A clamp and grabbing device for battery packs in a battery swap station

Abstract

The present invention provides a gripper for a battery pack at a battery swap station, comprising: a fixed support; a gripper support, movably connected to the fixed support along the X-axis; an X-axis drive module, fixedly connected to the fixed support, and driving the gripper support to move along the X-axis; a first gripper, movably connected to the gripper support along the Y-axis; a second gripper, movably connected to the gripper support along the Y-axis; a Y-axis drive module, fixedly connected to the gripper support, and driving the first gripper and the second gripper to synchronously open and close along the Y-axis. The present invention also provides a gripping device for a battery pack at a battery swap station, comprising: two of the grippers, and the two grippers are symmetrically arranged, and the first gripper and the first gripper, the second gripper and the second gripper are arranged facing each other. The X-axis coordinates of the first gripper and the second gripper are adjusted by the X-axis drive module, and the Y-axis coordinates of the first gripper and the second gripper are adjusted by the Y-axis drive module to clamp the battery pack.

Description

[Technical field]

[0001] The present invention relates to the technical field of battery replacement for new energy vehicles, and in particular to a clamping claw and a grabbing device for a battery pack in a battery replacement station. [Background technology]

[0002] Nowadays, automation is becoming more and more popular. For new energy vehicle battery replacement technology, in order to adapt to the needs of automation, during the process of replacing the battery pack, it is necessary to design a corresponding gripping device to clamp the battery pack to replace manual work. [Summary of the invention]

[0003] The technical problem to be solved by the present invention is to provide a clamping claw and a grasping device for a battery pack in a battery swap station, which are used to clamp the battery pack.

[0004] The present invention is implemented as follows: A clamping claw of a battery pack in a battery swap station comprises:

[0005] Fixed support;

[0006] A clamping jaw support, movably connected to the fixed support along the X-axis;

[0007] An X-axis driving module is fixedly connected to the fixed support and drives the clamping support to move along the X-axis;

[0008] A first clamping jaw, movably connected to the clamping jaw support along the Y axis;

[0009] A second clamping jaw, movably connected to the clamping jaw support along the Y axis;

[0010] The Y-axis driving module is fixedly connected to the clamping jaw support and drives the first clamping jaw and the second clamping jaw to synchronously open and close along the Y-axis.

[0011] Furthermore, the X-axis driving module includes:

[0012] An X-axis driving device, fixedly connected to the fixed support, and an output end of which is connected to the clamping support;

[0013] A first guide rail, laid on the fixed support along the X-axis;

[0014] The first sliding block is slidably connected to the first guide rail and fixedly connected to the clamping claw support.

[0015] Furthermore, the first guide rails have two and are arranged in parallel and at intervals;

[0016] Each of the first guide rails is slidably connected to at least one of the first sliding blocks.

[0017] Furthermore, the Y-axis driving module includes:

[0018] A gear, rotatably connected to the clamping jaw support;

[0019] A first rack, fixedly connected to the first clamping jaw and meshing with the gear;

[0020] a second rack fixedly connected to the second clamping jaw and meshing with the gear;

[0021] A Y-axis driving device, fixedly connected to the clamping jaw support, and an output end of which is connected to the first clamping jaw, the second clamping jaw or the gear;

[0022] A second guide rail, fixedly connected to the first clamping jaw along the Y axis;

[0023] A second slider, slidably connected to the second guide rail and fixedly connected to the clamping claw support;

[0024] A third guide rail, fixedly connected to the second clamping jaw along the Y axis;

[0025] The third sliding block is slidably connected to the third guide rail and fixedly connected to the clamping claw support.

[0026] Furthermore, the Y-axis driving module further includes:

[0027] A bearing, fixed to the clamping jaw support;

[0028] A rotating shaft, fixed to the inner ring of the bearing;

[0029] Wherein, the gear is fixedly sleeved on the rotating shaft;

[0030] The Y-axis driving device is a cylinder, the piston rod of which is arranged along the Y-axis and connected to the first clamping jaw or the second clamping jaw.

