CN114524265A - Battery cell feeding gripper with variable pitch function and using method - Google Patents
Battery cell feeding gripper with variable pitch function and using method Download PDFInfo
- Publication number
- CN114524265A CN114524265A CN202210266159.2A CN202210266159A CN114524265A CN 114524265 A CN114524265 A CN 114524265A CN 202210266159 A CN202210266159 A CN 202210266159A CN 114524265 A CN114524265 A CN 114524265A
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- battery cell
- clamping jaw
- base plate
- gripper
- cylinder
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- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention provides a cell feeding gripper with a variable pitch function and a use method thereof, belonging to the field of automatic assembly production of power battery soft package modules, the cell feeding gripper with the variable pitch function comprises a gripper base plate which is used for being installed and connected with a multi-axis mechanical arm, a cell grabbing component is arranged at the bottom of the gripper base plate, a guide rod cylinder which is used for driving the cell grabbing component to change the pitch is arranged on the gripper base plate, and a hard limiting component which is used for limiting the extending and retracting positions of a guide rod of the guide rod cylinder is also arranged on the gripper base plate, so that the problem of poor gripping effect in the previous cell production process is solved; the guide rod cylinder and the connecting rod mechanism are adopted to realize the pitch changing function, and the device is simpler and more stable.
Description
Technical Field
The invention belongs to the field of automatic assembly production of power battery soft package modules, and particularly relates to a battery core feeding gripper with a variable pitch function and a using method.
Background
In recent years, the market for electric vehicles has increased explosively, and electric vehicles have been replacing fuel-oil vehicles. The productivity of the module and the PACK is urgently required to be improved by various vehicle enterprises and battery manufacturers.
And in the soft-packaged electrical core module assembling process, snatch electric core from the material frame and adopt the sucking disc side to inhale mostly, once get the mode production of monolithic electric core. The disadvantages of the method are obvious: 1. low efficiency and insufficient productivity; 2. if the posture of the sucker is deviated, the electric core falls off and the product is damaged due to the risk of breaking vacuum in the grabbing mode of the vacuum sucker.
In addition, some existing technical schemes are produced by adopting a clamping mode, but the arrangement of the electric cores in the material frame is compact, and the distance of each electric core is required to be pulled for meeting the follow-up automatic production, so that the multi-electric-core gripper is required to be placed in a special distance changing mechanism for secondary distance changing after being grabbed, and then is required to be placed in a rear-end production line again, and therefore, the electric-core feeding gripper with the distance changing function is urgently needed to solve the problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the battery cell feeding gripper with the distance changing function so as to solve the problems in the background technology, the structure of the gripper is reasonable, and a plurality of battery cell grabbing components can be arranged according to the specific capacity requirement so as to improve the grabbing efficiency; the guide rod cylinder and the connecting rod mechanism are adopted to realize the pitch changing function, and the device is simpler and more stable.
In order to achieve the purpose, the invention is realized by the following technical scheme: a battery cell feeding gripper with a distance changing function comprises a gripper base plate used for being connected with a multi-axis mechanical arm in an installing mode;
the cell grabbing component is arranged at the bottom of the gripper base plate and comprises a plurality of clamping jaws arranged below the gripper base plate, one end of each clamping jaw is provided with a parallel clamping cylinder, the other end of each parallel clamping cylinder is provided with a clamping jaw mounting plate, a variable-pitch connecting rod assembly is arranged between the clamping jaw mounting plates, one clamping jaw mounting plate is provided with an L-shaped fixing plate, and the clamping jaw mounting plate is fixedly connected with the gripper base plate through the L-shaped fixing plate;
a guide rod cylinder for driving the cell grabbing assembly to change the pitch is arranged on the grabbing base plate, a cylinder connecting plate is arranged on a power shaft of the guide rod cylinder, and one side of the cylinder connecting plate is connected with the clamping jaw mounting plate adjacent to the L-shaped fixing plate;
the gripper base plate is further provided with a hard limiting assembly used for limiting the extending and retracting positions of the guide rod cylinder guide rod, the hard limiting assembly comprises two fixing plates arranged on two sides of the cylinder connecting plate, and the fixing plates are provided with adjusting bolts.
Further, the bottom of tongs base plate is provided with the slip subassembly that is used for a plurality of clamping jaw mounting panels slip direction, the slip subassembly includes slider and slide rail, the slide rail sets up the bottom at the tongs base plate, the slider sets up on the clamping jaw mounting panel, slider and slide rail phase-match.
