CN213859315U - Robot clamping jaw and feeding and discharging robot - Google Patents
Robot clamping jaw and feeding and discharging robot Download PDFInfo
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- CN213859315U CN213859315U CN202022806226.4U CN202022806226U CN213859315U CN 213859315 U CN213859315 U CN 213859315U CN 202022806226 U CN202022806226 U CN 202022806226U CN 213859315 U CN213859315 U CN 213859315U
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Abstract
The utility model relates to a laminate polymer battery processing field provides a clamping jaw of robot and goes up unloading robot, and this clamping jaw of robot includes: the device comprises a bracket, a vision component and a plurality of vacuum adsorption components, wherein the vision component and the plurality of vacuum adsorption components are arranged on the bracket in sequence; each of the vacuum adsorption assemblies includes: a vacuum adsorption mechanism and a cylinder; the fixed end of the air cylinder is connected to the support, and the movable end of the air cylinder is connected to the vacuum adsorption mechanism. The utility model provides a robot clamping jaw and last unloading robot, through setting up the vision subassembly to through the distance between each vacuum adsorption mechanism in the different vacuum adsorption assemblies of cylinder adjustment, make this robot clamping jaw not only can effectively realize the accurate location to electric core and tray in laminate polymer battery course of working, can freely adjust the interval between the vacuum adsorption mechanism moreover, improved the application scope of robot clamping jaw and last unloading robot by a wide margin, guaranteed the machining efficiency of electric core module.
Description
Technical Field
The utility model relates to a laminate polymer battery processing field especially relates to a clamping jaw of robot and last unloading robot.
Background
The battery module is by several to hundreds of electric cores through the electric core group that the series-parallel connection mode is constituteed, and the structure of battery module can play the effect of support, fixed and protection to electric core, except the structure of mechanism design part, in addition battery management system and thermal management system just can constitute a more complete battery package.
At the in-process of processing electric core module, need carry out the operation of unloading on electric core module to carry out the operation to different stations. The existing feeding and discharging process generally adopts manual operation, and can also be grabbed by a robot and automatically fed and discharged by a conveyor belt. But the in-process of unloading is being adorned to press from both sides to current robot, is difficult to accurate location, and according to the size of processing raw materials and the difference that the processing required, need often hold in hand the robot and carry out the adjustment of adaptability, is difficult to guarantee the machining efficiency of electric core module.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a robot clamping jaw for when realizing the accurate positioning of robot, improve the machining efficiency of electricity core module.
An embodiment of the utility model provides a robot clamping jaw, include:
the device comprises a bracket, a vision component and a plurality of vacuum adsorption components, wherein the vision component and the plurality of vacuum adsorption components are arranged on the bracket in sequence;
wherein each of the vacuum adsorption assemblies comprises: a vacuum adsorption mechanism and a cylinder; the fixed end of the air cylinder is connected to the support, and the movable end of the air cylinder is connected with the vacuum adsorption mechanisms so as to adjust the distance between the vacuum adsorption mechanisms in the vacuum adsorption assemblies through the air cylinder.
According to the utility model discloses a robot clamping jaw, vacuum adsorption mechanism includes: the vacuum chuck comprises a chuck fixing seat and a plurality of combined vacuum chucks; the sucking disc fixing base with the expansion end of cylinder is connected, the one end detachably of combination vacuum chuck is installed in the sucking disc fixing base.
According to the utility model discloses a robot clamping jaw, vacuum adsorption mechanism still includes: a connecting plate and a fixing plate; the sucking disc fixing base pass through the connecting plate with the expansion end of cylinder is connected, the stiff end of cylinder passes through the fixed plate with leg joint.
According to the utility model discloses a robot clamping jaw, be equipped with a plurality of being used for adjusting on the sucking disc fixing base the installation position of combination vacuum chuck position, combination vacuum chuck passes through but installation position mobile installation is in on the sucking disc fixing base.
According to the utility model discloses a robot clamping jaw, combination vacuum chuck includes:
the device comprises a connecting rod, a sucker, a first locking nut and a second locking nut; the first end of the connecting rod is connected with the sucker fixing seat, and the second end of the connecting rod is connected with the sucker; the first locking nut and the second locking nut are movably sleeved on the connecting rod.
According to the utility model discloses a robot clamping jaw, the vision subassembly includes: a vision camera and an image processing system; the vision camera is installed on the support, and the image processing system is electrically connected with the vision camera.
According to the utility model discloses a robot clamping jaw, the quantity of vacuum adsorption subassembly is two, two among the vacuum adsorption subassembly the coaxial setting of cylinder.
