the robot connecting base 12, the solenoid valve assembly 14 is fixed on the solenoid valve mounting plate 15, the The solenoid valve mounting plate 15 is fixed on the robot connection base 12, the light source mounting plate 16 is mounted on the bottom of the base plate 11, and the light sources 17 are respectively mounted on the bottom of the light source mounting plate 16;
参见图3，图3为本发明吸盘机构结构示意图。本实施例中，所述吸盘机构2包括直线轴承21、吸盘22、导向轴23、气缸固定板24、吸盘安装板25、吸盘气缸26，所述直线轴承21分别安装在所述气缸固定板24底部，所述吸盘22分别安装在所述吸盘安装板25上，所述导向轴23分别穿过所述直线轴承21的孔，所述气缸固定板24分别安装在所述底板11的 侧边，所述吸盘安装板25安装在所述导向轴23底部，所述吸盘气缸26安装在所述气缸固定板24上，本实施例中吸盘机构一次可吸附一个挤塑板上料；Refer to Figure 3, which is a schematic structural diagram of the suction cup mechanism of the present invention. In this embodiment, the suction cup mechanism 2 includes a linear bearing 21, a suction cup 22, a guide shaft 23, a cylinder fixed plate 24, a suction cup mounting plate 25, and a suction cup cylinder 26. The linear bearings 21 are respectively installed on the cylinder fixed plate 24. At the bottom, the suction cups 22 are respectively installed on the suction cup mounting plate 25, the guide shafts 23 pass through the holes of the linear bearings 21, and the cylinder fixing plates 24 are installed on the bottom plate 11. On the side, the suction cup mounting plate 25 is installed on the bottom of the guide shaft 23, and the suction cup cylinder 26 is installed on the cylinder fixed plate 24. In this embodiment, the suction cup mechanism can absorb one extruded board material at a time;
参见图4，所述抓取机构3包括气动手指气缸30、气动手指安装块31、相机安装板32、弹簧组件33、光电传感器34、手爪座35、手爪36、手爪胶垫37、防撞垫块38和视觉相机39，所述气动手指气缸30固定在所述气动手指安装块31上，所述气动手指安装块31固定在所述弹簧组件33上的导向轴上，所述相机安装板32固定在所述气动手指安装块31侧边端部，所述弹簧组件33分别安装在所述移动气爪固定座41、固定气爪固定座43和镜像移动气爪固定座46上，所述光电传感器34固定在所述手爪座35上部，所述手爪座35固定在所述气动手指气缸30上，所述手爪36固定在所述手爪座35的端部，所述手爪胶垫37固定在所述手爪36内侧大面上，所述防撞垫块38固定在所述手爪座35底部，所述视觉相机39固定在所述相机安装板32外侧大面上。实施例中抓取机构一次可抓取4块电芯，节省了人力，提高了生产效率；Referring to Figure 4, the grasping mechanism 3 includes a pneumatic finger cylinder 30, a pneumatic finger mounting block 31, a camera mounting plate 32, a spring assembly 33, a photoelectric sensor 34, a claw seat 35, a claw 36, and a claw rubber pad 37. Anti-collision pad 38 and vision camera 39, the pneumatic finger cylinder 30 is fixed on the pneumatic finger mounting block 31, the pneumatic finger mounting block 31 is fixed on the guide shaft on the spring assembly 33, the camera The mounting plate 32 is fixed on the side end of the pneumatic finger mounting block 31, and the spring assembly 33 is installed on the moving air claw fixing seat 41, the fixed air claw fixing seat 43 and the mirror moving air claw fixing seat 46, respectively. The photoelectric sensor 34 is fixed on the upper part of the hand claw seat 35, the hand claw seat 35 is fixed on the pneumatic finger cylinder 30, the hand claw 36 is fixed on the end of the hand claw seat 35, the The hand claw rubber pad 37 is fixed on the inner large surface of the hand claw 36 , the anti-collision pad 38 is fixed on the bottom of the hand claw seat 35 , and the vision camera 39 is fixed on the outer large surface of the camera mounting plate 32 superior. In the embodiment, the grabbing mechanism can grab 4 batteries at a time, saving manpower and improving production efficiency;