Furthermore, a movable groove is formed in the gripper base plate in a penetrating mode, the cylinder connecting plate penetrates through the movable groove, and the fixing plates are arranged at two ends of the movable groove respectively.
Furthermore, a threaded hole is formed in the fixing plate in a penetrating mode, the adjusting bolt penetrates through the threaded hole in a threaded mode, and the length of the adjusting bolt is smaller than the distance between every two adjacent fixing plates.
Furthermore, a cable drag chain is arranged on the gripper base plate, a mechanical arm mounting flange used for being connected with the multi-axis mechanical arm is arranged on the gripper base plate, and a TCP (transmission control protocol) calibration rod used for calibrating the multi-axis mechanical arm is further arranged at the bottom of the gripper base plate.
Further, the bottom of clamping jaw mounting panel is provided with and is used for electric core to snatch the subassembly and press from both sides the photoelectric switch who gets electric core of action back detection, the bottom of clamping jaw mounting panel is provided with the cantilever round pin.
Furthermore, the variable-pitch connecting rod assembly is a parallelogram variable-pitch connecting rod, and one movable end of the parallelogram variable-pitch connecting rod is coaxially connected with the cantilever pin.
The invention also aims to provide a using method of the battery cell feeding gripper with the distance changing function, which comprises the following steps:
step S1, the tail end of the four-axis mechanical arm or the six-axis mechanical arm is fixedly connected with the gripper base plate through a mechanical arm mounting flange, the photoelectric switch is connected with an external source PLC through a lead and a cable drag chain, and the guide rod cylinder and the parallel clamping cylinder are connected with an external air source through an air source guide pipe and the cable drag chain;
step S1-1, calibrating a grabbing position by a mechanical arm through a TCP calibration rod, clamping the thickness of a soft package battery cell as required, and adjusting the rotation of a bolt to enable the movable distance of a cylinder connecting plate to be the same as the thickness of the soft package battery cell;
step S2, the mechanical arm drives the gripper base plate to further drive the gripper jaw to move to the position above the material frame where the soft package battery cell is placed;
step S3, the mechanical arm drives the clamping jaws to descend to a clamping position of the soft package battery cell, the guide rod cylinder is ventilated and extended, the guide rod cylinder pushes the variable-pitch connecting rod assembly to be opened, and the distance between the clamping jaws is increased to the thickness of the soft package battery cell;
s3-1, ventilating a parallel clamping cylinder, changing the parallel clamping cylinder from an open state to a closed state, and driving a clamping jaw to clamp two sides of a soft package battery cell;
step S4, detecting whether the soft package battery cell is located inside the clamping jaw by the photoelectric switch, transmitting a signal to the external PLC, and if the photoelectric switch detects that the soft package battery cell is not located inside the clamping jaw, transmitting the signal to the external PLC by the photoelectric switch, and giving an alarm by the external PLC;
step S5, when all the soft-package battery cells are located inside the clamping jaw and detected by the photoelectric switch, all the soft-package battery cells are clamped successfully, the mechanical arm drives the clamping jaw to ascend, and the soft-package battery cells are conveyed to the next station.
Further, in step S5, after the soft-package battery cell is transported to the next station, the parallel clamping cylinder deflates, opens, and places the soft-package battery cell.
