A clamp for square battery module

Abstract

The present invention provides a fixture for a square battery module, comprising: a support frame; an X-axis pitch-changing mechanism; a Y-axis pitch-changing mechanism; an X-axis transfer rail; four first hook parts, including a first hook floating along the Z axis, the first hook part is movably connected to the X-axis transfer rail along the X axis, and each of the X-axis transfer rails is correspondingly connected to two first hook parts, and the four first hook parts are arranged in a rectangular shape; two second hook parts, including a second hook floating along the Z axis, the second hook parts are fixed one by one to the center position of the X-axis transfer rail; a side push mechanism fixed to one side of the support frame; a visual part; and a detection device. It has two sets of hooks, double insurance to avoid falling; it has a side push mechanism, no need to stop and wait, and can automatically handle abnormalities; each hook can float to ensure that the battery module is placed in place, and will not fall into place due to errors.

Description

[Technical field]

[0001] The invention relates to square battery module grasping equipment, in particular to a clamp for square battery modules. [Background technology]

[0002] Following the rise of the country's new energy and strong support for its development, the automotive power battery manufacturing industry will also develop rapidly. The automotive power battery manufacturing industry urgently needs to break through the bottlenecks of increasing production capacity and product control of quality and safety.

[0003] In the process of putting square battery modules into boxes, in order to improve efficiency and ensure safety, a grabbing fixture is usually used to hold the battery module and then put the battery module into the box. However, the existing grabbing fixture has the following disadvantages:

[0004] (I) Existing gripping fixtures can usually only determine whether the predetermined placement of the battery module in the box meets the requirements. When the battery module is put into the box, in order to fix the battery module, the position where the battery module is placed in the box is coated with glue in advance, and then the gripping fixture clamps the battery module and puts it into the predetermined position. Since it takes time for the glue to solidify and the glue is slippery, after the battery module is placed, it is easy for the battery module to slide on the glue and become misplaced, which causes the battery module to occupy the position of the surrounding battery modules, resulting in the inability to put in the adjacent battery modules, resulting in the placement of the adjacent battery modules not meeting the requirements. In the prior art, it is usually necessary to wait for the staff to handle the abnormality, which requires stopping production and waiting, wasting time.

[0005] (ii) Existing battery module grabbing fixtures usually grab the battery module via a set of hooks or grippers on both sides, and the battery module may become loose during the moving process.

[0006] (III) Due to the errors in the manufacturing and assembly process of battery modules, even the dimensions of battery modules in the same batch may vary, which may lead to the following safety hazards:

[0007] When placing the battery module into the box, the robot usually drives the grabbing fixture to move along the pre-set trajectory. When debugging the pre-set program, the thickness of the battery module used is assumed to be H1. At this time, the preset program allows the battery module to be placed in the predetermined position when entering the box. At this time, the height coordinate of the grabbing fixture is Z1. In subsequent production, the battery modules of this model are all kept unchanged using Z1. However, due to manufacturing and assembly errors, there are differences in the thickness H1 of the battery module. It is possible that the thickness H1 of some battery modules is larger or smaller than the battery module used for debugging the setting program. If it is smaller, the battery module will be suspended at the coordinate Z1. At this time, the grabbing fixture will release the battery module according to the predetermined program, and the battery module will fall into the box, which is easy to break the battery module. In addition, the battery module is charged, which is easy to cause safety hazards. [Summary of the invention]

[0008] The technical problem to be solved by the present invention is to provide a clamp for square battery modules, which has two sets of hooks for double insurance to prevent falling; it has a side push mechanism, which can automatically handle abnormalities without stopping and waiting; each hook can float to ensure that the battery module is placed in place and will not fall into place due to errors.