参见图5，所述弹簧组件33包括下端垫片331、上端垫片332、导向轴333、弹簧334和直线轴承335，所述下端垫片331穿过所述导向轴333浮装在所述直线轴承335下端与所述弹簧334之间，所述上端垫片332固定在所述导向轴333端部，所述导向轴333固定在所述气动手指安装块31上部，所述弹簧334套在所述导向轴333上，所述直线轴承335分别安装在所述移动气爪固定座41、固定气爪固定座43和镜像移动气爪固定座46上；Referring to Figure 5, the spring assembly 33 includes a lower gasket 331, an upper gasket 332, a guide shaft 333, a spring 334 and a linear bearing 335. The lower gasket 331 passes through the guide shaft 333 and is floated on the straight line. Between the lower end of the bearing 335 and the spring 334, the upper end gasket 332 is fixed on the end of the guide shaft 333, the guide shaft 333 is fixed on the upper part of the pneumatic finger mounting block 31, and the spring 334 is sleeved on the end of the guide shaft 333. On the guide shaft 333, the linear bearings 335 are respectively installed on the moving air claw fixed seat 41, the fixed air claw fixed seat 43 and the mirror moving air claw fixed seat 46;
参见图6，所述变距机构4包括移动气爪固定座41、滑块42、固定气爪固定座43、导轨44、接近开关固定座45、镜像移动气爪固定座46、接近开关47和电机组件48，所述移动气爪固定座41分别固定在所述滑块42上，所述滑块42安装在所述导轨44上，所述固定气爪固定座43安装在所述底板11上，所述导轨44分别安装在所述底板11上，所述接近开关固定座45安装在所述底板11上，所述镜像移动气爪固定座46安装在所述滑块42上，所述接近开关47固定在所述接近开关固定座45上，所述电机组件48分别固定在所述底板11上；Referring to Figure 6, the distance changing mechanism 4 includes a moving air claw fixed seat 41, a slider 42, a fixed air claw fixed seat 43, a guide rail 44, a proximity switch fixed seat 45, a mirror moving air claw fixed seat 46, a proximity switch 47 and The motor assembly 48, the moving air claw holder 41 are respectively fixed on the slider 42, the slider 42 is installed on the guide rail 44, and the fixed air claw holder 43 is installed on the base plate 11 , the guide rails 44 are respectively installed on the base plate 11, the proximity switch fixing seat 45 is installed on the base plate 11, the mirror moving air claw fixing seat 46 is installed on the slider 42, and the proximity switch fixing seat 45 is installed on the base plate 11. The switch 47 is fixed on the proximity switch holder 45, and the motor components 48 are respectively fixed on the base plate 11;
参见图7，所述电机组件48包括电机头部组件481、丝杆螺帽482、长丝杆483、深沟球轴承484和短丝杆485，所述电机头部组件481安装在所述底板11上，所述丝杆螺帽482分别安装在所述长丝杆483和所述短丝杆485上，所述长丝杆483两端分别安装在所述深沟球轴承484和所述电机头部组件481上，所述深沟球轴承484分别安装在所述固定气爪固定座43上，所述短丝杆485两端分别安装在所述深沟球轴承484和所述电机头部组件481上；Referring to Figure 7, the motor assembly 48 includes a motor head assembly 481, a screw nut 482, a long screw rod 483, a deep groove ball bearing 484 and a short screw rod 485. The motor head assembly 481 is installed on the base plate. 11, the screw nuts 482 are respectively installed on the long screw 483 and the short screw 485, and both ends of the long screw 483 are installed on the deep groove ball bearing 484 and the motor respectively. On the head assembly 481, the deep groove ball bearings 484 are respectively installed on the fixed air claw holder 43, and both ends of the short screw rod 485 are installed on the deep groove ball bearings 484 and the motor head respectively. component 481 on;