[0031] Furthermore, the first clamping jaw comprises:

[0032] A first connecting block, movably connected to the clamping jaw support along the Y axis;

[0033] The first supporting arm is provided with an open first positioning groove along the Y-axis direction and is connected to the first connecting block along the Y-axis.

[0034] Furthermore, the second clamping jaw comprises:

[0035] A second connecting block, movably connected to the clamping jaw support along the Y axis;

[0036] The second supporting arm is provided with an open second positioning groove along the Y-axis direction and is connected to the second connecting block along the Y-axis.

[0037] The present invention also provides a grabbing device for a battery pack in a battery swap station, comprising:

[0038] The two clamping jaws are arranged symmetrically, and the first clamping jaw and the first clamping jaw, and the second clamping jaw and the second clamping jaw are arranged facing each other.

[0039] Furthermore, it also includes:

[0040] The auxiliary tooling is symmetrically provided with at least two positioning holes;

[0041] The number of the positioning pins is equal to the number of the positioning holes, which are connected to the fixed support in a one-to-one correspondence and are symmetrically arranged and inserted into the positioning holes in a one-to-one correspondence.

[0042] The advantages of the present invention are: a clamping jaw for a battery pack at a battery swap station, comprising: a fixed support; a clamping jaw support, movably connected to the fixed support along the X-axis; an X-axis driving module, fixedly connected to the fixed support, and driving the clamping jaw support to move along the X-axis; a first clamping jaw, movably connected to the clamping jaw support along the Y-axis; a second clamping jaw, movably connected to the clamping jaw support along the Y-axis; a Y-axis driving module, fixedly connected to the clamping jaw support, and driving the first clamping jaw and the second clamping jaw to synchronously open and close along the Y-axis. The present invention also provides a grasping device for a battery pack at a battery swap station, comprising: two of the clamping jaws, and the two clamping jaws are symmetrically arranged, and the first clamping jaw and the first clamping jaw, the second clamping jaw and the second clamping jaw are arranged facing each other. The X-axis coordinates of the first clamping jaw and the second clamping jaw are adjusted by the X-axis driving module, and the Y-axis coordinates of the first clamping jaw and the second clamping jaw are adjusted by the Y-axis driving module to clamp the battery pack.

Brief Description of the Drawings

[0043] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0044] Figure 1 It is a three-dimensional diagram of the gripping device of the present invention clamping a battery pack.

[0045] Figure 2 It is a front view of the auxiliary tooling of the gripping device described in the present invention after being disassembled.

[0046] Figure 3 It is a three-dimensional view of the clamping jaw described in the present invention.

[0047] Figure 4 It is a front view of the clamping jaw described in the present invention.

[0048] Figure 5 It is a left side view of the clamping jaw described in the present invention.

[0049] Figure 6 The explosion of the clamping jaws of the present invention Figure 1 .

[0050] Figure 7 The explosion of the clamping jaws of the present invention Figure 2 .

[0051] Figure 8 It is a three-dimensional diagram of the auxiliary tooling described in the present invention.

[0052] Description of reference numerals:

[0053] A clamping jaw 100 for a battery pack in a battery swap station;

[0054] Fixed support 1, mounting hole 11, anchor bolt 12;

[0055] Gripping jaw support 2;

[0056] X-axis driving module 3, X-axis driving device 31, first guide rail 32, first slider 33;

[0057] A first clamping jaw 4, a first connecting block 41, a first supporting arm 42, and a first positioning groove 421;

[0058] A second clamping jaw 5, a second connecting block 51, a second supporting arm 52, and a second positioning groove 521;

[0059] Y-axis driving module 6, gear 61, first rack 62, second rack 63, Y-axis driving device 64, second guide rail 65, second slider 66, third guide rail 67, third slider 68, bearing 69, rotating shaft 610;

[0060] Auxiliary tooling 200, positioning hole 201;

[0061] Positioning pin 300;

[0062] Battery pack 400 , fixing pin 401 . [Specific implementation method]

[0063] In the description of the present invention, it is necessary to understand that the description indicating the orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] The overall concept of the present invention is as follows:

[0066] The X-axis driving module 3 drives the clamp support 2 to move along the X-axis, thereby adjusting the X-axis coordinates of the first clamp 4 and the second clamp 5; the Y-axis driving module 6 drives the first clamp 4 and the second clamp 5 to open and close synchronously along the Y-axis, thereby grabbing or clamping the battery pack.

