CN219504800U

CN219504800U - Multifunctional stacking gripper

Info

Publication number: CN219504800U
Application number: CN202320295583.XU
Authority: CN
Inventors: 谈言; 俞兆星; 顾家乐; 成池; 叶潇; 顾金成; 杨建华; 胡伟
Original assignee: Changzhou Mentechs Intelligent Equipment Co ltd
Current assignee: Changzhou Mentechs Intelligent Equipment Co ltd
Priority date: 2023-02-23
Filing date: 2023-02-23
Publication date: 2023-08-11
Anticipated expiration: 2033-02-23

Abstract

The utility model relates to the technical field of automation equipment, in particular to a multifunctional stacking gripper. The robot comprises a mounting seat, wherein the mounting seat is mounted at the execution tail end of the robot; and the floating module is arranged on the mounting seat and used for accurately adjusting the position of the gripper, and the flatness of the whole module is ensured after the battery cells are formed into the module during stacking. The two gripper modules are arranged in parallel on the mounting plate of the floating module. The elastic compensation component ensures the grabbing stability when grabbing the dual-mode battery cell, prevents falling and ensures the safety of the production line; the gripper module can be used for separating or simultaneously gripping and placing through the sliding table cylinder, stacks single-module battery cells or double-module battery cells, and is applied to mixed production of the single-module battery cells and the double-module battery cells.

Description

Multifunctional stacking gripper

Technical Field

The utility model relates to the technical field of automation equipment, in particular to a multifunctional stacking gripper.

Background

The gripper is the most common type of end effector, which is a component mounted on an industrial robot arm to directly grip a workpiece or perform a work, and has the function of gripping, transporting, and placing the workpiece to a certain position.

The existing battery cell production line has the mixed production of single and double battery cell modules, and the requirement that a gripper can simultaneously capture and stack the single and double battery modules is met. Thereby meeting the production requirements. And the rubberized double-module battery cell is when carrying, probably because the tongs is when snatching, because the altitude error of battery cell leads to one to grasp, and one does not grasp, has the risk of dropping.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art and provides a multifunctional stacking gripper.

The technical scheme for realizing the aim of the utility model is as follows: a multifunctional stacking gripper having a mount mounted to a robot actuation tip;

and the floating module is arranged on the mounting seat and used for accurately adjusting the position of the gripper, and the flatness of the whole module is ensured after the battery cells are formed into the module during stacking.

The two gripper modules are arranged in parallel on the mounting plate of the floating module.

Further, the gripper module comprises a sliding table cylinder, a self-locking clamping jaw, an upper jaw and a lower jaw; the self-locking clamping jaw is movably arranged on the floating module through a sliding table cylinder with a fixed back, and the upper jaw and the lower jaw are fixed on the driving end of the self-locking clamping jaw to realize the grabbing of the battery cell.

Further, the upper claw is arranged above the lower claw, and two elastic compensation components are arranged in front of and behind the bottom end of the upper claw.

Further, the elastic compensation component comprises a limit column, an elastic element and a pressing block; the limit post passes the terminal surface of snatching of last claw, and the flange that the top set up is spacing in last claw top, limit post bottom mounting has the briquetting, be provided with a plurality of elastic element between briquetting and the last claw.

Further, the back surfaces of the upper claw and the lower claw are respectively provided with a sliding table guide rail assembly and a sliding table cylinder to be connected.

Further, a photoelectric sensor is arranged at the bottom end of the side face of the sliding table cylinder.

Further, a photoelectric sensor is arranged beside the lower claw.

Further, the module that floats includes vertical movement subassembly and lateral shifting subassembly, vertical movement subassembly installs on the mount pad, vertical cylinder drive end of vertical movement subassembly is connected to lateral shifting subassembly, drives lateral shifting subassembly and removes, lateral shifting subassembly's lateral cylinder's drive end is connected to the tongs module.

After the technical scheme is adopted, the utility model has the following positive effects:

(1) The elastic compensation component ensures the grabbing stability when grabbing the dual-mode battery cell, prevents falling and ensures the safety of a production line.

(2) The gripper module can be used for grabbing separately or simultaneously through the sliding table cylinder, stacks single-module battery cells or double-module battery cells, and is applied to mixed production of the single-module battery cells and the double-module battery cells.

Drawings

In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which

FIG. 1 is a schematic illustration of the operation of the present utility model;

FIG. 2 is a schematic diagram of the structure of the present utility model;

FIG. 3 is a schematic view of a gripper module according to the present utility model;

FIG. 4 is a schematic diagram of a floating module according to the present utility model.

Detailed Description

Referring to fig. 1, the utility model is provided with a mounting seat 1, a floating module 2, a gripper module 3 and a robot, wherein the mounting seat 1 is arranged at the execution end of the robot; the floating module 2 is arranged on the mounting seat 1 and used for accurately adjusting the position of the gripper, and the flatness of the whole module is ensured after the battery cells are formed into the module during stacking. The number of the gripper modules 3 is two, and the gripper modules are arranged on the mounting plate of the floating module 2 in parallel. The battery cell grabbing device is used for grabbing battery cells and stacking the battery cells.