参见图8，所述电机头部组件481包括角接触球轴承4811、伺服电机4812、丝杆固定座4813、锁定螺帽4814、同步轮4815、同步带4816、电机安装座4817、丝杆限位套4818和轴承片4819，所述角接触球轴承4811安装在所述丝杆固定座4813上，所述伺服电机4812安 装在所述电机安装座4817上，所述丝杆固定座4813安装在所述底板11上，所述锁定螺帽4814分别安装在所述长丝杆483和所述短丝杆485上，所述同步轮4815分别安装在所述伺服电机4812和所述长丝杆483和所述短丝杆485上，所述同步带4816安装在所述同步轮4815上，所述电机安装座4817安装在所述丝杆固定座4813上，所述丝杆限位套4818分别安装在所述长丝杆483和所述短丝杆485上，所述轴承片4819安装在所述丝杆固定座4813上；Referring to Figure 8, the motor head assembly 481 includes an angular contact ball bearing 4811, a servo motor 4812, a screw holder 4813, a locking nut 4814, a synchronous wheel 4815, a synchronous belt 4816, a motor mounting base 4817, and a screw limiter. sleeve 4818 and bearing piece 4819, the angular contact ball bearing 4811 is installed on the screw rod fixed seat 4813, the servo motor 4812 is installed Installed on the motor mounting base 4817, the screw rod fixing base 4813 is installed on the bottom plate 11, and the locking nuts 4814 are installed on the long screw rod 483 and the short screw rod 485, so The synchronous wheel 4815 is installed on the servo motor 4812, the long screw rod 483 and the short screw rod 485 respectively, the synchronous belt 4816 is installed on the synchronous wheel 4815, and the motor mounting base 4817 is installed on On the screw holder 4813, the screw limit sleeve 4818 is installed on the long screw 483 and the short screw 485 respectively, and the bearing piece 4819 is installed on the screw holder 4813. ;
参见图9，所述防掉落机构5包括防掉落横移机构51、托板伸出气缸52、包胶螺丝53、限位块54、托板55和托板连接块56，所述掉落横移机构51安装在所述底板11上，所述托板伸出气缸52安装在所述掉落横移机构51上，所述包胶螺丝53安装在所述限位块54上，所述限位块54安装在所述托板55上，所述托板55安装在所述托板连接块56上，所述托板连接块56安装在所述托板伸出气缸52上；Referring to Figure 9, the anti-falling mechanism 5 includes an anti-falling traverse mechanism 51, a supporting plate extension cylinder 52, a rubber-coated screw 53, a limiting block 54, a supporting plate 55 and a supporting plate connecting block 56. The drop and traverse mechanism 51 is installed on the bottom plate 11, the supporting plate extension cylinder 52 is installed on the drop and traverse mechanism 51, and the rubber-coated screw 53 is installed on the limit block 54, so The limiting block 54 is installed on the supporting plate 55, the supporting plate 55 is installed on the supporting plate connecting block 56, and the supporting plate connecting block 56 is installed on the supporting plate extending cylinder 52;
参见图10，所述防掉落横移机构51包括气缸固定座511、浮动接头固定座512、横移气缸513、导轨挡块514、滑轨固定座515、导轨516、滑块517和浮动接头518，所述气缸固定座511固定在其中一个所述滑块517上，所述浮动接头固定座512固定在所述另外一个所述滑块517上，所述横移气缸513安装在所述气缸固定座511上，所述导轨挡块514安装在所述底板11上，所述滑轨固定座515安装在所述气缸固定座511上，所述导轨516固定在所述底板11上，所述滑块517分别安装在所述导轨516上，所述浮动接头518安装在所述浮动接头固定座512上。Referring to Figure 10, the anti-drop traversing mechanism 51 includes a cylinder fixed seat 511, a floating joint fixed seat 512, a traversing cylinder 513, a guide rail block 514, a slide rail fixed seat 515, a guide rail 516, a slider 517 and a floating joint. 518. The cylinder fixed seat 511 is fixed on one of the slide blocks 517, the floating joint fixed seat 512 is fixed on the other slide block 517, and the traverse cylinder 513 is installed on the cylinder. On the fixed seat 511, the guide rail stopper 514 is installed on the bottom plate 11, the slide rail fixed seat 515 is installed on the cylinder fixed seat 511, the guide rail 516 is fixed on the bottom plate 11, the The sliding blocks 517 are respectively installed on the guide rails 516 , and the floating joints 518 are installed on the floating joint fixing base 512 .
