CN220699644U - Battery cell clamping manipulator and battery cell assembly production line system using same - Google Patents

Abstract

The utility model provides a battery cell clamping manipulator and a battery cell assembly production line system using the same, wherein the battery cell clamping manipulator comprises: a frame provided with a connecting structure for connecting the turning device; the linear driving mechanism is arranged on the frame and used for driving a driving rack to reciprocate linearly; the rotary transmission mechanism is arranged on the frame and comprises a driven gear capable of rotating in cooperation with the driving rack and a rotary shaft fixedly connected with the driven gear; the battery core clamping mechanism is arranged on the rotating shaft and used for driving the pair of clamping arms to move in an opening-closing manner so as to grasp or loosen the battery core; the driven gear can drive the battery core clamping mechanism to rotate around the fixed shaft of the rotating shaft in the forward and reverse directions. The battery core clamping manipulator provided by the utility model can be matched with a robot or a transfer device to realize the operation of clamping, rotating and overturning the battery core, so that the cost of the battery core assembly process is reduced, and the production efficiency is improved; the electric core clamping and rotating multidirectional detection are realized through the sensor, so that the electric core clamping strength and the alignment grabbing and positioning rotating precision are ensured.

Description

Battery cell clamping manipulator and battery cell assembly production line system using same

Technical Field

The utility model relates to the technical field of battery cell manufacturing, in particular to a battery cell clamping manipulator and a battery cell assembly production line system using the same.

Background

At present, a production line system for assembling the battery cells in the field of battery cell manufacturing generally adopts the cooperation of a carrying grabbing device, a battery cell rotating device and a battery cell overturning device which are independent from each other, so that carrying grabbing, battery cell rotating and battery cell overturning operations of the battery cells are realized in a step-by-step mode, the processes of carrying grabbing, battery cell rotating and battery cell overturning of the battery cells are complicated, and the overall assembly efficiency of the battery cells is low. In addition, the conventional carrying grabbing device and the conventional battery cell rotating device for the battery cell assembly production line system generally rely on the visual alignment device to assist in realizing battery cell positioning grabbing and fixed-angle rotating operation, so that the whole structure of the battery cell assembly production line system is complicated, and the battery cell assembly and manufacturing cost is improved.

Disclosure of Invention

The utility model provides a battery cell clamping manipulator and a battery cell assembly production line system using the same, which are used for solving the technical problem of lower assembly efficiency of the battery cell assembly production line system caused by complex operation procedures of battery cell carrying, grabbing, rotating and overturning in the prior art.

In order to solve the problems, the utility model adopts the following technical scheme:

the utility model provides a battery cell clamping manipulator, which comprises:

the rack is provided with a connecting structure for connecting the turnover device;

the linear driving mechanism is arranged on the rack and used for driving a driving rack to reciprocate linearly;

the rotary transmission mechanism is arranged on the rack and comprises a driven gear capable of rotating in cooperation with the driving rack and a rotary shaft fixedly connected with the driven gear;

the battery core clamping mechanism is arranged on the rotating shaft and used for driving the pair of clamping arms to move in a folding manner so as to grab or loosen the battery core, and the driven gear can drive the battery core clamping mechanism to rotate around the rotating shaft in the forward and reverse directions in a fixed shaft manner.

Preferably, the linear driving mechanism includes:

the driving cylinder is arranged on the frame;

the first linear guide rail is arranged on the frame and positioned at one side of the driving cylinder;

the rack sliding seat is arranged on the first linear guide rail and is fixedly connected with the telescopic rod of the driving cylinder through a connecting piece;

the driving rack is fixedly arranged on the rack sliding seat;

further, the rotation transmission mechanism further includes:

the rotating shaft bearing is arranged on the frame;

the rotary shaft penetrates through the rotary shaft bearing, one end of the rotary shaft is fixedly connected with the driven gear, and the other end of the rotary shaft is fixedly connected with the battery core clamping mechanism;

the electric core fixture includes:

the clamping bracket is fixedly arranged at the other end of the rotating shaft;

the clamping cylinder is arranged on the clamping bracket and used for driving the pair of clamping moving parts to move in an opening and closing mode;

the second linear guide rails are arranged on the clamping support and extend along the opening and closing movement direction of the pair of clamping moving parts;

the clamping top plates are respectively and correspondingly arranged on the clamping moving parts and are respectively and correspondingly arranged on the second linear guide rail through the clamping jaw sliding blocks;

the clamping arms are respectively and correspondingly arranged at the opposite ends of the clamping top plates.