[0009] The present invention is implemented as follows: a clamp for a square battery module, comprising:

[0010] Support frame;

[0011] An X-axis pitch-changing mechanism connected to the support frame;

[0012] A Y-axis pitch-changing mechanism connected to the X-axis pitch-changing mechanism;

[0013] There are two X-axis transfer guide rails, which are connected to the Y-axis pitch-changing mechanism and are arranged symmetrically;

[0014] There are four first hook parts, including a first hook part floating along the Z axis, the first hook part is movably connected to the X-axis transfer guide along the X axis, and each of the X-axis transfer guides is correspondingly connected to two first hook parts, and the four first hook parts are arranged in a rectangular shape;

[0015] There are two second hook parts, including a second hook part floating along the Z axis, and the second hook parts are fixed one by one at the center position of the X-axis transfer guide rail;

[0016] A side thrust mechanism, fixed to one side of the support frame;

[0017] A visual part, fixed to the support frame and arranged downward;

[0018] The detection device is fixed to the support frame and is used to detect the distance between the first hook portion and the second hook portion and the battery module.

[0019] Furthermore, the X-axis pitch changing mechanism comprises:

[0020] A first driving motor is fixed to the supporting frame;

[0021] The first adapter has two;

[0022] A first transmission assembly is connected to the first drive motor and the two first adapters respectively;

[0023] There are three first guide rails, which are fixed to the support frame in parallel and at intervals along the X-axis, and each of the first guide rails is slidably connected to two symmetrically arranged first sliders, and the six first sliders are arranged in a rectangular shape;

[0024] The first driving motor drives the first transmission assembly to drive the two first adapters to move synchronously toward or away from each other along the X-axis.

[0025] Furthermore, the first transmission assembly includes:

[0026] A first positive and negative threaded rod is rotatably connected to the support frame and arranged along the X-axis;

[0027] A first pulley, fixed to the output shaft of the first driving motor;

[0028] A second pulley, fixed to the first positive and negative threaded rod;

[0029] a first belt connected to the first pulley and the second pulley;

[0030] A first left-handed nut connected to the left-handed external threaded portion of the first positive and negative threaded screw rod and fixedly connected to one of the first adapter seats;

[0031] The first right-handed nut is connected to the right-handed external threaded portion of the first positive and negative threaded screw rod, and is fixedly connected to another first adapter seat.

[0032] Furthermore, the Y-axis pitch changing mechanism comprises:

[0033] A second driving motor is fixed to the supporting frame;

[0034] There are two second transfer seats, which are fixed one by one to the center position of the X-axis transfer guide rail;

[0035] A second transmission assembly is connected to the second drive motor and the two second adapters respectively;

[0036] There are two second guide rails, arranged along the Y axis, and each of the second guide rails is slidably connected to two symmetrically arranged second sliders, and the four second sliders are arranged in a rectangular shape; each second guide rail is also fixedly connected to two first sliders;

[0037] There are four third sliders, each of the X-axis transfer guide rails is slidably connected with two third sliders, and the four third sliders are arranged in a rectangular shape; the first hook portions are fixedly connected to the third sliders in a one-to-one correspondence; and the third sliders are also fixedly connected to the second sliders in a one-to-one correspondence;

[0038] The second driving motor drives the second transmission assembly to drive the two second adapters to move synchronously toward or away from each other along the Y axis.

[0039] Furthermore, each of the first hook portions further includes:

[0040] A first fixing seat, fixedly connected to the third sliding block in a one-to-one correspondence;

[0041] A first cylinder, fixed to the first fixing seat, and a piston rod arranged along the Y axis;

[0042] A second fixing seat, movably connected to the first fixing seat along the Y axis and fixed to the piston rod of the first cylinder;

[0043] A guide shaft is fixed to the second fixing seat and arranged along the Z axis; wherein the first hook is movably arranged on the guide shaft along the Z axis;

[0044] The spring is sleeved on the guide shaft, with the top end abutting against the second fixing seat and the bottom end abutting against the first hook claw.

[0045] Furthermore, each of the second hook portions further includes:

[0046] A third fixed seat, fixed at the center position of the X-axis transfer guide rail;

[0047] The second cylinder is fixed to the third fixing seat, and the piston rod is arranged along the Y axis;

[0048] a fourth fixing seat, movably connected to the third fixing seat along the Y axis and fixed to the piston rod of the second cylinder;

[0049] A third cylinder is fixed to the fourth fixing seat, and a piston rod is downwardly facing along the Z axis and fixed to the second hook;

[0050] a fifth fixing seat, fixed to the third fixing seat;

[0051] A fourth cylinder, fixed to the fifth fixing seat, with a piston rod arranged along the Y axis;

[0052] A steel belt pressure piece is fixed to the piston rod of the fourth cylinder.