[0067] See also Figures 1 to 8 shown.

[0068] Example:

[0069] A clamp 100 for a battery pack in a battery swap station of the present invention comprises:

[0070] Fixed support 1;

[0071] A clamping jaw support 2 is movably connected to the fixed support 1 along the X axis;

[0072] An X-axis driving module 3 is fixedly connected to the fixed support 1 and drives the clamping jaw support 2 to move along the X-axis, so that the X-axis coordinates of the first clamping jaw 4 and the second clamping jaw 5 can be adjusted;

[0073] A first clamping jaw 4 is movably connected to the clamping jaw support 2 along the Y axis;

[0074] A second clamping jaw 5 is movably connected to the clamping jaw support 2 along the Y axis;

[0075] The Y-axis driving module 6 is fixedly connected to the clamping jaw support 2, and drives the first clamping jaw 4 and the second clamping jaw 5 to synchronously open and close along the Y-axis, so as to grab or clamp the battery pack.

[0076] The X-axis driving module 3 includes:

[0077] The X-axis driving device 31 is fixedly connected to the fixed support 1, and the output end is connected to the clamping support 2; the X-axis driving device 31 drives the clamping support 2 to move along the X-axis. In a specific implementation, the X-axis driving device 31 can use an actuator, such as a cylinder, and its piston rod is arranged along the X-axis and connected to the clamping support 2. A floating joint can also be connected to the end of the piston rod, and the floating joint is connected to the clamping support 2. Of course, the X-axis driving module 3 can also use a hydraulic cylinder or a motor. If a motor is used, the clamping support 2 can be driven to move through a transmission mechanism such as a pulley drive, a sprocket chain drive, a gear rack drive, etc., which can be selected according to needs.

[0078] A first guide rail 32 is laid on the fixed support 1 along the X axis;

[0079] The first sliding block 33 is slidably connected to the first guide rail 32 and fixedly connected to the clamping jaw support 2 .

[0080] There are two first guide rails 32, which are arranged in parallel and at intervals;

[0081] Each first guide rail 32 is slidably connected to at least one first sliding block 33 .

[0082] The Y-axis driving module 6 includes:

[0083] A gear 61, rotatably connected to the clamping jaw support 2;

[0084] A first rack 62, fixedly connected to the first clamping jaw 4, and meshing with the gear 61;

[0085] A second rack 63, fixedly connected to the second clamping jaw 5, and meshing with the gear 61;

[0086] A Y-axis driving device 64, fixedly connected to the clamping jaw support 2, and an output end of which is connected to the first clamping jaw 4, the second clamping jaw 5 or the gear 61;

[0087] A second guide rail 65, fixedly connected to the first clamping jaw 4 along the Y axis;

[0088] A second slider 66 is slidably connected to the second guide rail 65 and fixedly connected to the clamping jaw support 2;

[0089] A third guide rail 67, fixedly connected to the second clamping jaw 4 along the Y axis;

[0090] The third slider 68 is slidably connected to the third guide rail 67 and fixedly connected to the clamping jaw support 2 .

[0091] In the embodiment shown in the specific drawings, the Y-axis driving device 64 can be an actuator, such as a cylinder, and its piston rod is arranged along the Y-axis and connected to the first clamping jaw 4. A floating joint can also be connected to the end of the piston rod, and the floating joint is connected to the first clamping jaw 4. The first rack 62 and the second rack 63 are arranged in parallel and facing each other.

[0092] The Y-axis driving device 64 drives the first clamping jaw 4 to move along the Y-axis, thereby driving the first rack 62 to move along the Y-axis, and driving the second rack 63 to move synchronously along the Y-axis through the meshing of the gear and rack, and finally driving the second clamping jaw 5 to move synchronously. When the piston rod of the Y-axis driving device 64 is extended, the first clamping jaw 4 and the second clamping jaw 5 are opened synchronously; otherwise, they are closed synchronously to a predetermined position to clamp the battery pack 400.