Further, the linear driving mechanism further includes:

the first sensing piece is arranged on the connecting piece;

the first sensor sliding rail is arranged on the rack in an extending manner along the direction of the reciprocating linear motion of the driving rack;

the pair of first position sensors are arranged on the first sensor sliding rail at intervals;

the pair of first position sensors respectively limit the range of the reciprocating linear motion of the driving rack by sensing the first sensing piece, so as to limit the range of the forward and reverse rotation angle of the driven gear driving the battery core clamping mechanism around the fixed shaft of the rotating shaft.

Further, the linear driving mechanism further includes:

the pair of buffer limiters are arranged on the rack at intervals along the direction of the reciprocating linear motion of the driving rack;

the pair of buffer limiters limit the stroke of the reciprocating linear motion of the driving rack through hard limitation with the rack sliding seat respectively.

Further, the electric core fixture still includes:

the clamping position sensor is arranged at the outer side of the clamping arm far away from the opposite clamping arm, and the clamping arm is provided with a light hole for giving way to the emitted light of the clamping position sensor;

the clamping position sensor emits light to the inner side of the clamping arm facing the other clamping arm through the light hole so as to detect whether the battery cell enters the position to be clamped.

Further, the electric core fixture still includes:

the pair of second induction pieces are respectively and correspondingly arranged on the pair of clamping top plates;

the second sensor slide rails are arranged on the clamping bracket and are respectively positioned at two opposite sides of the clamping cylinder in the opening and closing movement direction of the pair of clamping moving parts;

the pair of second position sensors are respectively and correspondingly arranged on the pair of second sensor sliding rails;

the second position sensor is used for limiting the opening and closing travel of the corresponding clamping arm relative to the clamping bracket by sensing the second sensing piece.

Preferably, the clamping top plate is provided with a clamping arm sliding groove, the clamping arm is provided with a clamping arm sliding block matched with the clamping arm sliding groove, and the clamping arm can be slidably arranged on the clamping top plate along the opening and closing movement direction of the clamping moving piece through the matching of the clamping arm sliding block and the clamping arm sliding groove;

one side of the clamping top plate is provided with a travel scale bar, and the clamping arm is provided with a travel indicating needle matched with the travel scale bar and used for displaying the distance between the inner side of the clamping arm facing the other clamping arm and the other clamping arm when the pair of clamping moving parts are in a minimum distance and can just clamp the folding state of the battery cell.

Further, the electric core clamping manipulator further includes:

the first powder receiving box is arranged on the frame and is positioned right below the driven gear;

the second powder receiving box is arranged at the bottom of the rack sliding seat and is positioned right below the driving rack;

and the oil stain receiving box is arranged at the bottom of one end of the clamping top plate, which is close to the other clamping top plate.

The utility model also provides a battery cell assembly production line system, which comprises the turnover device, the battery cell clamping manipulator and a connecting structure, wherein the connecting structure comprises a connecting flange and a plurality of connecting holes.

Compared with the prior art, the utility model has the following beneficial effects:

according to the battery cell clamping manipulator and the battery cell assembly production line system using the same, the battery cell clamping manipulator can simultaneously realize clamping grabbing and fixed-axis rotation operations of the battery cells, and the battery cell clamping manipulator is connected with the industrial robot or the turnover transfer device or the workstation of the battery cell assembly production line system, so that the battery cell clamping manipulator and the transfer device or the workstation of the battery cell clamping manipulator battery cell assembly production line system can be matched, meanwhile, the operations of clamping grabbing, fixed-axis rotation and fixed-angle turnover of the battery cells are realized, the overall processes of battery cell carrying grabbing, battery cell rotation and battery cell turnover are simplified, and the overall assembly efficiency of the battery cells is improved. Meanwhile, the battery core clamping manipulator provided by the utility model realizes multidirectional sensing detection such as the clamping position detection, the forward and reverse rotation angle limit and the clamping arm opening and closing stroke limit of the battery core through the mechanical and photoelectric sensors, has stronger mechanism action cooperation logic, and further simplifies the integral structure of a battery core assembly production line system, reduces the cost of battery core assembly and manufacturing while ensuring the clamping strength and rigidity of the battery core clamping manipulator and realizing accurate alignment grabbing and positioning rotation in the battery core assembly process, and is suitable for large-scale production of new energy storage battery cores, especially square shell battery cores.

Drawings

In order to more clearly illustrate the technical solutions proposed by the present utility model, the following detailed description is made with reference to the examples and the accompanying drawings, it being understood that the drawings in the following description are only some examples of the present utility model and that the variations of these drawings are possible under the concept of the present utility model for those of ordinary skill in the art.