[0053] Furthermore, the side thrust mechanism comprises:

[0054] a sixth fixing seat, fixed to one side of the supporting frame;

[0055] A fifth cylinder is fixed to the sixth fixing seat, and the piston rod is arranged downward along the Z axis;

[0056] The insulating push plate is fixed to the piston rod of the fifth cylinder and is vertically arranged along the Z axis.

[0057] Furthermore, the visual part includes:

[0058] A visual support, fixed to the support frame;

[0059] An industrial camera is fixed to the visual bracket, and the lens is arranged downward along the Z axis;

[0060] The light source is fixed to the visual support and arranged downward along the Z axis.

[0061] Furthermore, the detection device is a laser ranging sensor.

[0062] The advantages of the present invention are:

[0063] (1) The present invention has two sets of hooks: a first hook portion and a second hook portion, which provide double insurance when grabbing the battery module to prevent it from falling;

[0064] (2) It has a side thrust mechanism, which can automatically handle abnormalities without stopping or waiting;

[0065] (3) The first hook and the second hook can float and be compressed in the Z-axis direction, so that when the program is preset, they can be lowered by a certain distance based on the reference debugging position, thereby ensuring that the battery module is placed in place and will not fall into place due to errors.

Brief Description of the Drawings

[0066] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0067] Figure 1 The present invention is a three-dimensional clamp for a square battery module Figure 1 .

[0068] Figure 2 The present invention is a three-dimensional clamp for a square battery module Figure 2 .

[0069] Figure 3 It is a front view of a clamp of a square battery module of the present invention.

[0070] Figure 4 It is a top view of a clamp of a square battery module of the present invention.

[0071] Figure 5 It is a left view of a clamp of a square battery module of the present invention.

[0072] Figure 6 It is a bottom view of a clamp of a square battery module of the present invention.

[0073] Figure 7 It is a three-dimensional side thrust mechanism of the present invention. Figure 1 .

[0074] Figure 8 It is a three-dimensional side thrust mechanism of the present invention. Figure 2 .

[0075] Fig. 9 The first hook part and the second hook part of the present invention are three-dimensional Figure 1 .

[0076] Fig.10 The first hook part and the second hook part of the present invention are three-dimensional Figure 2 .

[0077] Fig.11 The first hook part and the second hook part of the present invention are three-dimensional Figure 3 .

[0078] Fig.12 1 is an exploded view of the first hook portion and the second hook portion of the present invention.

[0079] Fig.13 The present invention is a front view of a square battery module clamped by a battery module clamp.

[0080] Fig.14 It is a three-dimensional view of a battery module clamped by a first hook portion and a second hook portion of the present invention.

[0081] Description of reference numerals:

[0082] A fixture 100 for a square battery module;

[0083] Support frame 1;

[0084] X-axis pitch-changing mechanism 2, first drive motor 21, first adapter 22, first transmission assembly 23, first positive and negative screw 231, first pulley 232, second pulley 233, first belt 234, first left-hand nut 235, first right-hand nut 236, first guide rail 24, first slider 25;

[0085] Y-axis pitch changing mechanism 3, second drive motor 31, second adapter 32, second transmission assembly 33, second guide rail 34, second slider 35, third slider 36;

[0086] X-axis transfer guide 4;

[0087] A first hook portion 5, a first hook 51, a first fixing seat 52, a first cylinder 53, a second fixing seat 54, a guide shaft 55, and a spring 56;

[0088] The second hook part 6, the second hook 61, the third fixing seat 62, the second cylinder 63, the fourth fixing seat 64, the third cylinder 65, the fifth fixing seat 66, the fourth cylinder 67, and the steel belt pressing piece 68;

[0089] Side thrust mechanism 7, sixth fixing seat 71, fifth cylinder 72, insulating thrust plate 73;

[0090] Vision unit 8, vision bracket 81, industrial camera 82, light source 83;

[0091] Detection device 9.

[0092] Battery module 200 , steel strip 201 , diagonal bolt hole 202 , positioning hole one 203 , positioning hole two 204 . [Specific implementation method]

[0093] 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.