The invention has the beneficial effects that:
1. according to the technical scheme, the side surface is sucked by the suckers, and the battery cells of the material frame are compactly arranged, so that the sucker sucking mode can only descend from a place with a larger space at the end part of the material frame to suck the battery cells one by one;
2. for the existing multi-cell material taking scheme, the compact cells are required to be pulled apart for a certain distance and then the following processing technology is continued, the existing technical scheme is that the taken cells are placed in a rear independent distance changing mechanism for distance changing, but the distance changing function is integrated in the mechanism, the distance changing among the multiple cells is carried out in the carrying and grabbing process, the production efficiency is improved, and the equipment cost is greatly reduced;
3. the mounting interfaces of the mounting flange of the mechanical arm are rich, and the mounting flange is changed, and a moving platform of the mounting flange can be changed into a three-axis mechanical arm, a six-axis mechanical arm, a four-axis mechanical arm and the like which are achieved by a servo module, so that the mounting flange is flexible and convenient;
4. the variable-pitch function of the invention adopts the guide rod cylinder and the parallelogram variable-pitch connecting rod to realize variable pitch, the variable-pitch distance is adjusted by the hard limiting component, the structure is compact and stable, and the cost is greatly saved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a battery cell feeding gripper with a pitch varying function according to the invention;
fig. 2 is a schematic structural diagram of a battery cell feeding gripper with a pitch varying function according to the invention;
fig. 3 is a schematic structural diagram of a cell gripping assembly in a cell loading gripper with a pitch varying function according to the present invention;
fig. 4 is a bottom view of a battery cell feeding gripper with a pitch changing function according to the invention;
in the figure: the device comprises a mechanical arm mounting flange, a 2-gripper base plate, a 21-movable groove, a 3-guide rod cylinder, a 4-hard limiting assembly, a 41-fixed plate, a 42-adjusting bolt, a 5-battery cell clamping jaw assembly, a 6-cable drag chain, a 7-soft package battery cell, an 8-cylinder connecting plate, a 9-L-shaped fixed plate, a 10-variable pitch connecting rod assembly, an 11-photoelectric switch, a 12-sliding assembly, a 121-sliding rail, a 122-sliding block, a 13-TCP (transmission control protocol) calibration rod, a 14-cantilever pin, a 15-clamping jaw, a 16-clamping jaw mounting plate and a 17-parallel clamping cylinder.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1-4, the present invention provides a technical solution: a battery cell feeding gripper with a distance changing function comprises a gripper base plate 2 used for being mounted and connected with a multi-axis mechanical arm, wherein a cable drag chain 6, an air pipe used for a guide rod cylinder 3, a parallel clamping cylinder 17 and a sensor cable of a photoelectric switch 11 are arranged on the gripper base plate 2 to provide motion protection; and a mechanical arm mounting flange 1 used for being connected with a multi-axis mechanical arm is arranged on the gripper base plate 2, and a TCP (transmission control protocol) calibration rod 13 used for calibrating the multi-axis mechanical arm is further arranged at the bottom of the gripper base plate 2.
The bottom of the gripper base plate 2 is provided with a cell clamping jaw assembly 5, the cell clamping jaw assembly 5 comprises a plurality of clamping jaws 15 arranged below the gripper base plate 2, one end of each clamping jaw 15 is provided with a parallel clamping cylinder 17, the other end of each parallel clamping cylinder 17 is provided with a clamping jaw mounting plate 16, a variable-pitch connecting rod assembly 10 is arranged among the clamping jaw mounting plates 16, one clamping jaw mounting plate 16 is provided with an L-shaped fixing plate 9, and the clamping jaw mounting plate 16 is fixedly connected with the gripper base plate 2 through the L-shaped fixing plate 9; the cell clamping jaw assembly 5 is driven by a parallel clamping cylinder 17 to clamp two sides of a cell, so that the purpose of grabbing is realized;
the variable pitch link assembly 10 is composed of a parallelogram variable pitch link and a cantilever pin 14, and applies power with the jaw mounting plates 16 adjacent to the L-shaped fixing plate as a first point, and drives the other jaw mounting plates 16 as a third point and a fourth point … … nth point with the jaw mounting plate 16 fixed by the L-shaped fixing plate 9 as a second point as a fulcrum.
A guide rod cylinder 3 for driving a cell clamping jaw assembly 5 to change the distance is arranged on a gripper base plate 2, a cylinder connecting plate 8 is arranged on a power shaft of the guide rod cylinder 3, a movable groove 21 penetrates through the gripper base plate 2, the cylinder connecting plate 8 penetrates through the movable groove 21, and one side of the cylinder connecting plate 8 is connected with a clamping jaw mounting plate 16 adjacent to an L-shaped fixing plate 9.
The gripper base plate 2 is also provided with a hard limiting assembly 4 for limiting the extending and retracting positions of a guide rod of the guide rod cylinder 3, the hard limiting assembly 4 comprises two fixing plates 41 arranged on two sides of a cylinder connecting plate 8, adjusting bolts 42 are arranged on the fixing plates 41, the fixing plates 41 are respectively arranged at two ends of the movable groove 21, the length of each adjusting bolt 42 is smaller than the distance between every two adjacent fixing plates 41, the thickness of a soft package battery cell 7 can be clamped according to needs, the adjusting bolts 42 can be rotationally adjusted, and the movable distance of the cylinder connecting plate 8 is the same as the thickness of the soft package battery cell 7.