Fig. 1 is a schematic three-dimensional structure of a battery core clamping manipulator provided by the utility model;

fig. 2 is a schematic diagram of a front view structure of a battery core clamping manipulator provided by the utility model;

fig. 3 is a schematic diagram of a three-dimensional structure of a battery core clamping manipulator provided by the utility model;

fig. 4 is a schematic diagram of a rear view structure of a battery core clamping manipulator provided by the utility model;

fig. 5 is a schematic three-dimensional structure of a battery core clamping manipulator provided by the utility model;

fig. 6 is a schematic side view structure of a battery cell clamping manipulator provided by the utility model;

fig. 7 is a schematic diagram of a three-dimensional structure of a battery core clamping manipulator provided by the utility model;

fig. 8 is a schematic diagram of a three-dimensional structure of a battery cell clamping manipulator provided by the utility model.

Wherein, each reference numeral in the figure mainly marks:

1. a frame; 11. installing a top plate; 111. a connecting flange; 112. a connection hole; 12. installing a vertical plate; 121. a first powder receiving box; 122. installing a yielding port; 2. a linear driving mechanism; 21. a driving cylinder; 211. a telescopic rod; 22. a first linear guide rail; 23. a rack slide; 231. a driving rack; 232. a second powder receiving box; 233. a slide block; 24. a connecting piece; 241. a first sensing piece; 25. a first sensor rail; 251. a first position sensor; 26. a buffer limiter; 3. a rotary transmission mechanism; 31. a driven gear; 32. a rotation shaft; 321. a rotating shaft bearing; 322. a coupling flange; 4. the battery core clamping mechanism; 41. a clamping bracket; 411. connecting a top plate; 412. a bracket riser; 42. a clamping cylinder; 421. clamping the moving piece; 422. a vacuum joint; 43. a second linear guide rail; 431. a jaw slider; 44. clamping a top plate; 441. a second sensing piece; 442. a travel scale bar; 443. an oil stain receiving box; 444. a limit column; 45. a clamping arm; 451. a connection part; 452. a clamping part; 453. a light hole; 454. a travel indicator needle; 455. an insulating anti-slip pad; 46. a clamp position sensor; 461. a sensor hanger; 47. a second sensor slide rail; 471. a second position sensor; 5. and a battery cell.

Wherein, other marks in the figure:

A. light is emitted.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the utility model is further described in detail below with reference to fig. 1-8 and embodiments.

Referring to fig. 1-8, the present utility model provides a battery core clamping manipulator, which includes:

the frame 1, the frame 1 is provided with a connection structure for connecting the turning device; the linear driving mechanism 2 is arranged on the frame 1 and is used for driving a driving rack 231 to reciprocate and linearly; the rotary transmission mechanism 3 is arranged on the frame 1 and comprises a driven gear 31 capable of rotating in cooperation with the driving rack 231 and a rotary shaft 32 fixedly connected with the driven gear 31; the battery core clamping mechanism 4 is mounted on the rotating shaft 32 and is used for driving a pair of clamping arms 45 to open and close so as to grasp or loosen the battery core 5, and the driven gear 31 can rotate forward and backward along with the reciprocating linear motion of the movable rack, so that the battery core clamping mechanism 4 is driven to rotate forward and backward around the fixed shaft of the rotating shaft 32.

Referring to fig. 1 to 8, in this embodiment, a rack 1 includes a top mounting plate 11 and a vertical mounting plate 12 fixedly connected to a bottom end of the top mounting plate 11; the linear driving mechanism 2 includes: the driving cylinder 21 is arranged at the bottom end of the mounting top plate 11 of the frame 1, and the telescopic rod 211 of the driving cylinder 21 can move in a telescopic manner along the direction parallel to the mounting top plate 11 and the mounting vertical plate 12; the first linear guide rail 22 is arranged at the bottom end of the mounting top plate 11 of the frame 1 and is positioned between the mounting vertical plates 12 and the driving cylinder 21, and extends along the direction parallel to the telescopic movement of the telescopic rod 211 of the driving cylinder 21 at one side of the driving cylinder 21. The rack slider 23 is slidably mounted on the first linear guide rail 22 through at least one slider 233 provided at the top end thereof, and is fixedly connected to the end of the telescopic rod 211 of the driving cylinder 21 through a connecting member 24, and the driving rack 231 is fixedly mounted on the rack slider 23.

The driving cylinder 21 can drive the telescopic rod 211 to perform telescopic motion, so that the connecting piece 24, the rack sliding seat 23 and the driving rack 231 are driven to perform synchronous reciprocating linear motion along the telescopic motion direction of the telescopic rod 211.