[0094] 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.

[0095] The overall concept of the present invention is as follows:

[0096] (1) Fully automatic gripping, automatically adjusting according to the product and compatible with different battery module product sizes. Automatic gripping is stable, safe and reliable.

[0097] (2) Two sets of different hooks clamp the battery module, adding secondary protection to avoid the risk of the battery module falling due to rapid movement.

[0098] (3) When placing the second battery module and subsequent battery modules, the first battery module or the adjacent battery module can be pushed by the side push mechanism to safely place the battery module, avoiding the risk of overlapping battery modules and causing battery short circuit. At the same time, there is no need to stop the machine and wait for manual handling of abnormalities, thereby improving work efficiency.

[0099] (4) The first hook 51 and the second hook 61 can float and be compressed in the Z-axis direction, so that when the program is preset, they can be lowered by a certain distance based on the reference debugging position, thereby ensuring that the battery module is placed in place and will not fall into place due to errors.

[0100] Explanation of terms: positive and negative thread screw is also called left-right thread screw and bidirectional ball screw.

[0101] See also Figures 1 to 14 shown.

[0102] A clamp 100 for a square battery module, comprising:

[0103] Support frame 1;

[0104] An X-axis pitch-changing mechanism 2 connected to the support frame 1;

[0105] The Y-axis pitch changing mechanism 3 is connected to the X-axis pitch changing mechanism 2; the distance between the first hook portion 5 and the second hook portion 6 is adjusted by the X-axis pitch changing mechanism 2 and the Y-axis pitch changing mechanism 3 to be compatible with different battery module product sizes.

[0106] There are two X-axis transfer guide rails 4, which are connected to the Y-axis pitch change mechanism 3 and are arranged symmetrically;

[0107] There are four first hook parts 5, including first hook parts 51 floating along the Z axis, the first hook parts 5 are movably connected to the X-axis transfer guide rail 4 along the X axis, and each of the X-axis transfer guide rails 4 is correspondingly connected to two first hook parts 5, and the four first hook parts 5 are arranged in a rectangular shape;

[0108] There are two second hook parts 6, including a second hook part 61 floating along the Z axis, and the second hook parts 6 are fixed to the center position of the X-axis transfer guide rail 4 in a one-to-one correspondence;

[0109] A side thrust mechanism 7, fixed to one side of the support frame 1;

[0110] A visual part 8 is fixed to the support frame 1 and arranged downward;

[0111] The detection device 9 is fixed to the support frame 1 and is used to detect the distance between the first hook portion 5 and the second hook portion 6 and the battery module 200 .

[0112] The visual unit 8 captures the plane position of the battery module 200 or the predetermined placement position in the box, and the detection device 9 detects the distance between the first hook portion 5 and the second hook portion 6 and the battery module 200 to adjust the X\Y\Z three-axis coordinates of each hook;

[0113] The distance between the first hook portion 5 and the second hook portion 6 is adjusted by the X-axis pitch changing mechanism 2 and the Y-axis pitch changing mechanism 3 to match the size of the battery module and clamp the battery module 200;

[0114] When the predetermined placement position in the box does not meet the requirements, the adjacent battery module 200 is pushed away by the side pushing mechanism 7 to vacate the position.

[0115] The X-axis pitch changing mechanism 2 comprises:

[0116] A first driving motor 21 is fixed to the supporting frame 1;

[0117] The first adapter 22 has two parts;

[0118] A first transmission assembly 23, connected to the first driving motor 21 and the two first adapters 22 respectively;

[0119] There are three first guide rails 24, which are fixed to the support frame 1 in parallel and at intervals along the X-axis, and each of the first guide rails 24 is slidably connected to two symmetrically arranged first sliders 25, and the six first sliders 25 are arranged in a rectangular shape;

[0120] The first driving motor 21 drives the first transmission assembly 23 to drive the two first adapters 22 to move toward or away from each other synchronously along the X-axis.

