CN209796803U - Clamping mechanism - Google Patents
Clamping mechanism Download PDFInfo
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- CN209796803U CN209796803U CN201920507627.4U CN201920507627U CN209796803U CN 209796803 U CN209796803 U CN 209796803U CN 201920507627 U CN201920507627 U CN 201920507627U CN 209796803 U CN209796803 U CN 209796803U
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- gripper
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- base
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Abstract
The utility model provides a press from both sides and get mechanism, press from both sides and get the mechanism and include at least one anchor clamps, every anchor clamps in at least one anchor clamps include transfer line, drive arrangement, sensor and are used for pressing from both sides the manipulator of getting the object, and wherein, the outer peripheral surface outside of transfer line is provided with the elasticity component, and the sensor is used for the deformation size of sensing elasticity component for when the deformation of elasticity component surpasss the predetermined value, press from both sides every anchor clamps stop movement that gets the mechanism. The clamping mechanism can utilize the sensor to sense the deformation of the elastic member to know that the clamped soft package battery is not aligned with the empty groove of the tray, so that the clamp stops moving, and the placed soft package battery is prevented from being extruded.
Description
Technical Field
The utility model relates to a press from both sides and get mechanism particularly, relates to a press from both sides that can place laminate polymer battery in the tray and get mechanism.
Background
Currently, in the process of manufacturing pouch batteries, the pouch batteries need to be placed in empty slots of a tray one-to-one. In the prior art, to achieve automation or higher level intelligence, a robot (e.g., a splint) is typically used to place the pouch cells in the tray.
However, in the process of placing the pouch battery using the jig, when the gripped pouch battery touches the side wall of the empty groove of the tray or other portion of the tray except the empty groove, since the jig cannot sense the placed position, the placed position error cannot be known. Under this condition, anchor clamps can continue the downstream and place laminate polymer battery, and this can extrude laminate polymer battery, causes laminate polymer battery's appearance harmfully in batches, makes laminate polymer battery have the potential safety hazard, further influences laminate polymer battery manufacturing enterprise's efficiency and profit.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a press from both sides and get mechanism to following problem has been solved: laminate polymer battery is not in the circumstances of aiming at with the dead slot of layer board, and the lateral wall of dead slot extrudees the laminate polymer battery by anchor clamps centre gripping, causes laminate polymer battery's appearance bad in batches, makes laminate polymer battery have the potential safety hazard.
According to an exemplary embodiment of the present invention, there is provided a gripping mechanism including at least one gripper, each of the at least one gripper including a transmission rod, a driving device, a sensor, and a manipulator for gripping an object, wherein an outer side of an outer circumferential surface of the transmission rod is provided with an elastic member, and the sensor is configured to sense a deformation amount of the elastic member, so that each of the grippers of the gripping mechanism stops moving when the deformation of the elastic member exceeds a predetermined value.
According to an exemplary embodiment of the invention, the gripping mechanism further comprises a base, each of the at least one gripper being connected to the base, and the transmission rod passing through the base moves above the base when the transmission rod moves in the vertical direction.
According to an exemplary embodiment of the invention, the sensor is a pressure sensor.
According to an exemplary embodiment of the present invention, the sensor is located above the base and is provided in one-to-one correspondence with the clamp.
According to an exemplary embodiment of the present invention, the robot comprises a first clamping plate and a second clamping plate, wherein the first clamping plate and the second clamping plate are arranged opposite to each other.
According to an exemplary embodiment of the present invention, the gripping mechanism further comprises a control mechanism controlling the movement of the gripping mechanism.
According to an exemplary embodiment of the present invention, the control mechanism drives the first clamping plate and the second clamping plate to move away from each other when the manipulator releases the object.
According to an exemplary embodiment of the present invention, when the robot grips the object, the control mechanism drives the first and second jaws to move close to each other.
According to an exemplary embodiment of the invention, the drive device is a pneumatic device or a hydraulic device.
According to the utility model discloses an exemplary embodiment, anchor clamps are used for pressing from both sides and get laminate polymer battery.
according to the utility model discloses an exemplary embodiment can utilize the deformation of sensor sensing elasticity component to learn not to aim at with the dead slot of tray by the laminate polymer battery of centre gripping, and then makes anchor clamps stop moving to the laminate polymer battery who has avoided being placed receives the extrusion.
Drawings
A more complete understanding of the present invention will become apparent by further detailed description of some embodiments thereof with reference to the accompanying drawings, in which:
Fig. 1 is a plan view of a gripping mechanism according to an exemplary embodiment of the present invention; and
fig. 2 is a plan view of a tray according to an exemplary embodiment of the present invention.