The bottom of the gripper base plate 2 is provided with a sliding assembly 12 for sliding and guiding the plurality of clamping jaw mounting plates 16, the sliding assembly 12 comprises a sliding block 122 and a sliding rail 121, the sliding rail 121 is arranged at the bottom of the gripper base plate 2, the sliding block 122 is arranged on the clamping jaw mounting plates 16, and the sliding block 122 is matched with the sliding rail 121.
The bottom of the clamping jaw mounting plate 16 of the invention is provided with a photoelectric switch 11 for detecting whether a battery cell is taken or not after the clamping action of the battery cell clamping jaw assembly 5.
The working principle of the invention is as follows: firstly, the tail ends of a four-axis mechanical arm or a six-axis mechanical arm are fixedly connected with a gripper base plate 2 through a mechanical arm mounting flange 1, a photoelectric switch 11 is connected with an external PLC through a lead and penetrates through a cable drag chain 6, and a guide rod cylinder 3 and a parallel clamping cylinder 17 are connected with an external air source through an air source guide pipe and penetrates through the cable drag chain 6; then, the mechanical arm calibrates the grabbing position through the TCP calibration rod 13, clamps the thickness of the soft-package battery cell 7 as required, and adjusts the rotation of the adjusting bolt 42 to enable the movable distance of the cylinder connecting plate 8 to be the same as the thickness of the soft-package battery cell 7, so that the preparation work is completed;
in an initial state, the guide rod cylinder 3 is in a retraction state, each cell clamping jaw assembly 5 is still in a combination state, and then the mechanical arm drives the gripper base plate 2 to further drive the clamping jaw 15 to move to the position above a material frame where the soft package cell 7 is placed;
then, the mechanical arm drives the clamping jaw 15 to descend to the soft package battery cell 7 to reach a clamping position, the guide rod cylinder 3 is ventilated and extended, the guide rod cylinder 3 pushes the variable-pitch connecting rod assembly 10 to be opened, and the distance between the clamping jaws 15 is increased to the thickness of the soft package battery cell 7; then the parallel clamping cylinder 17 is ventilated, the parallel clamping cylinder 17 is changed from an open state to a closed state, and the clamping jaw 15 is driven to clamp two sides of the soft package battery cell 7;
then, detecting whether the soft package battery cell 7 is located inside the clamping jaw 15 through the photoelectric switch 11, transmitting a signal to an external PLC (programmable logic controller), and if the photoelectric switch 11 detects that the soft package battery cell 7 is not located inside the clamping jaw 15, transmitting the signal to the external PLC through the photoelectric switch 11, and giving an alarm by the external PLC;
when the photoelectric switch 11 detects that all the soft package cells 7 are located inside the clamping jaw 15 and all the soft package cells 7 are successfully clamped, the mechanical arm drives the clamping jaw 15 to ascend, and the soft package cells 7 are conveyed to the next station; after the soft-package battery cell 7 is carried to next station, the parallel clamping cylinder 17 deflates, and the parallel clamping cylinder 17 opens to place the soft-package battery cell 7.
According to the invention, more cell clamping jaw assemblies 5 can be arranged according to the specific capacity requirement so as to improve the grabbing efficiency; this application has still integrateed clamping jaw 15's displacement function, because of the guide arm cylinder 3 that its adopted adds link mechanism and realizes the displacement function, and the cost is cheap more stable.
