CN-122008303-A - Battery cell feeding clamping claw device based on sliding block structure and control method thereof

CN122008303ACN 122008303 ACN122008303 ACN 122008303ACN-122008303-A

Abstract

The invention discloses a battery cell feeding clamping claw device based on a sliding block structure and a control method thereof, the battery cell feeding clamping claw device comprises a mounting base, a linear driving mechanism, a force transmission mechanism, a sliding rail assembly and a clamping claw arm assembly. The linear driving mechanism is assembled on the mounting base. The force transmission mechanism is connected with the linear driving mechanism. The sliding rail assembly comprises a guide rail, a first sliding block and a second sliding block, the guide rail is fixedly connected with the mounting base, the first sliding block and the second sliding block are embedded on the sliding rail and are connected with the force transmission mechanism, and the linear driving mechanism drives the first sliding block and the second sliding block to move in opposite directions or back to back along the guide rail through the force transmission mechanism. The clamping jaw arm assembly comprises a first clamping jaw arm and a second clamping jaw arm which are oppositely arranged, the first clamping jaw arm is connected with the first sliding block, and the second clamping jaw arm is connected with the second sliding block. The movement synchronism of the first clamping jaw arm and the second clamping jaw arm can be effectively provided, and the uniformity of stress on two sides of the battery cell is ensured.

Inventors

SHEN WANGWANG
GAO BIN
HU SHUAI
NI YUAN
ZENG WENBO
JIN XIAO

Assignees

中建科工集团智慧停车科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. Cell material loading clamp claw device based on slider structure, its characterized in that includes: A mounting base; the linear driving mechanism is assembled on the mounting base and comprises a first piston rod and a second piston rod which are on the same straight line, and the movement directions of the first piston rod and the second piston rod are opposite; The force transmission mechanism is connected with the linear driving mechanism; The sliding rail assembly comprises a guide rail, a first sliding block and a second sliding block, wherein the guide rail is fixedly connected with the mounting base, the first sliding block and the second sliding block are embedded on the sliding rail and are connected with the force transmission mechanism, the linear driving mechanism drives the first sliding block and the second sliding block to move in opposite directions or back directions along the guide rail through the force transmission mechanism, and The clamping jaw arm assembly comprises a first clamping jaw arm and a second clamping jaw arm which are oppositely arranged, the first clamping jaw arm is connected with the first sliding block, the second clamping jaw arm is connected with the second sliding block, and when the end part of the first piston rod is close to the end part of the second piston rod, the clamping jaw arm assembly performs cell clamping action.
2. The battery cell feeding clamping jaw device based on the sliding block structure according to claim 1, wherein the first piston rod is in transmission connection with the first sliding block through the force transmission mechanism, and the second piston rod is in transmission connection with the second sliding block through the force transmission mechanism.
3. The battery cell feeding clamping jaw device based on the sliding block structure according to claim 2, wherein the force transmission mechanism comprises a first embedded block and a second embedded block which are oppositely arranged, the first embedded block is connected with the first piston rod, the second embedded block is connected with the second piston rod, the first embedded block is further connected with the first sliding block, and the second embedded block is further connected with the second sliding block.
4. The battery cell feeding clamping jaw device based on the sliding block structure according to claim 3, wherein the linear driving mechanism further comprises a housing, the first piston rod and the second piston rod are arranged in the housing, a first embedding hole and a second embedding hole are formed in the housing, the first embedding block is embedded in the first embedding hole, the second embedding block is embedded in the second embedding hole, the length of the first embedding hole is larger than that of the first embedding block, and the length of the second embedding hole is larger than that of the second embedding block.
5. The battery cell feeding clamping claw device based on the sliding block structure according to claim 3 is characterized by further comprising a first connecting block and a second connecting block, wherein the first embedded block is connected with the first sliding block through the first connecting block, the first clamping claw arm is connected with the first sliding block through the first connecting block, the second embedded block is connected with the second sliding block through the second connecting block, and the second clamping claw arm is connected with the second sliding block through the second connecting block.
6. The battery cell feeding jaw device based on a sliding block structure according to claim 1, further comprising a flexible clamping head assembly, wherein the clamping head assembly comprises a first clamping head and a second clamping head, the first clamping head is detachably connected to one side of the first clamping jaw arm, which is close to the second clamping jaw arm, and the second clamping head is detachably connected to one side of the second clamping jaw arm, which is close to the first clamping jaw arm.
7. The slide-structure-based battery cell feeding jaw device of claim 1, further comprising a position sensor assembly including a first position sensor disposed on the first jaw arm and a second position sensor disposed on the second jaw arm.
8. The battery cell feeding jaw device based on a sliding block structure according to claim 1, wherein the linear driving mechanism, the force transmission mechanism, the sliding rail assembly and the jaw arm assembly are all arranged in two groups.
9. The control method of the battery cell feeding clamping jaw device is characterized by being applied to the controller of the battery cell feeding clamping jaw device according to any one of claims 1-8, wherein a first position sensor is arranged on the first clamping jaw arm, a second position sensor is arranged on the second clamping jaw arm, the first position sensor and the second position sensor are electrically connected with the controller, and the controller is also electrically connected with the linear driving mechanism, and the control method comprises the following steps: Acquiring position signals detected by the first position sensor and the second position sensor in real time, and determining a real-time distance value between the first clamping jaw arm and the second clamping jaw arm; And adjusting the air inlet pressure of the linear driving mechanism in real time according to the change relation between the real-time interval value and the preset target interval value so as to control the clamping force of the two clamping jaw arms on the battery cell.
10. The method for controlling a cell loading gripper device according to claim 9, wherein the adjusting the air intake pressure of the linear driving mechanism in real time according to the change relationship between the real-time distance value and the preset target distance value to control the gripping force of the two gripper arms on the cell comprises: when the real-time interval value is larger than a first threshold value, controlling the linear driving mechanism to drive the two clamping jaw arms to quickly approach the battery cell by a first pressure value; When the real-time interval value is reduced to be between a first threshold value and a second threshold value, dynamically reducing the air inlet pressure of the linear driving mechanism to a second pressure value, so that the two clamping jaw arms approach the surface of the battery cell at a preset low speed; And when the real-time interval value is equal to or smaller than the second threshold value, adjusting the air inlet pressure of the linear driving mechanism to a third pressure value corresponding to the specification of the battery cell and keeping constant.