[0093] The Y-axis driving module 6 also includes:

[0094] A bearing 69 is fixed to the clamping jaw support 2;

[0095] The rotating shaft 610 is fixed to the inner ring of the bearing 69;

[0096] The gear 61 is fixedly sleeved on the rotating shaft 610;

[0097] The Y-axis driving device 64 is a cylinder, a piston rod of which is arranged along the Y-axis and connected to the first clamping jaw 4 or the second clamping jaw 5 .

[0098] The first clamping jaw 4 comprises:

[0099] A first connecting block 41, movably connected to the clamping jaw support 2 along the Y axis;

[0100] The first support arm 42 is provided with an open first positioning groove 421 along the Y-axis direction and is connected to the first connection block 41 along the Y-axis. The first positioning groove 421 is used to accommodate the fixing pin 401 on the side of the battery pack 400 and also plays a positioning role, thereby cooperating with the second support arm 52 to clamp the battery pack 400.

[0101] The second clamping jaw 5 comprises:

[0102] A second connecting block 51 is movably connected to the clamping jaw support 2 along the Y axis;

[0103] The second support arm 52 is provided with an open second positioning groove 521 along the Y-axis direction and is connected to the second connection block 51 along the Y-axis. The second positioning groove 521 is also used to accommodate the fixing pin 401 on the other side of the battery pack 400, so as to cooperate with the first support arm 42 to clamp the battery pack 400. In a specific embodiment, the first positioning groove 421 and the second positioning groove 521 are of the same size and shape, and are coaxially arranged along the Y-axis direction to match the fixing pins 401 on both sides of the battery pack 400.

[0104] The present invention also provides a grabbing device for a battery pack in a battery swap station, comprising:

[0105] The two clamps 100 are symmetrically arranged, and the first clamps 4 and the first clamps 4, and the second clamps 5 and the second clamps 5 are arranged facing each other. In a specific implementation, the battery pack 400 is clamped on both sides by the two clamps 100.

[0106] Also includes:

[0107] The auxiliary tooling 200 is symmetrically provided with at least two positioning holes 201; since the two clamping jaws 100 are split and need to be symmetrically arranged during installation, the auxiliary tooling 200 is used to facilitate the installation of the two clamping jaws, ensure symmetry, and make the installation faster and more convenient. After the two clamping jaws 100 are installed and fixed, the auxiliary tooling 200 is removed to avoid interference with the clamping of the battery pack 400.

[0108] The number of the positioning pins 300 is equal to the number of the positioning holes 201, which are connected to the fixed support 1 in a one-to-one correspondence and are arranged symmetrically, and are inserted into the positioning holes 201 in a one-to-one correspondence. In a specific embodiment, the fixed support 1 is provided with a mounting hole 11, and the positioning pins 300 are fixedly embedded in the mounting hole 11 and protrude from the mounting hole 11 at the bottom. The positioning pins 300 facilitate the disassembly and assembly of the auxiliary tooling 200. When the auxiliary tooling 200 and the positioning pins 300 are assembled, the symmetry of the two clamping jaws 100 after installation can be ensured.

[0109] Specific usage:

[0110] The gripping device acts as a transfer platform to clamp the battery pack 400 stored at a predetermined position.

[0111] The battery pack 400 has four fixing pins 401 on both sides.

[0112] The fixing support 1 can be directly fixed to the ground by the anchor bolts 12. During installation, the auxiliary tooling 200 and the positioning pins 300 are first assembled so that the two clamping jaws 100 are connected as a whole by the auxiliary tooling 200 and are arranged symmetrically. Then the anchor bolts 12 are locked and fixed, and finally the auxiliary tooling 200 is removed.

[0113] The X-axis drive device 31 and the Y-axis drive device 64 are connected to the control device in communication, and the control device can be a PLC. The battery pack has a lifting device stored in a predetermined position, located between the two clamps 100, and the fixing pin 401 is higher than the first positioning groove 421 and the second positioning groove 521. The lifting device is also connected to the control device in communication.