In addition, the invention provides a use method of the battery cell feeding gripper with the distance changing function, which comprises the following steps:
step S1, the tail end of a four-axis mechanical arm or a six-axis mechanical arm is fixedly connected with a gripper base plate 2 through a mechanical arm mounting flange 1, a photoelectric switch 11 is connected with an external PLC through a lead and penetrating through a cable drag chain 6, and a guide rod cylinder 3 and a parallel clamping cylinder 17 are connected with an external air source through an air source guide pipe and penetrating through the cable drag chain 6;
step S1-1, calibrating a grabbing position by a mechanical arm through a TCP calibration rod 13, clamping the thickness of the soft package battery cell 7 as required, and rotationally adjusting the adjusting bolt 42 to enable the movable distance of the cylinder connecting plate 8 to be the same as the thickness of the soft package battery cell 7;
step S2, the mechanical arm drives the gripper substrate 2 to further drive the clamping jaw 15 to move to the position above the material frame where the soft package battery cell 7 is placed;
step S3, the mechanical arm drives the clamping jaw 15 to descend to the soft package battery cell 7 to reach the clamping position, the guide rod cylinder 3 is ventilated and extended, the guide rod cylinder 3 pushes the variable-pitch connecting rod assembly 10 to be opened, and the distance between the clamping jaws 15 is increased to the thickness of the soft package battery cell 7;
step S3-1, ventilating the parallel clamping cylinder 17, changing the parallel clamping cylinder 17 from an open state to a closed state, and driving the clamping jaw 15 to clamp two sides of the soft package battery cell 7;
step S4, whether the photoelectric switch 11 detects that the soft package battery cell 7 is located inside the clamping jaw 15, and transmits a signal to the external source PLC, if the photoelectric switch 11 detects that the soft package battery cell 7 is not located inside the clamping jaw 15, the photoelectric switch 11 transmits a signal to the external source PLC, and the external source PLC gives an alarm.
and S5-1, after the soft-package battery cell 7 is conveyed to the next station, the parallel clamping cylinder 17 is deflated, the parallel clamping cylinder 17 is opened, and the soft-package battery cell 7 is placed.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The utility model provides a take electric core material loading tongs of displacement function which characterized in that: the multi-axis manipulator comprises a gripper base plate (2) used for being connected with a multi-axis manipulator in an installing mode;
the battery cell clamping jaw assembly is characterized in that a battery cell clamping jaw assembly (5) is arranged at the bottom of the gripper base plate (2), the battery cell clamping jaw assembly (5) comprises a plurality of clamping jaws (15) arranged below the gripper base plate (2), one ends of the clamping jaws (15) are provided with parallel clamping cylinders (17), the other ends of the parallel clamping cylinders (17) are provided with clamping jaw mounting plates (16), a variable-pitch connecting rod assembly (10) is arranged among the clamping jaw mounting plates (16), an L-shaped fixing plate (9) is arranged on one clamping jaw mounting plate (16), and the clamping jaw mounting plates (16) are fixedly connected with the gripper base plate (2) through the L-shaped fixing plate (9);
a guide rod cylinder (3) used for driving a cell clamping jaw assembly (5) to change the distance is arranged on the gripper base plate (2), a cylinder connecting plate (8) is arranged on a power shaft of the guide rod cylinder (3), and one side of the cylinder connecting plate (8) is connected with the clamping jaw mounting plate (16) adjacent to the L-shaped fixing plate (9);
the gripper base plate (2) is further provided with a hard limiting assembly (4) used for limiting the extending and retracting positions of a guide rod of the guide rod cylinder (3), the hard limiting assembly (4) comprises two fixing plates (41) arranged on two sides of the cylinder connecting plate (8), and the fixing plates (41) are provided with adjusting bolts (42).
2. The battery cell feeding gripper with the distance changing function according to claim 1, characterized in that: the bottom of tongs base plate (2) is provided with sliding assembly (12) that are used for a plurality of clamping jaw mounting panels (16) sliding guide, sliding assembly (12) include slider (122) and slide rail (121), slide rail (121) set up the bottom at tongs base plate (2), slider (122) set up on clamping jaw mounting panel (16), slider (122) and slide rail (121) phase-match.
3. The battery cell feeding gripper with the distance changing function according to claim 2, characterized in that: the gripper base plate (2) is provided with a movable groove (21) in a penetrating mode, the cylinder connecting plate (8) penetrates through the movable groove (21), and the fixing plates (41) are arranged at two ends of the movable groove (21) respectively.
4. The battery cell feeding gripper with the distance changing function according to claim 3, characterized in that: the fixing plates (41) are provided with threaded holes in a penetrating mode, the adjusting bolts (42) penetrate through the threaded holes in a threaded mode, and the length of each adjusting bolt (42) is smaller than the distance between every two adjacent fixing plates (41).
5. The battery cell feeding gripper with the distance changing function according to claim 2, characterized in that: the multi-axis mechanical arm lifting device is characterized in that a cable drag chain (6) is arranged on the gripper base plate (2), a mechanical arm mounting flange (1) used for being connected with a multi-axis mechanical arm is arranged on the gripper base plate (2), and a TCP (transmission control protocol) calibration rod (13) used for calibrating the multi-axis mechanical arm is further arranged at the bottom of the gripper base plate (2).