Detailed Description
Hereinafter, exemplary embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
It is to be understood that the present embodiments are merely exemplary of the invention, which may be embodied in various and alternative forms and is not limited to the embodiments described herein. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention. The present invention may be embodied in many different forms and, on the contrary, these embodiments are provided so that this disclosure will be thorough and complete.
Fig. 1 is a plan view of a gripping mechanism according to an exemplary embodiment of the present invention. Fig. 2 is a plan view of a tray according to an exemplary embodiment of the present invention.
As shown in fig. 1, the gripping mechanism 1000 may include a plurality of grippers 100. The grasping mechanism 1000 is shown in fig. 1 to include three clamps 100, however exemplary embodiments of the invention are not limited thereto and the grasping mechanism 1000 may include other numbers of clamps. The number of the jigs 100 included in the gripping mechanism 1000 may be set differently according to actual needs, for example, the gripping mechanism 1000 may have only one jig 100, or may have six jigs 100. The three grippers 100 of the gripper mechanism 1000 may be secured to a base 1010 of the gripper mechanism 1000. The base 1010 may be coupled to a control mechanism. The control mechanism may be used to control the movement of the gripping mechanism 1000 in the horizontal direction and the vertical direction. In an exemplary embodiment, the control mechanism may control all the grippers 100 of the gripping mechanism 1000 to move in the horizontal direction and the vertical direction integrally. Herein, the vertical direction refers to a direction based on gravity, and the horizontal direction refers to a direction perpendicular to the vertical direction.
Each gripper 100 of the gripping mechanism 1000 may include a transmission rod 110, a driving device 120, and a robot 130 including a first clamping plate 131 and a second clamping plate 132, wherein the transmission rod 110, the driving device 120, and the robot 130 are sequentially arranged from top to bottom and are connected in series in a vertical direction. As shown in fig. 1, the transfer bar 110 may be disposed on the driving device 120, and the robot 130 may be disposed under the driving device 120. The drive device 120 may be a pneumatic device or a hydraulic device.
The first clamping plate 131 and the second clamping plate 132 may be disposed opposite to each other. The clamp 100 according to an exemplary embodiment may be used to grip, place, or hold a pouch battery or other object. Although it is shown in fig. 1 that the robot arm 130 includes the first clamping plate 131 and the second clamping plate 132 each having a flat plate shape, the present invention is not limited thereto, and the first clamping plate 131 and the second clamping plate 132 may have other structures as long as the pouch battery can be clamped by the first clamping plate 131 and the second clamping plate 132. The driving lever 110, the first jaw 131, and the second jaw 132 may be moved downward together by the driving of the driving device 120 to place the pouch battery in the empty slot 201 of the tray 200 shown in fig. 2. As shown in fig. 2, the tray 200 may include a plurality of empty slots 201, each empty slot 201 may be used to accommodate a pouch battery.
When it is necessary to place a pouch battery in the empty groove 201 using the jig 100, the driving device 120 moves downward based on a signal from the control mechanism, thereby moving the robot arm 130 downward. In other words, the driving device 120 may control the driving lever 110 to move in the vertical direction with the first and second clamping plates 131 and 132 based on a signal from the control mechanism.
In addition, after the pouch battery is placed in the empty slot 201 of the tray 200 by the robot arm 130, the control mechanism may drive the first clamping plate 131 and the second clamping plate 132 to move away from each other, thereby achieving the purpose of releasing the pouch battery. Similarly, when the clamp 100 is used for clamping the pouch battery from the empty slot 201, the control mechanism can drive the first clamping plate 131 and the second clamping plate 132 to move close to each other, so that the purpose of clamping the pouch battery is achieved. It should be understood by those skilled in the art that although the clamp 100 is used for clamping the pouch battery in the present invention, the present invention is not limited thereto, and the clamp 100 can be used for clamping other objects.
After the pouch batteries clamped by all the clamps 100 in the clamping mechanism 1000 are placed in the corresponding empty slots 201 of the tray 200, the clamps 100 pick up the pouch batteries again under the control of the control mechanism, and place the picked-up pouch batteries in other empty slots 201 without the pouch batteries. That is, the jig 100 can be moved in a horizontal direction (e.g., back and forth and/or left and right) to sequentially place the pouch cells in the empty slots 201 at different positions.
In an exemplary embodiment, each gripper 100 in the gripping mechanism 1000 may further include a resilient member 111 and a sensor 140. In an exemplary embodiment, the elastic member 111 may be disposed outside an outer circumferential surface of the transmission lever 110 through the transmission lever 110 and fixed to a lower portion of the transmission lever 110. When the clamp 100 is moved upward, the upper portion of the transmission rod 110 may be moved upward through the base 1010. The sensors 140 may be provided on the base 1010 of the gripping mechanism 1000, and the sensors 140 may be provided in one-to-one correspondence with the grippers 100. In an exemplary embodiment, the sensor 140 may be a pressure sensor, but is not limited thereto.