The utility model also provides an go up unloading robot, include: a mechanical arm and a robot clamping jaw connected with the mechanical arm.
According to the utility model discloses a robot clamping jaw, go up unloading robot still includes: a robot control cabinet; the robot control cabinet is simultaneously electrically connected with the mechanical arm and the robot clamping jaw.
According to the utility model discloses a robot clamping jaw, robotic arm includes: the first shaft arm, the second shaft arm, the third shaft arm, the fourth shaft arm, the fifth shaft arm and the sixth shaft arm; the first shaft arm is connected with the robot clamping jaw sequentially through the second shaft arm, the third shaft arm, the fourth shaft arm, the fifth shaft arm and the sixth shaft arm.
The utility model provides a robot clamping jaw and last unloading robot, through setting up the vision subassembly to through the distance between each vacuum adsorption mechanism in the different vacuum adsorption assemblies of cylinder adjustment, make this robot clamping jaw not only can effectively realize the accurate location to electric core and tray in laminate polymer battery course of working, can freely adjust the interval between the vacuum adsorption mechanism moreover, improved the application scope of robot clamping jaw and last unloading robot by a wide margin, guaranteed the machining efficiency of electric core module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a robot gripping jaw provided in an embodiment of the present invention;
fig. 2 is a schematic perspective view of a combined vacuum chuck according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a loading and unloading robot provided in an embodiment of the present invention;
fig. 4 is a schematic plane structure diagram of a loading and unloading robot provided by the embodiment of the present invention;
in the figure, 1, a robot clamping jaw; 2. a support; 3. a visual component; 4. a cylinder; 5. a vacuum adsorption mechanism; 6. a sucker fixing seat; 7. a combined vacuum chuck; 71. a connecting rod; 72. a suction cup; 73. a first lock nut; 74. a second lock nut; 8. a connecting plate; 9. a fixing plate; 10. a robot arm; 11. a base.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The utility model discloses robot clamping jaw 1 that embodiment of the utility model provides is described below with fig. 1, the last unloading of this robot clamping jaw 1 mainly used laminate polymer battery includes: the support 2 and the visual component 3 installed on the support 2 and a plurality of vacuum adsorption components arranged in sequence. And the visual component 3 is used for accurately positioning the battery cell and the tray according to the acquired specific image. The vacuum adsorption component adsorbs the workpiece by using vacuum negative pressure. Each vacuum adsorption component comprises: a vacuum adsorption mechanism 5 and a cylinder 4. In this embodiment, cylinder 4 is the direction bearing cylinder, and the stiff end of cylinder 4 is connected on support 2, and the expansion end of cylinder 4 is connected with vacuum adsorption mechanism 5 to adjust the distance between each vacuum adsorption mechanism 5 in the different vacuum adsorption subassemblies through cylinder 4.
Before adopting this robot clamping jaw 1 to the material loading, can utilize the cylinder 4 to adjust the distance between each vacuum adsorption mechanism 5 in the different vacuum adsorption subassemblies according to the size of processing raw materials and the difference of processing requirement to make this robot clamping jaw 1 can adapt to the size of electric core and tray, thereby can promote robot clamping jaw 1's application scope. In the process of feeding and discharging, the vision assembly 3 acquires images in real time, and the positions of the vacuum adsorption assemblies are controlled by judging the acquired images, so that the feeding and discharging operations of the battery cell can be realized.
It should be noted that, in order to improve the processing efficiency of the robot clamping jaw 1, the distance between the vacuum adsorption mechanisms 5 may also be adjusted in real time through the air cylinder 4 while the vacuum adsorption component adsorbs the electric core.
The embodiment of the utility model provides a robot clamping jaw is through setting up the vision subassembly to through the distance between each vacuum adsorption mechanism in the different vacuum adsorption assemblies of cylinder adjustment, make this robot clamping jaw not only can effectively realize the accurate location to electric core and tray in laminate polymer battery course of working, can freely adjust the interval between the vacuum adsorption mechanism moreover, improved the application scope of robot clamping jaw and last unloading robot by a wide margin, guaranteed the machining efficiency of electric core module.
As shown in fig. 1, the vacuum adsorption mechanism 5 includes: a sucker fixing seat 6 and a plurality of combined vacuum suckers 7. The number of combined vacuum cups 7 may be increased or decreased as desired. The sucker fixing seat 6 is connected with the movable end of the cylinder 4, and one end of the combined vacuum sucker 7 is detachably installed in the sucker fixing seat 6.