用于自动抓取和码垛电芯及挤塑板的机械手爪，可同时抓取n个电芯(下述以4个为例)或1个挤塑板，可实现同时完成n个电芯或1个挤塑板的取放、码垛、叠盘作业；所述吸盘机构2通过气缸+吸盘+相机的形式，实现所述挤塑板的取放作业；所述抓取机构3通过气缸+相机的形式，实现所述电芯的自动取放作业；所述变距机构4通过电机+皮带+丝杆+传感器的形式，可实现抓取机构相互之间的距离调整，进而实现精确抓取与放置电芯；所述防掉落机构5通过气缸+滑轨的形式，实现在电芯抓取移动过程中防止其掉落的风险。The mechanical claw is used to automatically grab and stack battery cells and extruded boards. It can grab n battery cells (the following takes 4 as an example) or 1 extruded board at the same time, and can complete n battery cells at the same time. Or the picking and placing, stacking and stacking operations of an extruded board; the suction cup mechanism 2 realizes the picking and placing operations of the extruded board through the form of cylinder + suction cup + camera; the grabbing mechanism 3 uses a cylinder + camera to realize the automatic picking and placing operation of the battery core; the distance-changing mechanism 4 can realize the distance adjustment between the grabbing mechanisms through the form of motor + belt + screw + sensor, thereby achieving precise grasping. Pick up and place the battery core; the anti-falling mechanism 5 uses the form of a cylinder + a slide rail to prevent the risk of the battery core from falling during its grabbing and movement.
本发明兼有自动变距、自动防掉落、自动纠偏功能，具有很高的生产柔性，可实现电芯及挤塑板的高效自动抓取、码垛、叠盘动作，实现了全自动化和智能化作业，减少了人工作业强度，节省了大量人工成本。特别是手爪上设计了机器视觉***，可实现对待码垛电芯的位置误差进行自动识别纠偏，提高了抓取精度和可靠性。 The invention has the functions of automatic distance change, automatic drop prevention and automatic deviation correction. It has high production flexibility and can realize efficient automatic grabbing, stacking and stacking of battery cells and extruded boards, realizing full automation and Intelligent operation reduces the intensity of manual operations and saves a lot of labor costs. In particular, a machine vision system is designed on the gripper, which can automatically identify and correct the position error of the battery cores to be stacked, improving the grasping accuracy and reliability.

Claims (10)

  1. 一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，包括：手爪基板(1)、吸盘机构(2)、抓取机构(3)、变距机构(4)和防掉落机构(5)；所述吸盘机构(2)、抓取机构(3)、变距机构(4)和防掉落机构(5)固定在所述手爪基板(1)上；通过所述吸盘机构(2)取放挤塑板，通过所述抓取机构(3)、所述变距机构(4)和所述防掉落机构(5)取放电芯。A mechanical claw used for automatically grabbing and stacking electric cores and extruded boards, which is characterized in that it includes: a claw base plate (1), a suction cup mechanism (2), a grabbing mechanism (3), a variable distance mechanism ( 4) and anti-drop mechanism (5); the suction cup mechanism (2), grabbing mechanism (3), distance changing mechanism (4) and anti-drop mechanism (5) are fixed on the claw base plate (1) Above; the extruded board is picked up and placed through the suction cup mechanism (2), and the battery core is picked up and discharged through the grabbing mechanism (3), the distance changing mechanism (4) and the anti-drop mechanism (5).