When utilizing first splint 131 and second splint 132 centre gripping laminate polymer battery, if the laminate polymer battery by the centre gripping is for first splint 131 and the skew of second splint 132, then at the in-process of placing laminate polymer battery, laminate polymer battery can touch the lateral wall of dead slot 201, and then laminate polymer battery is extruded. In this case, the elastic member 111 may be deformed. By sensing the deformation of the elastic member 111, the sensor 140 can know the amount of resistance that the first clamping plate 131 and the second clamping plate 132 receive when the pouch battery is placed in the empty slot 201. When the sensor 140 senses that the elastic member 111 is deformed beyond a predetermined value, the sensor 140 sends a feedback signal to the control mechanism, thereby stopping the movement of the gripping mechanism 1000, and thus stopping the movement. In this case, the relative worker can adjust the position of the clamped pouch battery with respect to the first clamping plate 131 and the second clamping plate 132 according to the actual situation.
According to an exemplary embodiment, deformation of the resilient member 111 beyond a predetermined value indicates that the pouch cell to be placed is not aligned with the empty slot 201 and is squeezed or that a pouch cell has been placed in the empty slot 201 where the pouch cell is to be placed. The case of gripping the pouch battery from the empty slot 201 is similar to the above case, and therefore, in order to avoid redundancy, only the case of placing the pouch battery in the empty slot 201 is described in detail above. As long as the sensor 140 senses that the elastic member 111 is deformed beyond a predetermined range, the sensor 140 may send a feedback signal to the control mechanism to stop the movement of all the grippers 100 of the gripping mechanism 1000.
therefore, according to the exemplary embodiment of the present invention, the sensor 140 may be used to sense the deformation of the elastic member 111 to know that the clamped pouch battery is inclined with respect to the first clamping plate 131 and the second clamping plate 132, and then the clamp 100 stops moving, so that the placed pouch battery is prevented from being squeezed. Therefore, according to the utility model discloses an exemplary embodiment has improved the product appearance of the laminate polymer battery who places bad, and then has improved the risk of laminate polymer battery weeping to manufacturing enterprise efficiency and profit margin have been improved.
The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A gripping mechanism, characterized in that it comprises at least one gripper, each of which comprises a transmission rod, a drive, a sensor and a manipulator for gripping an object,
Wherein, the outer side of the outer circumferential surface of the transmission rod is provided with an elastic component,
The sensor is used for sensing the deformation of the elastic member, so that when the deformation of the elastic member exceeds a preset value, each clamp of the clamping mechanism stops moving.
2. The gripper mechanism of claim 1 further comprising a base, each of the at least one gripper being connected to the base, and the drive link moving through the base and over the base when the drive link moves in the vertical direction.
3. The gripper mechanism of claim 1 wherein the sensor is a pressure sensor.
4. The gripper mechanism of claim 2, wherein sensors are located above the base and are arranged in one-to-one correspondence with the grippers.
5. the gripper mechanism of claim 1, wherein the manipulator comprises a first jaw and a second jaw, wherein the first jaw and the second jaw are disposed opposite each other.
6. The grasping mechanism according to claim 5, characterized in that the grasping mechanism further comprises a control mechanism that controls movement of the grasping mechanism.
7. The gripper mechanism of claim 6 wherein the control mechanism drives the first jaw and the second jaw away from each other when the manipulator releases the object.
8. The gripping mechanism of claim 6, wherein the control mechanism drives the first jaw and the second jaw to move closer to each other when the manipulator grips the object.
9. The gripper mechanism of claim 1 wherein the drive means is pneumatic or hydraulic.
10. The clamping mechanism as recited in claim 1 wherein the gripper is configured to grip a pouch battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920507627.4U CN209796803U (en) | 2019-04-15 | 2019-04-15 | Clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920507627.4U CN209796803U (en) | 2019-04-15 | 2019-04-15 | Clamping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209796803U true CN209796803U (en) | 2019-12-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920507627.4U Active CN209796803U (en) | 2019-04-15 | 2019-04-15 | Clamping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209796803U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023172013A1 (en) * | 2022-03-07 | 2023-09-14 | 주식회사 엘지에너지솔루션 | Cell packaging device |
-
2019
- 2019-04-15 CN CN201920507627.4U patent/CN209796803U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023172013A1 (en) * | 2022-03-07 | 2023-09-14 | 주식회사 엘지에너지솔루션 | Cell packaging device |
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