Referring to fig. 3-8, in the present embodiment, the rotation transmission mechanism 3 further includes:

a rotating shaft bearing 321 provided on a side surface of the mounting riser 12 of the frame 1 facing the first linear guide 22; the rotating shaft 32 is arranged in the rotating shaft bearing 321 in a penetrating way, one end of the rotating shaft 32 is fixedly connected with the driven gear 31, and the other end of the rotating shaft 32 is fixedly connected with the battery core clamping mechanism 4; the axial direction of the rotary shaft 32 is perpendicular to the mounting top plate 11 and parallel to the mounting vertical plate 12, the axis of the driven gear 31 coincides with the axis of the rotary shaft 32, and the periphery of the driven gear 31 is meshed with the driving rack 231.

Referring to fig. 3-8, in the present embodiment, the linear driving mechanism 2 further includes:

the first sensing piece 241 is arranged on the connecting piece 24; the first sensor sliding rail 25 is arranged at one side end of the mounting top plate 11 of the rack 1, which is close to the connecting piece 24, along the direction of the reciprocating linear motion of the driving rack 231 in an extending manner; a pair of first position sensors 251 slidably disposed on the first sensor rail 25 at intervals; the pair of first position sensors 251 respectively sense the first sensing piece 241 to limit the stroke of the reciprocating linear motion of the driving rack 231, so as to limit the angular range value that the driven gear 31 drives the electric core clamping mechanism 4 to rotate around the rotating shaft 32 in the forward and reverse directions, and realize the multi-rotation angle swing discharge core 5 of the electric core clamping manipulator.

Referring to fig. 3-8, in the present embodiment, the first position sensor 251 is a slot-type photoelectric sensor (slot-type photoelectric switch), the housing of the slot-type photoelectric sensor is provided with at least one through hole, and after the first position sensor 251 slides a certain distance along the first sensor sliding rail 25 to a required position (i.e. the corresponding driven gear 31 reciprocates linearly and drives the driven gear 31 to drive the battery core clamping mechanism 4 to rotate forward or backward), the first position sensor 251 is fixed on the first sensor sliding rail 25 through the through hole and the sliding slot of the first sensor sliding rail 25 by a pin.

In other embodiments, the first position sensor 251 may also employ an opposite/reflective photosensor.

Referring to fig. 2-8, in the present embodiment, the linear driving mechanism 2 further includes:

a pair of buffer stoppers 26 disposed at intervals along the direction of the reciprocating linear motion of the driving rack 231 at the bottom end of the mounting top plate 11 of the frame 1; a pair of buffer stoppers 26 limit the stroke of the reciprocating linear motion of the driving rack 231 by being hard-limited with the rack slider 23, respectively.

In this embodiment, when the battery cell clamping manipulator provided by the utility model is applied, the model of the driving cylinder 21 compatible with the weight of the battery cell 5 with clamping is selected according to the specification and the size of the battery cell 5 to be clamped, and the driving rack 231 and the driven gear 31 with proper models are selected according to the proportional relation between the battery cell 5 with specific weight and the tooth form of the gear/rack, so that the gear-rack matching can be adapted to drive the battery cell clamping mechanism 4 to clamp the battery cell 5 with specific weight for rotary movement.

Referring to fig. 1-8, in the present embodiment, the cell clamping mechanism 4 includes:

the clamp holder 41, the clamp holder 41 includes: a connection top plate 411 fixedly installed at the other end of the rotation shaft 32 through a connection shaft flange 322 and disposed parallel to the installation top plate 11 and perpendicular to the rotation shaft 32; the bracket vertical plate 412 is fixedly arranged at the bottom end of the connecting top plate 411; the top end of the clamping cylinder 42 is fixedly connected to the bottom end of the connecting top plate 411 of the clamping bracket 41, and one side end of the clamping cylinder 42 is fixedly connected to the bracket vertical plate 412 for driving a pair of clamping moving pieces 421 to move in a stretching and folding manner along the direction parallel to the bracket top plate and the bracket vertical plate 412 on two sides of the clamping cylinder 42; a second linear guide rail 43 provided on a side surface of the holder riser 412 of the holder 41 facing the holder cylinder 42 and extending in the opening and closing movement direction of the pair of holding movement pieces 421; a pair of vacuum connectors 422 provided on the clamping cylinder 42 for externally connecting a vacuum source; the pair of clamping top plates 44 are respectively and correspondingly arranged at the bottom ends of the pair of clamping moving pieces 421, the top ends of the clamping top plates 44 are provided with clamping jaw sliding blocks 431, and the pair of clamping top plates 44 are respectively and correspondingly arranged on the second linear guide rail 43 through the pair of clamping jaw sliding blocks 431; the pair of clamping arms 45 are respectively and correspondingly arranged at opposite ends of the pair of clamping top plates 44.