6. The battery cell feeding gripper with the distance changing function according to claim 1, characterized in that: the bottom of clamping jaw mounting panel (16) is provided with photoelectric switch (11) that is used for electric core clamping jaw subassembly (5) to detect whether get electric core after pressing from both sides the action, the bottom of clamping jaw mounting panel (16) is provided with cantilever pin (14).
7. The battery cell feeding gripper with the distance changing function according to claim 1, characterized in that: the variable-pitch connecting rod assembly (10) is a parallelogram variable-pitch connecting rod, and one movable end of the parallelogram variable-pitch connecting rod is coaxially connected with the cantilever pin (14).
8. The use method of the battery cell feeding gripper with the distance changing function based on any one of claims 1 to 7 is characterized by comprising the following steps:
s1, the tail end of a four-axis mechanical arm or a six-axis mechanical arm is fixedly connected with a hand grip base plate (2) through a mechanical arm mounting flange (1), a photoelectric switch (11) is connected with an external source PLC through a lead and penetrates through a cable drag chain (6), and a guide rod cylinder (3) and a parallel clamping cylinder (17) are connected with an external air source through an air source guide pipe and penetrates through the cable drag chain (6);
s1-1, calibrating a grabbing position by a mechanical arm through a TCP calibration rod (13), clamping the thickness of a soft package battery cell (7) as required, and adjusting the rotation of a bolt (42) to enable the movable distance of a cylinder connecting plate (8) to be the same as the thickness of the soft package battery cell (7);
step S2, the mechanical arm drives the gripper base plate (2) to further drive the clamping jaw (15) to move to the position above a material frame where the soft package battery cell (7) is placed;
step S3, the mechanical arm drives the clamping jaw (15) to descend to a soft package battery cell (7) to reach a clamping position, the guide rod cylinder (3) is ventilated and extends, the guide rod cylinder (3) pushes the variable pitch connecting rod assembly (10) to open, and the distance between the clamping jaws (15) is increased to the thickness of the soft package battery cell (7);
s3-1, ventilating a parallel clamping cylinder (17), changing the parallel clamping cylinder (17) from an open state to a closed state, and driving a clamping jaw (15) to clamp two sides of a soft package battery cell (7);
step S4, detecting whether the soft package battery cell (7) is located inside the clamping jaw (15) by the photoelectric switch (11), transmitting a signal to an external PLC, and if the photoelectric switch (11) detects that the soft package battery cell (7) is not located inside the clamping jaw (15), transmitting the signal to the external PLC by the photoelectric switch (11) and giving an alarm by the external PLC;
step S5, when the photoelectric switch (11) detects that the soft package battery cell (7) is completely located inside the clamping jaw (15), after all the soft package battery cells (7) are successfully clamped, the mechanical arm drives the clamping jaw (15) to ascend, and the soft package battery cell (7) is conveyed to the next station.
9. The use method of the battery cell feeding gripper with the distance changing function according to claim 8, is characterized in that: in the step S5, after the soft-package battery cell (7) is conveyed to the next station, the parallel clamping cylinder (17) is deflated, the parallel clamping cylinder (17) is opened, and the soft-package battery cell (7) is placed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210266159.2A CN114524265A (en) | 2022-03-17 | 2022-03-17 | Battery cell feeding gripper with variable pitch function and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210266159.2A CN114524265A (en) | 2022-03-17 | 2022-03-17 | Battery cell feeding gripper with variable pitch function and using method |
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| Publication Number | Publication Date |
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| CN114524265A true CN114524265A (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210266159.2A Pending CN114524265A (en) | 2022-03-17 | 2022-03-17 | Battery cell feeding gripper with variable pitch function and using method |
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| CN (1) | CN114524265A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117142114A (en) * | 2023-10-27 | 2023-12-01 | 南通玺施新型建筑材料科技有限公司 | Mechanical gripper for prefabricated part production line |
-
2022
- 2022-03-17 CN CN202210266159.2A patent/CN114524265A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117142114A (en) * | 2023-10-27 | 2023-12-01 | 南通玺施新型建筑材料科技有限公司 | Mechanical gripper for prefabricated part production line |
| CN117142114B (en) * | 2023-10-27 | 2023-12-29 | 南通玺施新型建筑材料科技有限公司 | Mechanical gripper for prefabricated part production line |
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