The gripper module 3 comprises a sliding table cylinder 31, a self-locking clamping jaw 32, an upper jaw 33 and a lower jaw 34; the self-locking clamping jaw 32 is movably arranged on the floating module 2 through a sliding table cylinder 31 with a fixed back, and an upper claw 33 and a lower claw 34 are fixed on the driving end of the self-locking clamping jaw 32 to realize the grabbing of the battery cell. The upper jaw 33 is arranged above the lower jaw 34, and two elastic compensation assemblies 35 are arranged in front of and behind the bottom end of the upper jaw 33. The elastic compensation assembly 35 includes a limit post 351, an elastic element 352, and a press block 353; the spacing post 351 passes the terminal surface that snatchs of last claw 33, and the flange that the top set up is spacing in last claw 33 top, and spacing post 351 bottom mounting has briquetting 353, is provided with a plurality of elastic element 352 between briquetting 353 and the last claw 33. The elastic compensation component 35 can play a role in compensation, so that the two glued battery cell modules are prevented from being clamped tightly due to the difference in height, and the battery cells are prevented from falling due to the loose effect of the battery cell clamp.

The back surfaces of the upper jaw 33 and the lower jaw 34 are respectively provided with a sliding table guide rail assembly 36 and a sliding table cylinder 31 for connection. The stability of operation of the upper jaw 33 and the lower jaw 34 during gripping is ensured.

A photoelectric sensor 37 is arranged at the bottom end of the side face of the sliding table cylinder 31. A photoelectric sensor 37 is arranged beside the lower jaw 34. The battery cell grabbing device is used for detecting whether the battery cell is grabbed and put in place.

The floating module 2 comprises a vertical moving assembly 21 and a transverse moving assembly 22, the vertical moving assembly 21 is installed on the installation base 1, the driving end of a vertical cylinder of the vertical moving assembly 21 is connected to the transverse moving assembly 22, the transverse moving assembly 22 is driven to move, and the driving end of a transverse cylinder of the transverse moving assembly 22 is connected to the gripper module 3.

The working principle of the utility model is as follows:

the gripper is applied to a production line for single-mode and double-mode group mixed production of battery cells. When grabbing single module electric core, two parallel arranged grab hand modules 3 can be independently separated to act, grab and stack the independent electric core modules. When grabbing the bimodulus electric core, the tongs module 3 synchronous action, linkage snatchs, guarantees that the relative position of bimodulus electric core is unchangeable, guarantees the viscose stability between the bimodulus electric core.

While the foregoing is directed to embodiments of the present utility model, other and further details of the utility model may be had by the present utility model, it should be understood that the foregoing description is merely illustrative of the present utility model and that no limitations are intended to the scope of the utility model, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the utility model.

Claims

1. The utility model provides a multi-functional tongs that piles up which characterized in that: has the following characteristics of

The mounting seat (1), the said mounting seat (1) is installed in the robot and carried out the end;

the floating module (2), the floating module (2) is arranged on the mounting seat (1) and used for accurately adjusting the position of the gripper to ensure the flatness of the stacked finished modules,

the two gripper modules (3) are arranged on the mounting plate of the floating module (2) in parallel.

2. The multi-functional stacking gripper of claim 1, wherein: the gripper module (3) comprises a sliding table cylinder (31), a self-locking clamping jaw (32), an upper jaw (33) and a lower jaw (34); the self-locking clamping jaw (32) is movably arranged on the floating module (2) through a sliding table cylinder (31) with a fixed back, and the upper jaw (33) and the lower jaw (34) are fixed on the driving end of the self-locking clamping jaw (32) to realize the grabbing of the battery cell.

3. The multi-functional stacking gripper of claim 2, wherein: the upper claw (33) is arranged above the lower claw (34), and two elastic compensation assemblies (35) are arranged in front of and behind the bottom end of the upper claw (33).

4. A multi-functional stacking gripper according to claim 3, characterized in that: the elastic compensation assembly (35) comprises a limit column (351), an elastic element (352) and a pressing block (353); the limiting column (351) penetrates through the grabbing end face of the upper claw (33), a flange arranged at the top end is limited above the upper claw (33), a pressing block (353) is fixed at the bottom end of the limiting column (351), and a plurality of elastic elements (352) are arranged between the pressing block (353) and the upper claw (33).

5. The multi-functional stacking gripper of claim 2, wherein: the back of the upper claw (33) and the back of the lower claw (34) are respectively provided with a sliding table guide rail assembly (36) and a sliding table cylinder (31) which are connected.

6. The multi-functional stacking gripper of claim 2, wherein: a photoelectric sensor (37) is arranged at the bottom end of the side face of the sliding table cylinder (31).

7. The multi-functional stacking gripper of claim 2, wherein: a photoelectric sensor (37) is arranged beside the lower claw (34).

8. The multi-functional stacking gripper of claim 1, wherein: the floating module (2) comprises a vertical moving assembly (21) and a transverse moving assembly (22), the vertical moving assembly (21) is installed on the installation seat (1), the driving end of a vertical cylinder of the vertical moving assembly (21) is connected to the transverse moving assembly (22), the transverse moving assembly (22) is driven to move, and the driving end of a transverse cylinder of the transverse moving assembly (22) is connected to the gripper module (3).