In the present embodiment, when the clamping cylinder 42 drives the pair of clamping moving members 421 to close to each other and move to a minimum distance therebetween, the corresponding clamping portions 452 of the pair of clamping arms 45 are in a closed state just capable of clamping the battery cell 5; when the clamping cylinder 42 drives the pair of clamping moving members 421 to open each other and move to a maximum distance therebetween, the corresponding clamping portions 452 of the pair of clamping arms 45 are in an open state waiting for clamping the battery cells 5.

In this embodiment, the bottom end of the clamping top plate 44 is provided with a clamping arm sliding groove (not shown in the drawing), the clamping arm 45 includes a connecting portion 451 attached in parallel to the bottom end of the clamping top plate 44, and a clamping portion 452 disposed at one end of the connecting portion 451 away from the other clamping arm 45 and perpendicular to the connecting portion 451, the connecting portion 451 and the clamping portion 452 form an L-shaped clamping arm 45, the top end of the connecting portion 451 of the clamping arm 45 is provided with a clamping arm sliding block matched with the clamping arm sliding groove, and the clamping arm 45 can be slidably mounted at the bottom end of the clamping top plate 44 along the opening and closing movement direction of the clamping movement 421 by the clamping arm sliding block (not shown in the drawing), so that the corresponding clamping portions 452 of the clamping arms 45 can be adjusted when the pair of clamping movement 421 is at the minimum spacing and the pair of clamping arms 45 is at the closing state, so as to adapt to the clamping operation of the electric core clamping manipulator on the electric cores 5 with different axial length dimensions.

Referring to fig. 1, 2 and 7, in the present embodiment, a stroke scale bar 442 is disposed on one side of the clamping top plate 44, a stroke indicator 454 matched with the stroke scale bar 442 is disposed on a connecting portion 451 of the clamping arm 45, and when the clamping arm 45 slides along the bottom end of the clamping top plate 44 in cooperation with the clamping arm sliding groove through the clamping arm sliding block, the stroke indicator 454 moves along the stroke scale bar 442 on one side surface of the clamping top plate 44, so as to intuitively display the minimum opening and closing distance between the inner side of the clamping arm 45 and the clamping portion 452 of the other clamping arm 45, which is just enough to clamp the battery cell 5, when the pair of clamping moving members 421 are at the minimum distance.

In this embodiment, the connecting portion 451 of the clamping arm 45 is provided with at least one fixing hole, the clamping arm slider is provided with a hole for letting out, which is matched with the fixing hole, the top surface of the clamping arm sliding groove is provided with a plurality of mounting holes, which are matched with the hole for letting out, and after the clamping arm 45 slides a certain distance through the matching of the clamping arm slider and the clamping arm sliding groove at the bottom end of the clamping top plate 44, it is determined whether the clamping arm 45 is adjusted to a required position (i.e. the required minimum opening and closing distance) according to the matching of the travel indicator 454 and the travel scale bar 442, after the clamping arm 45 is determined to be adjusted in place, the clamping arm 45 is fixed to a certain corresponding sliding travel of the clamping arm 45 relative to the clamping top plate 44 through the fixing hole, the hole for letting out and the mounting holes at different positions.

Referring to fig. 2, 4-5 and 7-8, in this embodiment, the holding top plate 44 is provided with a limiting hole and a limiting post 444 matching with the limiting hole, the top end of the limiting post 444 is inserted into the limiting hole, and the bottom end of the limiting post 444 extends downwards out of the bottom end of the holding top plate 44 for limiting the sliding stroke of the holding arm 45 along the direction approaching to the other holding arm 45 through the cooperation of the holding arm sliding block and the holding arm sliding groove, so as to limit the minimum opening and closing distance.

Referring to fig. 1, 3 and 5, in the present embodiment, an insulating anti-slip pad 455 is embedded in the inner side surface of the clamping arm 45 facing the other clamping arm 45 (i.e. the inner side surface for clamping the battery cell 5), so as to protect the end of the battery cell 5 from being damaged by the mechanical clamping of the clamping arm 45 and provide anti-slip and buffering functions for the battery cell 5 during clamping.

Referring to fig. 1-8, in this embodiment, the cell clamping mechanism 4 further includes:

a sensor hanger 461, wherein the sensor hanger 461 is L-shaped, one end of the sensor hanger 461 is fixedly connected to the end of the holding top plate 44 away from the other holding top plate 44, and the other end of the sensor hanger extends downwards to the outer side of the holding arm 45 away from the opposite holding arm 45; a holding position sensor 46 provided at the other end of the sensor hanger 461 extending to the outside of the holding arm 45 away from the opposite holding arm 45 and facing the corresponding holding arm 45; the clamping portion 452 of the clamping arm 45 is provided with a light transmission hole 453 for giving way to the emitted light of the clamping position sensor 46.