In this embodiment, the vacuum adsorption mechanism 5 further includes: a connecting plate 8 and a fixing plate 9. The sucker fixing seat 6 is connected with the movable end of the cylinder 4 through a connecting plate 8, and the cylinder 4 is connected with the bracket 2 through a fixing plate 9. The sucker fixing seat 6 is provided with a plurality of mounting positions for adjusting the positions of the combined vacuum suckers 7, and the combined vacuum suckers 7 can be movably mounted on the sucker fixing seat 6 through the mounting positions.
As shown in fig. 2, the combination vacuum chuck 7 includes: a link 71, a suction cup 72, a first lock nut 73, and a second lock nut 74. The first end of the connecting rod 71 is connected with the fixed seat of the suction cup 72, and the second end of the connecting rod 71 is connected with the suction cup 72. The first locking nut 73 and the second locking nut 74 are movably sleeved on the connecting rod 71, and the sucker fixing seat 6 is located between the first locking nut 73 and the second locking nut 74 and used for fixing the sucker fixing seat 6.
Wherein the visual component 3 comprises: a vision camera and an image processing system. The vision camera is installed on the support 2, and the image processing system is electrically connected with the vision camera. The vision camera is used for acquiring images, and the image processing system is used for carrying out accurate positioning according to the images.
Wherein, the quantity of vacuum adsorption subassembly can be adjusted as required, and in this embodiment, the quantity of vacuum adsorption subassembly is two, is first vacuum adsorption subassembly and second vacuum adsorption subassembly respectively, and cylinder 4 coaxial setting in two vacuum adsorption subassemblies to at the in-process that cylinder 4 drive was removed, the vacuum adsorption subassembly can keep at same horizontal plane.
The utility model also provides a go up unloading robot, as shown in fig. 3 and fig. 4, should go up unloading robot and include: a robot arm 10 and a robot gripper 1 connected to the robot arm 10. The mechanical arm 10 is installed on the base 11, and the position of the robot clamping jaw 1 can be adjusted through the movement of the mechanical arm 10, so that the charging and discharging of the battery cell are realized.
Wherein, as shown in fig. 1, the robot gripping jaw 1 comprises: the support 2 and the visual component 3 installed on the support 2 and a plurality of vacuum adsorption components arranged in sequence. And the visual component 3 is used for accurately positioning the battery cell and the tray according to the acquired specific image. The vacuum adsorption component adsorbs the workpiece by using vacuum negative pressure. Each vacuum adsorption component comprises: a vacuum adsorption mechanism 5 and a cylinder 4. In this embodiment, cylinder 4 is the direction bearing cylinder, and the stiff end of cylinder 4 is connected on support 2, and the expansion end of cylinder 4 is connected with vacuum adsorption mechanism 5 to adjust the distance between each vacuum adsorption mechanism 5 in the different vacuum adsorption subassemblies through cylinder 4. For more details, please refer to the text description related to fig. 1 to fig. 2, which is not repeated herein.
For the control should go up unloading robot, still include: robot control cabinet. Robot control cabinet simultaneously with robotic arm 10 and robot clamping jaw 1 electric connection to control robotic arm 10 and robot clamping jaw 1 through modes such as relay, PLC. Robotic arm 10 is six arms, and each arm all passes through motor drive coordinated control, includes: the first shaft arm, the second shaft arm, the third shaft arm, the fourth shaft arm, the fifth shaft arm and the sixth shaft arm. The second shaft arm, the third shaft arm and the fifth shaft arm do pitching motion, and the first shaft arm, the fourth shaft arm and the sixth shaft arm do revolving motion. And an interface adaptive to the robot clamping jaw 1 is reserved in the sixth shaft arm, and the first shaft arm is connected with the robot clamping jaw 1 sequentially through the second shaft arm, the third shaft arm, the fourth shaft arm, the fifth shaft arm and the sixth shaft arm.
Before adopting this unloading robot to material loading, can utilize cylinder 4 to adjust the distance between each vacuum adsorption mechanism 5 in the different vacuum adsorption subassemblies according to the size of processing raw materials and the difference of processing requirement to make this robot clamping jaw 1 can adapt to the size of electric core and tray. In the process of feeding and discharging, the vision assembly 3 acquires images in real time, the acquired images are judged, the mechanical arm 10 is matched to control the position of the vacuum adsorption assembly, and then the feeding and discharging operation of the battery cell can be realized through the movement of the mechanical arm 10.