Description

Battery cell feeding clamping claw device based on sliding block structure and control method thereof Technical Field The invention relates to the technical field of lithium batteries, in particular to a battery cell feeding clamping claw device based on a sliding block structure and a control method thereof. Background In the lithium ion battery production process, battery cell feeding is one of key procedures on a battery cell assembly production line. The traditional battery cell feeding clamping claw widely adopts a parallel pneumatic clamping claw (such as an SMC type parallel opening and closing clamping claw) driven by an air cylinder. The structure generally adopts a single-side cantilever driving mode that a cylinder body is fixed on one side of a base, and a piston rod directly drives two clamping fingers to move in opposite directions or back directions through hinging. In practical use, the following technical problems exist: The two side clamping arms of the traditional clamping jaw are driven by the same air cylinder through the hinging mechanism, as the fit clearance exists at the hinging position, and the driving force only acts on one side, the two side clamping arms are easily affected by the resistance difference in the movement process to generate asynchronous displacement (namely, one side clamping arm is in advance contacted with the battery core, the other side is lagged), so that the battery core is stressed unevenly, the clamping center is deviated, and the surface damage or the micro-deformation of the internal structure of the battery core are easily caused. In addition, the force transmission path of the single-side drive is asymmetric, and it is difficult to ensure that the clamping arms on two sides always move symmetrically relative to the center of the base. Because the cylinder piston rod is connected with the clamping arm in a hinged manner, the tiny swing of the cylinder rod, the fit clearance at the hinged position and the stress asymmetry of the single-side driving are directly transmitted to the clamping finger, so that the clamping finger is difficult to always maintain strict parallelism in the closing process. The battery cell (especially the soft package battery cell with fragile surface) is sensitive to clamping parallelism, and small angle deviation can lead to uneven distribution of clamping force, and local stress concentration can cause concave of a battery cell shell or dislocation of internal pole pieces. In the long-term use process, the hinge part is easy to generate single-side eccentric wear under the action of overturning moment due to the fit clearance, so that the clamping center is continuously deviated, frequent adjustment and maintenance are needed, and the equipment utilization rate is affected. Disclosure of Invention The invention solves the problem of providing a battery cell feeding clamping claw device based on a sliding block structure and a control method thereof. In a first aspect, the invention discloses a battery cell feeding clamping jaw device based on a sliding block structure, which comprises: A mounting base; the linear driving mechanism is assembled on the mounting base; The force transmission mechanism is connected with the linear driving mechanism; The sliding rail assembly comprises a guide rail, a first sliding block and a second sliding block, wherein the guide rail is fixedly connected with the mounting base, the first sliding block and the second sliding block are embedded on the sliding rail and are connected with the force transmission mechanism, the linear driving mechanism drives the first sliding block and the second sliding block to move in opposite directions or back directions along the guide rail through the force transmission mechanism, and The clamping jaw arm assembly comprises a first clamping jaw arm and a second clamping jaw arm which are oppositely arranged, wherein the first clamping jaw arm is connected with the first sliding block, and the second clamping jaw arm is connected with the second sliding block. In some embodiments, the linear driving mechanism comprises a first piston rod and a second piston rod which are on the same linear, the movement directions of the first piston rod and the second piston rod are opposite, the first piston rod is in transmission connection with the first sliding block through the force transmission mechanism, and the second piston rod is in transmission connection with the second sliding block through the force transmission mechanism. In some embodiments, the force transmission mechanism includes a first insert and a second insert disposed opposite to each other, the first insert being coupled to the first piston rod, the second insert being coupled to the second piston rod, the first insert being further coupled to the first slider, the second insert being further coupled to the second slider. In some embodiments, the linear driving mechanism further includes a housing, th