  2. 根据权利要求1所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述手爪基板(1)包括底板(11)、机器人连接底座(12)、机器人连接法兰(13)、电磁阀组件(14)、电磁阀安装板(15)、光源安装板(16)和光源(17)，所述的机器人连接底座(12)固定在所述手爪底板(11)上，所述的机器人连接法兰(13)固定在所述机器人连接底座(12)上，所述的电磁阀组件(14)固定在所述电磁阀安装板(15)上，所述电磁阀安装板(15)固定在所述机器人连接底座(12)上，所述光源安装板(16)安装在所述底板(11)的底部，所述光源(17)分别安装在所述光源安装板(16)的底部。A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 1, characterized in that the claw base plate (1) includes a base plate (11) and a robot connection base (12 ), robot connecting flange (13), solenoid valve assembly (14), solenoid valve mounting plate (15), light source mounting plate (16) and light source (17), the robot connecting base (12) is fixed on the On the gripper bottom plate (11), the robot connection flange (13) is fixed on the robot connection base (12), and the solenoid valve assembly (14) is fixed on the solenoid valve mounting plate (15) On the top, the solenoid valve mounting plate (15) is fixed on the robot connection base (12), the light source mounting plate (16) is installed on the bottom of the base plate (11), and the light sources (17) are installed respectively. At the bottom of the light source mounting plate (16).
  3. 根据权利要求2所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述吸盘机构(2)包括直线轴承(21)、吸盘(22)、导向轴(23)、气缸固定板(24)、吸盘安装板(25)、吸盘气缸(26)，所述直线轴承(21)分别安装在所述气缸固定板(24)底部，所述吸盘(22)分别安装在所述吸盘安装板(25)上，所述导向轴(23)分别穿过所述直线轴承(21)的孔，所述气缸固定板(24)分别安装在所述底板(11)的侧边，所述吸盘安装板(25)安装在所述导向轴(23)底部，所述吸盘气缸(26)安装在所述气缸固定板(24)上。A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 2, characterized in that the suction cup mechanism (2) includes a linear bearing (21), a suction cup (22), Guide shaft (23), cylinder fixed plate (24), suction cup mounting plate (25), suction cup cylinder (26), the linear bearing (21) is installed at the bottom of the cylinder fixed plate (24), and the suction cup (21) 22) are respectively installed on the suction cup mounting plate (25), the guide shaft (23) passes through the hole of the linear bearing (21) respectively, and the cylinder fixing plate (24) is installed on the bottom plate (22) respectively. 11), the suction cup mounting plate (25) is installed at the bottom of the guide shaft (23), and the suction cup cylinder (26) is installed on the cylinder fixing plate (24).
  4. 根据权利要求2所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述变距机构(4)包括移动气爪固定座(41)、滑块(42)、固定气爪固定座(43)、导轨(44)、接近开关固定座(45)、镜像移动气爪固定座(46)、接近开关(47)和电机组件(48)，所述移动气爪固定座(41)分别固定在所述滑块(42)上，所述滑块(42)安装在所述导轨(44)上，所述固定气爪固定座(43)安装在所述底板(11)上，所述导轨(44)分别安装在所述底板(11)上，所述接近开关固定座(45)安装在所述底板(11)上，所述镜像移动气爪固定座(46)安装在所述滑块(42)上，所述接近开关(47)固定在所述接近开关固定座(45)上，所述电机组件(48)分别固定在所述底板(11)上。A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 2, characterized in that the distance-changing mechanism (4) includes a movable air claw fixed seat (41), a sliding Block (42), fixed air gripper holder (43), guide rail (44), proximity switch holder (45), mirror moving air gripper holder (46), proximity switch (47) and motor assembly (48), so The movable air claw holder (41) is respectively fixed on the slider (42), the slider (42) is installed on the guide rail (44), and the fixed air claw holder (43) is installed on the guide rail (44). On the bottom plate (11), the guide rails (44) are respectively installed on the bottom plate (11), the proximity switch holder (45) is installed on the bottom plate (11), and the mirror moving air claw The fixed seat (46) is installed on the slider (42), the proximity switch (47) is fixed on the proximity switch fixed seat (45), and the motor components (48) are respectively fixed on the bottom plate ( 11) on.