As a preferred embodiment, the holding position sensor 46 is a diffuse reflection type photoelectric sensor (diffuse reflection type photoelectric switch), and the holding position sensor 46 emits light toward the inside of the holding arm 45 facing the other holding arm 45 through the light transmission hole 453 to detect whether the electric core 5 enters the position to be held (i.e., to detect whether the electric core 5 is in place).

In a preferred embodiment, the clamping position sensor 46 may also be used to determine whether the clamping action of the pair of clamping arms 45 on the detecting cell 5 is in place, so as to avoid the cell 5 from being damaged due to the fact that the cell 5 is separated or the clamping cell 5 is too tightly clamped by the pair of clamping arms 45.

In other embodiments, the clamp position sensor 46 may employ a pair of opposed/reflective photosensors provided at opposite ends of the pair of clamp top plates 44, respectively.

Referring to fig. 1-8, in this embodiment, the cell clamping mechanism 4 further includes:

a pair of second sensing pieces 441 respectively and correspondingly mounted on top ends of the pair of holding top plates 44; a pair of second sensor slide rails 47 provided on the bracket riser 412 of the clamping bracket 41 and respectively located on opposite sides of the clamping cylinder 42 in the opening and closing movement direction of the pair of clamping movement pieces 421; a pair of second position sensors 471, which are slidably disposed on the pair of second sensor sliding rails 47 along the opening and closing direction of the pair of clamping moving members 421, respectively; the second position sensor 471 senses the second sensing piece 441 to limit the opening and closing stroke of the corresponding clamping arm 45 relative to the clamping bracket 41, so as to limit the minimum distance between the corresponding clamping portions 452 of the pair of clamping arms 45 when in the closed state (i.e. limit the opening and closing minimum stroke and the minimum opening length of the corresponding clamping portions 452 of the pair of clamping arms 45), or limit the maximum distance between the corresponding clamping portions 452 of the pair of clamping arms 45 when in the open state (i.e. limit the opening and closing maximum stroke and the maximum opening length of the corresponding clamping portions 452 of the pair of clamping arms 45), so as to adapt the electric core clamping manipulator to clamp the electric cores 5 with different axial length dimensions.

In the present embodiment, the second position sensor 471 adopts a slot-type photoelectric sensor (slot-type photoelectric switch), the housing of the slot-type photoelectric sensor is provided with at least one through hole, and after the second position sensor 471 slides a certain distance along the second sensor sliding rail to a desired position (i.e. the corresponding clamping moving member 421 moves linearly in a reset manner to drive the clamping top plate 44 to move to a certain position relative to the clamping bracket 41), the second position sensor 471 is fixed on the second sensor sliding rail by passing through the through hole and the sliding slot of the second sensor sliding rail through a pin.

In other embodiments, the second position sensor 471 may also employ an opposite/reflective photosensor.

Referring to fig. 1-2 and 5-8, in this embodiment, the cell clamping manipulator further includes:

the first powder receiving box 121 is arranged at one side end of the mounting vertical plate 12 of the frame 1 facing the driven gear 31 and is positioned right below the driven gear 31, and a yielding port matched with the appearance of the bottom cylindrical connecting structure of the driven gear 31 is arranged in the middle of the first powder receiving box 121; the second connects powder box 232, locate rack slide 23 bottom and extend to under the initiative rack 231, and first connect powder box 121 and second to connect the powder box 232 and overlap the setting at the axial direction's of rotation axis 32 projection, make first connect powder box 121 and second to connect powder box 232 receive and hold the metal fine powder that rack and pinion friction dropped under the meshing position of initiative rack 231 and driven gear 31 jointly, avoid these metal fine powder to drop to below pivot bearing 321 and electric core fixture 4, thereby the electric core of having protected electric core centre gripping manipulator and its centre gripping is prevented the pollution of these metal fine powder from the electric core 5.

Referring to fig. 1, 2 and 7, as a preferred embodiment, the mounting riser 12 is provided with a mounting hole 122 opposite to the driven gear 31, and one end of the first powder receiving box 121 is fixedly mounted on mounting steps provided on two sides of the mounting hole 122, so that the first powder receiving box 121 can be conveniently and rapidly detached from the mounting riser 12 through the mounting hole 122.

Referring to fig. 2-5 and 7-8, in this embodiment, the cell clamping manipulator further includes:

the oil stain receiving box 443 is arranged at the bottom of one end of the clamping top plate 44, which is close to the other clamping top plate 44, and is used for receiving and accommodating oil stains of lubricating oil between the clamping jaw sliding block 431 and the second linear guide rail 43, which fall down due to the sliding process, so that the oil stains are prevented from falling onto the battery cell 5 clamped by the lower clamping arm 45 from the top of the clamping top plate 44 through the end part of the clamping top plate 44, and the quality of the battery cell 5 in the clamping process is ensured.