The utility model provides an go up unloading robot, through setting up the vision subassembly to through the distance between each vacuum adsorption mechanism in the different vacuum adsorption assemblies of cylinder adjustment, make this robot clamping jaw not only can effectively realize the accurate location to electric core and tray in laminate polymer battery course of working, can freely adjust the interval between the vacuum adsorption mechanism moreover, improved the robot clamping jaw by a wide margin and gone up the application scope of unloading robot, guaranteed the machining efficiency of electric core module.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. A robot gripper, comprising:
the device comprises a bracket, a vision component and a plurality of vacuum adsorption components, wherein the vision component and the plurality of vacuum adsorption components are arranged on the bracket in sequence;
wherein each of the vacuum adsorption assemblies comprises: a vacuum adsorption mechanism and a cylinder; the fixed end of the air cylinder is connected to the support, and the movable end of the air cylinder is connected with the vacuum adsorption mechanisms so as to adjust the distance between the vacuum adsorption mechanisms in the vacuum adsorption assemblies through the air cylinder.
2. A robot jaw according to claim 1, characterized in that the vacuum suction mechanism comprises: the vacuum chuck comprises a chuck fixing seat and a plurality of combined vacuum chucks; the sucking disc fixing base with the expansion end of cylinder is connected, the one end detachably of combination vacuum chuck is installed in the sucking disc fixing base.
3. A robotic gripper according to claim 2, wherein the vacuum suction mechanism further comprises: a connecting plate and a fixing plate; the sucking disc fixing base pass through the connecting plate with the expansion end of cylinder is connected, the stiff end of cylinder passes through the fixed plate with leg joint.
4. The robot gripping jaw of claim 2, wherein said suction cup holder has a plurality of mounting locations for adjusting the position of said combination vacuum chuck, said combination vacuum chuck being movably mounted on said suction cup holder via said mounting locations.
5. A robot jaw according to claim 2, characterized in that said combined vacuum chuck comprises:
the device comprises a connecting rod, a sucker, a first locking nut and a second locking nut; the first end of the connecting rod is connected with the sucker fixing seat, and the second end of the connecting rod is connected with the sucker; the first locking nut and the second locking nut are movably sleeved on the connecting rod.
6. A robot jaw according to claim 1, characterized in that said vision assembly comprises: a vision camera and an image processing system; the vision camera is installed on the support, and the image processing system is electrically connected with the vision camera.
7. A robot jaw according to any of claims 1-6, characterized in that the number of vacuum suction assemblies is two, the cylinders in the two vacuum suction assemblies being arranged coaxially.
8. The utility model provides a go up unloading robot which characterized in that includes: a robot arm and a robot gripping jaw as claimed in any one of claims 1-7 connected to said robot arm.
9. The loading and unloading robot of claim 8, further comprising: a robot control cabinet; the robot control cabinet is simultaneously electrically connected with the mechanical arm and the robot clamping jaw.
10. The loading and unloading robot of claim 8, wherein the robotic arm comprises: the first shaft arm, the second shaft arm, the third shaft arm, the fourth shaft arm, the fifth shaft arm and the sixth shaft arm; the first shaft arm is connected with the robot clamping jaw sequentially through the second shaft arm, the third shaft arm, the fourth shaft arm, the fifth shaft arm and the sixth shaft arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022806226.4U CN213859315U (en) | 2020-11-26 | 2020-11-26 | Robot clamping jaw and feeding and discharging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022806226.4U CN213859315U (en) | 2020-11-26 | 2020-11-26 | Robot clamping jaw and feeding and discharging robot |
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| Publication Number | Publication Date |
|---|---|
| CN213859315U true CN213859315U (en) | 2021-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022806226.4U Active CN213859315U (en) | 2020-11-26 | 2020-11-26 | Robot clamping jaw and feeding and discharging robot |
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| CN (1) | CN213859315U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313992A (en) * | 2022-01-28 | 2022-04-12 | 上海美诺福科技有限公司 | Carrying mechanism and carrying device |
| CN114670227A (en) * | 2022-04-12 | 2022-06-28 | 刘少林 | Integrated vision robot clamping jaw and using method thereof |
-
2020
- 2020-11-26 CN CN202022806226.4U patent/CN213859315U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313992A (en) * | 2022-01-28 | 2022-04-12 | 上海美诺福科技有限公司 | Carrying mechanism and carrying device |
| CN114670227A (en) * | 2022-04-12 | 2022-06-28 | 刘少林 | Integrated vision robot clamping jaw and using method thereof |
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