  5. 根据权利要求4所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述电机组件(48)包括电机头部组件(481)、丝杆螺帽(482)、长丝杆(483)、深沟球轴承(484)和短丝杆(485)，所述电机头部组件(481)安装在所述底板(11)上，所述丝杆螺帽(482)分别安装在所述长丝杆(483)和所述短丝杆(485)上，所述长丝杆(483) 两端分别安装在所述深沟球轴承(484)和所述电机头部组件(481)上，所述深沟球轴承(484)分别安装在所述固定气爪固定座(43)上，所述短丝杆(485)两端分别安装在所述深沟球轴承(484)和所述电机头部组件(481)上。A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 4, characterized in that the motor assembly (48) includes a motor head assembly (481), a screw screw Cap (482), long screw rod (483), deep groove ball bearing (484) and short screw rod (485), the motor head assembly (481) is installed on the base plate (11), the screw rod Nuts (482) are respectively installed on the long screw rod (483) and the short screw rod (485). The long screw rod (483) Both ends are respectively installed on the deep groove ball bearing (484) and the motor head assembly (481), and the deep groove ball bearing (484) is installed on the fixed air claw holder (43) respectively. Both ends of the short screw rod (485) are respectively installed on the deep groove ball bearing (484) and the motor head assembly (481).
  6. 根据权利要求5所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述电机头部组件(481)包括角接触球轴承(4811)、伺服电机(4812)、丝杆固定座(4813)、锁定螺帽(4814)、同步轮(4815)、同步带(4816)、电机安装座(4817)、丝杆限位套(4818)和轴承片(4819)，所述角接触球轴承(4811)安装在所述丝杆固定座(4813)上，所述伺服电机(4812)安装在所述电机安装座(4817)上，所述丝杆固定座(4813)安装在所述底板(11)上，所述锁定螺帽(4814)分别安装在所述长丝杆(483)和所述短丝杆(485)上，所述同步轮(4815)分别安装在所述伺服电机(4812)和所述长丝杆(483)和所述短丝杆(485)上，所述同步带(4816)安装在所述同步轮(4815)上，所述电机安装座(4817)安装在所述丝杆固定座(4813)上，所述丝杆限位套(4818)分别安装在所述长丝杆(483)和所述短丝杆(485)上，所述轴承片(4819)安装在所述丝杆固定座(4813)上。A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 5, characterized in that the motor head assembly (481) includes an angular contact ball bearing (4811), a servo Motor (4812), screw holder (4813), locking nut (4814), synchronous wheel (4815), synchronous belt (4816), motor mounting seat (4817), screw limit sleeve (4818) and bearing plate (4819), the angular contact ball bearing (4811) is installed on the screw fixing seat (4813), the servo motor (4812) is installed on the motor mounting seat (4817), the screw is fixed The seat (4813) is installed on the bottom plate (11), the locking nuts (4814) are installed on the long screw rod (483) and the short screw rod (485) respectively, and the synchronization wheel (4815 ) are respectively installed on the servo motor (4812), the long screw rod (483) and the short screw rod (485), and the synchronous belt (4816) is installed on the synchronous wheel (4815). The motor mounting base (4817) is installed on the screw rod fixing seat (4813), and the screw rod limit sleeves (4818) are installed on the long screw rod (483) and the short screw rod (485) respectively. On the other hand, the bearing piece (4819) is installed on the screw fixing seat (4813).