The utility model also provides a battery cell assembly production line system, which comprises a turnover device (not shown in the figure), and further comprises the battery cell clamping manipulator, wherein the connecting structure of the battery cell clamping manipulator comprises a connecting flange 111 arranged in the middle of the top end of the mounting top plate 11, and a plurality of connecting holes 112 arranged on the top end of the mounting top plate 11 and the mounting vertical plate 12, as shown in figures 1-4, 6 and 8.

In this embodiment, the turning device may be a reversible mechanical arm of an industrial robot, where the battery core clamping mechanical arm is fixedly abutted with its corresponding connection structure through the connection flange 111, and when the battery core clamping mechanical arm clamps and rotates the battery core 5, the industrial robot drives the battery core clamping mechanical arm to complete the moving and turning operations of the battery core 5, and in addition, the industrial robot is further used to drive the battery core clamping mechanical arm to advance to a position where the pair of clamping arms 45 can clamp the battery core 5 to be clamped.

In this embodiment, the turnover device may be a turnover transfer device or workstation, for example, the turnover transfer device or workstation may be driven by a motor, a driving unit such as an air cylinder, and a transmission mechanism thereof to drive the turnover structure, and the battery core clamping manipulator is fixedly connected with the turnover structure through the connection hole 112, so that the turnover operation of the battery core 5 is completed by the transfer device or workstation while the battery core clamping manipulator clamps and rotates the battery core 5. In one embodiment, the transferring device can drive the battery core clamping manipulator to complete the turnover operation of the battery core 5, and can also drive the battery core clamping machine to complete the movement operation of the battery core 5.

In one embodiment, the cell assembly line system may also set the cell clamping manipulator on a transfer device or workstation that cannot be turned over, and the cell clamping manipulator is driven by the transfer device or workstation to complete the operation of moving and driving the cell 5 to the position to be clamped where the pair of clamping arms 45 can clamp the cell 5 while the cell 5 is clamped and rotated by the cell clamping manipulator.

Referring to fig. 8, in the present embodiment, the battery cell 5 is an aluminum square-shell battery cell.

The working flow of the battery cell assembly production line system provided by the utility model is as follows:

s1: conveying the battery cell 5 to a position to be clamped by an assembly line;

s2: the industrial robot or the reversible transfer device drives the battery cell clamping mechanical arm to advance to a position to be clamped, where the battery cell 5 can be clamped by the pair of clamping arms 45;

s3: the clamping position sensor 46 detects whether the battery cell 5 enters a position to be clamped, if so, the clamping cylinder 42 drives the pair of clamping arms 45 to be mutually folded from an open state until the second position sensor 471 detects that the pair of clamping arms 45 are folded to a folded state just for clamping the battery cell 5;

s4: the industrial robot or the transfer device drives the battery core clamping manipulator to clamp, lift and clamp the battery core 5 to a target position, and drives the driving rack 231 to reciprocate by the driving cylinder 21 so as to drive the driving gear, the rotating shaft 32, the battery core clamping mechanism 4 and the battery core 5 to rotate forward and backward until the first position sensor 251 detects that the battery core 5 rotates forward and backward to reach a preset angle value;

s5: the clamping cylinder 42 drives the pair of clamping arms 45 to open from the closed state to each other until the second position sensor 471 detects that the pair of clamping arms 45 open to the open state with the largest distance, so that the battery cell 5 is released from between the pair of clamping arms 45 and placed at the target position;

s6: the clamping arm 45, the driving rack 231, the driven gear 31 and the cell clamping manipulator are reset to the initial positions, and wait for the next round of cell clamping operation.

In one embodiment, S41 is further included before or after S4:

the industrial robot or the transfer device drives the battery cell clamping manipulator to drive the battery cell 5 to turn over by a certain angle (90 degrees for example).

In one embodiment, S4 may be replaced with S4', S4' being:

the transfer device drives the cell clamping manipulator to directly turn the cell 5 180 degrees from the clamping position to the target position (i.e., the transfer device is only used as a turning device without translating the cell clamping manipulator and without rotating the cell 5).

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. Electric core centre gripping manipulator, its characterized in that includes:

the frame is provided with a connecting structure for connecting the turnover device;

the linear driving mechanism is arranged on the rack and used for driving a driving rack to reciprocate linearly;

the rotary transmission mechanism is arranged on the rack and comprises a driven gear capable of rotating in cooperation with the driving rack and a rotary shaft fixedly connected with the driven gear;

and the battery core clamping mechanism is arranged on the rotating shaft and used for driving a pair of clamping arms to move in a folding manner so as to grasp or loosen the battery core, and the driven gear can drive the battery core clamping mechanism to rotate around the rotating shaft in the forward and reverse directions in a fixed shaft manner.