[0114] The control device first controls the piston rods of the two Y-axis drive devices 64 to extend, driving the corresponding first clamping jaw 4 and second clamping jaw 5 to open synchronously;

[0115] Then, the piston rods of the X-axis driving devices 31 of the two clamping jaws 100 are controlled to extend synchronously, driving the two clamping jaws 100 to move toward each other synchronously to a predetermined position, at which time the first positioning groove 421 and the second positioning groove 521 are located directly below each fixing pin 401 in a one-to-one correspondence;

[0116] Then, the lifting device is controlled to be lowered so that the fixing pins 401 fall into the first positioning groove 421 or the second positioning groove 521 one by one, and the lifting device and the battery pack 400 are separated, so that the battery pack 400 is clamped by the grasping device, and then waits for other docking equipment to receive the battery pack 400.

[0117] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A clamp for a battery pack in a battery swap station, characterized in that: include: Fixed support; A clamping jaw support, movably connected to the fixed support along the X-axis; An X-axis driving module is fixedly connected to the fixed support and drives the clamping support to move along the X-axis; A first clamping jaw, movably connected to the clamping jaw support along the Y axis; A second clamping jaw, movably connected to the clamping jaw support along the Y axis; A Y-axis driving module, fixedly connected to the clamping jaw support, and driving the first clamping jaw and the second clamping jaw to synchronously open and close along the Y-axis; The X-axis drive module includes: An X-axis driving device, fixedly connected to the fixed support, and an output end of which is connected to the clamping support; A first guide rail, laid on the fixed support along the X-axis; A first sliding block, slidably connected to the first guide rail and fixedly connected to the clamping claw support; The Y-axis driving module comprises: A gear, rotatably connected to the clamping jaw support; A first rack, fixedly connected to the first clamping jaw and meshing with the gear; a second rack fixedly connected to the second clamping jaw and meshing with the gear; A Y-axis driving device, fixedly connected to the clamping jaw support, and an output end of which is connected to the first clamping jaw, the second clamping jaw or the gear; A second guide rail, fixedly connected to the first clamping jaw along the Y axis; A second slider, slidably connected to the second guide rail and fixedly connected to the clamping claw support; A third guide rail, fixedly connected to the second clamping jaw along the Y axis; A third sliding block is slidably connected to the third guide rail and fixedly connected to the clamping claw support; The first clamping jaw comprises: A first connecting block, movably connected to the clamping jaw support along the Y axis; A first supporting arm is provided with an open first positioning groove along the Y-axis direction and is connected to the first connecting block along the Y-axis; The second clamping jaw comprises: A second connecting block, movably connected to the clamping jaw support along the Y axis; The second supporting arm is provided with an open second positioning groove along the Y-axis direction and is connected to the second connecting block along the Y-axis.

2. A clamp for a battery pack in a battery swap station as claimed in claim 1, characterized in that: There are two first guide rails, which are arranged in parallel and at intervals; Each of the first guide rails is slidably connected to at least one of the first sliding blocks.

3. A clamp for a battery pack in a battery swap station as claimed in claim 1, characterized in that: The Y-axis driving module also includes: A bearing, fixed to the clamping jaw support; A rotating shaft, fixed to the inner ring of the bearing; Wherein, the gear is fixedly sleeved on the rotating shaft; The Y-axis driving device is a cylinder, the piston rod of which is arranged along the Y-axis and connected to the first clamping jaw or the second clamping jaw.

4. A grabbing device for a battery pack in a battery swap station, characterized in that: include: Two clamping jaws as claimed in any one of claims 1 to 3, wherein the two clamping jaws are arranged symmetrically, and the first clamping jaw and the first clamping jaw, and the second clamping jaw and the second clamping jaw are arranged facing each other.

5. A grabbing device for a battery pack in a battery swap station as claimed in claim 4, characterized in that: Also includes: The auxiliary tooling is symmetrically provided with at least two positioning holes; The number of the positioning pins is equal to the number of the positioning holes, which are connected to the fixed support in a one-to-one correspondence and are symmetrically arranged and inserted into the positioning holes in a one-to-one correspondence.

Images