  7. 根据权利要求4所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述抓取机构(3)包括气动手指气缸(30)、气动手指安装块(31)、相机安装板(32)、弹簧组件(33)、光电传感器(34)、手爪座(35)、手爪(36)、手爪胶垫(37)、防撞垫块(38)和视觉相机(39)，所述气动手指气缸(30)固定在所述气动手指安装块(31)上，所述气动手指安装块(31)固定在所述弹簧组件(33)上的导向轴上，所述相机安装板(32)固定在所述气动手指安装块(31)侧边端部，所述弹簧组件(33)分别安装在所述变距机构(4)的移动气爪固定座(41)、固定气爪固定座(43)和镜像移动气爪固定座(46)上，所述光电传感器(34)固定在所述手爪座(35)上部，所述手爪座(35)固定在所述气动手指气缸(30)上，所述手爪(36)固定在所述手爪座(35)的端部，所述手爪胶垫(37)固定在所述手爪(36)内侧大面上，所述防撞垫块(38)固定在所述手爪座(35)底部，所述视觉相机(39)固定在所述相机安装板(32)外侧大面上。A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 4, characterized in that the grabbing mechanism (3) includes a pneumatic finger cylinder (30), a pneumatic finger installation Block (31), camera mounting plate (32), spring assembly (33), photoelectric sensor (34), gripper seat (35), gripper (36), gripper rubber pad (37), anti-collision pad ( 38) and a vision camera (39), the pneumatic finger cylinder (30) is fixed on the pneumatic finger mounting block (31), the pneumatic finger mounting block (31) is fixed on the spring assembly (33) On the guide shaft, the camera mounting plate (32) is fixed on the side end of the pneumatic finger mounting block (31), and the spring components (33) are respectively installed on the moving air claws of the distance changing mechanism (4). On the fixed seat (41), the fixed air claw fixed seat (43) and the mirror moving air claw fixed seat (46), the photoelectric sensor (34) is fixed on the upper part of the hand claw seat (35), and the hand claw seat (35) is fixed on the pneumatic finger cylinder (30), the claw (36) is fixed on the end of the claw seat (35), and the claw rubber pad (37) is fixed on the hand On the large inner surface of the claw (36), the anti-collision pad (38) is fixed on the bottom of the claw seat (35), and the vision camera (39) is fixed on the large outer surface of the camera mounting plate (32). superior.
  8. 根据权利要求7所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述弹簧组件(33)包括下端垫片(331)、上端垫片(332)、导向轴(333)、弹簧(334)和直线轴承(335)，所述下端垫片(331)穿过所述导向轴(333)浮装在所述直线轴承(335)下端与所述弹簧(334)之间，所述上端垫片(332)固定在所述导向轴(333)端部，所述导向轴(333)固定在所述气动手指安装块(31)上部，所述弹簧(334)套在所述导向轴(333)上，所述直线轴承(335)分别安装在所述变距机构(4)的移动气爪固定座(41)、固定气爪固定座(43)和镜像移动气爪固定座(46)上。 A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 7, characterized in that the spring assembly (33) includes a lower end gasket (331), an upper end gasket ( 332), guide shaft (333), spring (334) and linear bearing (335). The lower end gasket (331) passes through the guide shaft (333) and is floated between the lower end of the linear bearing (335) and the linear bearing (335). Between the springs (334), the upper gasket (332) is fixed at the end of the guide shaft (333), and the guide shaft (333) is fixed at the upper part of the pneumatic finger mounting block (31). The spring (334) is placed on the guide shaft (333), and the linear bearings (335) are respectively installed on the moving air claw fixing seat (41) and the fixed air claw fixing seat (43) of the pitch change mechanism (4). ) and move the mirror image onto the air gripper holder (46).
  9. 根据权利要求2所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述防掉落机构(5)包括防掉落横移机构(51)、托板伸出气缸(52)、包胶螺丝(53)、限位块(54)、托板(55)和托板连接块(56)，所述掉落横移机构(51)安装在所述底板(11)上，所述托板伸出气缸(52)安装在所述掉落横移机构(51)上，所述包胶螺丝(53)安装在所述限位块(54)上，所述限位块(54)安装在所述托板(55)上，所述托板(55)安装在所述托板连接块(56)上，所述托板连接块(56)安装在所述托板伸出气缸(52)上。A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 2, characterized in that the anti-fall mechanism (5) includes an anti-fall traverse mechanism (51) , the supporting plate extends out of the cylinder (52), the rubber-coated screw (53), the limiting block (54), the supporting plate (55) and the supporting plate connecting block (56), and the falling traverse mechanism (51) is installed on On the bottom plate (11), the supporting plate extends out of the cylinder (52) and is installed on the drop traverse mechanism (51), and the rubber-coated screw (53) is installed on the limiting block (54) on, the limiting block (54) is installed on the supporting plate (55), the supporting plate (55) is installed on the supporting plate connecting block (56), the supporting plate connecting block (56) Installed on the supporting plate extension cylinder (52).