2. The cell clamping robot of claim 1, wherein the linear drive mechanism comprises:

the driving cylinder is arranged on the frame;

the first linear guide rail is arranged on the frame and positioned at one side of the driving cylinder;

the rack sliding seat is arranged on the first linear guide rail and is fixedly connected with the telescopic rod of the driving cylinder through a connecting piece;

the driving rack is fixedly arranged on the rack sliding seat.

3. The cell clamping robot of claim 2, wherein the rotation transmission mechanism further comprises:

the rotating shaft bearing is arranged on the frame;

the rotating shaft penetrates through the rotating shaft bearing, one end of the rotating shaft is fixedly connected with the driven gear, and the other end of the rotating shaft is fixedly connected with the battery cell clamping mechanism;

the electric core fixture includes:

the clamping bracket is fixedly arranged at the other end of the rotating shaft;

the clamping cylinder is arranged on the clamping bracket and used for driving a pair of clamping moving parts to move in an opening and closing mode;

the second linear guide rail is arranged on the clamping bracket and extends along the opening and closing movement direction of the pair of clamping moving parts;

the clamping top plates are respectively and correspondingly arranged on the pair of clamping moving pieces and are respectively and correspondingly arranged on the second linear guide rail through the pair of clamping jaw sliding blocks;

the clamping arms are respectively and correspondingly arranged at the opposite ends of the clamping top plate.

4. The cell clamping robot of claim 2, wherein the linear drive mechanism further comprises:

the first induction piece is arranged on the connecting piece;

the first sensor sliding rail is arranged on the rack in an extending manner along the direction of the reciprocating linear motion of the driving rack;

the pair of first position sensors are arranged on the first sensor sliding rail at intervals;

the pair of first position sensors are respectively used for limiting the stroke of the reciprocating linear motion of the driving rack by sensing the first sensing piece, so that the driven gear is limited to drive the electric core clamping mechanism to rotate around the rotating shaft in the forward and reverse directions in a fixed-axis manner.

5. The cell clamping robot of claim 2, wherein the linear drive mechanism further comprises:

the pair of buffer limiters are arranged on the rack at intervals along the direction of the reciprocating linear motion of the driving rack;

and the pair of buffer limiters limit the stroke of the reciprocating linear motion of the driving rack through being hard limited by the rack sliding seat.

6. The cell clamping robot of claim 3, wherein the cell clamping mechanism further comprises:

the clamping position sensor is arranged at the outer side of the clamping arm far away from the opposite clamping arm, and the clamping arm is provided with a light hole for giving way to the emitted light of the clamping position sensor;

the clamping position sensor emits light to the inner side of the clamping arm facing the other clamping arm through the light hole so as to detect whether the battery cell enters the position to be clamped.

7. The cell clamping robot of claim 3, wherein the cell clamping mechanism further comprises:

the pair of second induction pieces are respectively and correspondingly arranged on the pair of clamping top plates;

the second sensor sliding rails are arranged on the clamping bracket and are respectively positioned at two opposite sides of the clamping cylinder in the opening and closing movement direction of the pair of clamping moving parts;

the pair of second position sensors are respectively and correspondingly arranged on the pair of second sensor sliding rails;

the second position sensor is used for limiting the opening and closing travel of the corresponding clamping arm relative to the clamping bracket by sensing the second sensing piece.

8. The battery cell clamping manipulator according to claim 3, wherein the clamping top plate is provided with a clamping arm sliding groove, the clamping arm is provided with a clamping arm sliding block matched with the clamping arm sliding groove, and the clamping arm can be slidably arranged on the clamping top plate along the opening and closing movement direction of the clamping movement piece through the matching of the clamping arm sliding block and the clamping arm sliding groove;

the electric core clamping device is characterized in that a stroke scale strip is arranged on one side of the clamping top plate, and the clamping arm is provided with a stroke indicating needle matched with the stroke scale strip and used for displaying the distance between the inner side of the clamping arm facing the other clamping arm and the other clamping arm when the pair of clamping moving parts are in a closed state which can just clamp the electric core at the minimum distance.

9. The cell clamping robot of claim 3, further comprising:

the first powder receiving box is arranged on the rack and is positioned right below the driven gear;

the second powder receiving box is arranged at the bottom of the rack sliding seat and is positioned right below the driving rack;

and the oil stain receiving box is arranged at the bottom of one end of the clamping top plate, which is close to the other clamping top plate.

10. A cell assembly line system comprising a turnover device, and further comprising a cell clamping manipulator according to any one of claims 1-9, wherein the connection structure comprises a connection flange and a plurality of connection holes.