  10. 根据权利要求9所述的一种用于自动抓取和码垛电芯及挤塑板的机械手爪，其特征在于，所述防掉落横移机构(51)包括气缸固定座(511)、浮动接头固定座(512)、横移气缸(513)、导轨挡块(514)、滑轨固定座(515)、导轨(516)、滑块(517)和浮动接头(518)，所述气缸固定座(511)固定在其中一个所述滑块(517)上，所述浮动接头固定座(512)固定在所述另外一个所述滑块(517)上，所述横移气缸(513)安装在所述气缸固定座(511)上，所述导轨挡块(514)安装在所述底板(11)上，所述滑轨固定座(515)安装在所述气缸固定座(511)上，所述导轨(516)固定在所述底板(11)上，所述滑块(517)分别安装在所述导轨(516)上，所述浮动接头(518)安装在所述浮动接头固定座(512)上。 A mechanical claw for automatically grabbing and stacking electric cores and extruded boards according to claim 9, characterized in that the anti-drop traverse mechanism (51) includes a cylinder fixed seat (511), Floating joint holder (512), traverse cylinder (513), guide rail stop (514), slide rail holder (515), guide rail (516), slide block (517) and floating joint (518), the cylinder The fixed seat (511) is fixed on one of the sliders (517), the floating joint fixed seat (512) is fixed on the other slider (517), and the traverse cylinder (513) Installed on the cylinder fixed seat (511), the guide rail stopper (514) is installed on the bottom plate (11), and the slide rail fixed seat (515) is installed on the cylinder fixed seat (511) , the guide rails (516) are fixed on the bottom plate (11), the sliders (517) are respectively installed on the guide rails (516), and the floating joints (518) are installed on the floating joint fixing seats. (512) on.
PCT/CN2023/093714 2022-07-06 2023-05-11 Mechanical gripper for automatic grasping and stacking of battery cell and extruded board WO2024007729A1 (en)

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CN202210798088.0 2022-07-06

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Publication number Priority date Publication date Assignee Title
CN115213931A (en) * 2022-07-06 2022-10-21 北京机械工业自动化研究所有限公司 Mechanical gripper for automatically grabbing and stacking battery cores and extruded sheets

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CN210939310U (en) * 2019-07-24 2020-07-07 苏州德星云智能装备有限公司 Cell gripper
CN113734778A (en) * 2021-08-27 2021-12-03 福建星云电子股份有限公司 Clamp for square battery cell
CN215515770U (en) * 2021-07-09 2022-01-14 苏州钰恬苇自动化科技有限公司 Two-side equidistant material distributing mechanism
CN114083561A (en) * 2021-11-12 2022-02-25 福建星云电子股份有限公司 Square electric core displacement snatchs anchor clamps
CN216425955U (en) * 2021-07-28 2022-05-03 山东深蓝机器股份有限公司 Panel line frame manipulator
CN115213931A (en) * 2022-07-06 2022-10-21 北京机械工业自动化研究所有限公司 Mechanical gripper for automatically grabbing and stacking battery cores and extruded sheets

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US6082080A (en) * 1998-10-15 2000-07-04 Abb Flexible Automation, Inc. Device for mechanically grasping and palletizing rectangular objects
CN206883661U (en) * 2017-07-03 2018-01-16 苏州弗迈特精密机械有限公司 A kind of robot manipulator structure for automobile component gripping
CN210939310U (en) * 2019-07-24 2020-07-07 苏州德星云智能装备有限公司 Cell gripper
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CN216425955U (en) * 2021-07-28 2022-05-03 山东深蓝机器股份有限公司 Panel line frame manipulator
CN113734778A (en) * 2021-08-27 2021-12-03 福建星云电子股份有限公司 Clamp for square battery cell
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