[0121] The first transmission assembly 23 comprises:

[0122] The first positive and negative threaded rod 231 is rotatably connected to the support frame 1 and arranged along the X-axis;

[0123] A first pulley 232, fixed to the output shaft of the first driving motor 21;

[0124] A second pulley 233, fixed to the first positive and negative threaded rod 231;

[0125] A first belt 234 connected to the first pulley 232 and the second pulley 233;

[0126] The first left-handed nut 235 is connected to the left-handed external thread portion of the first double-threaded screw 231 and fixedly connected to one of the first adapter seats 22;

[0127] The first right-handed nut 236 is connected to the right-handed external thread portion of the first double-threaded screw 231 and fixedly connected to the other first adapter seat 22.

[0128] When the output shaft of the first drive motor 21 rotates, the bottom first pulley 232 rotates, drives the second pulley 233 to rotate through the first belt 234, and then drives the first double-threaded screw 231 to rotate, thereby driving the first left-handed nut 235 and the first right-handed nut 236 to move synchronously towards or away from each other, and finally driving the two first adapter seats 22 to move synchronously towards or away from each other, thereby adjusting the X-axis distance between the two second guide rails 34 to adapt to battery modules of different widths. Similarly, the second transmission component 33 can adopt a similar structure to adjust the Y-axis distance between the claw portions to adapt to battery modules of different lengths.

[0129] The Y-axis variable distance mechanism 3 includes:

[0130] The second drive motor 31 is fixed to the support frame 1;

[0131] There are two second adapter seats 32, which are respectively and fixedly connected to the central positions of the X-axis transfer guide rails 4;

[0132] The second transmission component 33 is respectively connected to the second drive motor 31 and the two second adapter seats 32; in a specific embodiment, the second transmission component 33 can also adopt a structure similar to that of the first transmission component.

[0133] There are two second guide rails 34, which are arranged along the Y-axis, and each second guide rail 34 is respectively slidably connected to two symmetrically arranged second sliders 35, and the four second sliders 35 are arranged in a rectangle; each second guide rail 34 is also fixedly connected to two of the first sliders 25; the second guide rails 34 are also respectively and fixedly connected to the first adapter seats 22;

[0134] There are four third sliders 36, and each X-axis transfer guide rail 4 is slidably connected to two of the third sliders 36, and the four third sliders 36 are arranged in a rectangle; the first claw portions 5 are respectively and fixedly connected to the third sliders 36; the third sliders 36 are also respectively and fixedly connected to the second sliders 35;

[0135] Wherein, the second drive motor 31 drives the second transmission component 33 to drive the two second adapter seats 32 to move synchronously towards or away from each other along the Y-axis.

[0136] Each of the first claw portions 5 further includes:

[0137] The first fixed seat 52 is fixedly connected to the third slider 36 in a one-to-one correspondence, and its function is to drive the second slider 35 to move along the X-axis when the second guide rail 34 moves along the X-axis, and then drive the third slider 36 to move along the X-axis, thereby driving the first fixed seat 52 to move along the X-axis, and adjusting the X-axis coordinate of the first fixed seat 52;

[0138] A first cylinder 53, fixed to the first fixing seat 52, and a piston rod is arranged along the Y axis;

[0139] A second fixing seat 54 is movably connected to the first fixing seat 52 along the Y axis and fixed to the piston rod of the first cylinder 53;

[0140] The guide shaft 55 is fixed to the second fixing seat 54 and arranged along the Z axis; wherein the first hook 51 is movably arranged on the guide shaft 55 along the Z axis;

[0141] The spring 56 is sleeved on the guide shaft 55, and the top end abuts against the second fixing seat 54, and the bottom end abuts against the first hook 51. The spring 56 allows the first hook 51 to float along the Z-axis direction, and when the stroke is preset, the stroke can be compressed to ensure that the battery module is placed in place instead of falling into place.

[0142] Each of the second hook portions 6 further comprises:

[0143] A third fixing seat 62, fixed at the center position of the X-axis transfer guide rail 4;

[0144] The second cylinder 63 is fixed to the third fixing seat 62, and the piston rod is arranged along the Y axis;

[0145] a fourth fixing seat 64, movably connected to the third fixing seat 62 along the Y axis, and fixed to the piston rod of the second cylinder 63;

[0146] The third cylinder 65 is fixed to the fourth fixing seat 64, and the piston rod is downward along the Z-axis and fixed to the second hook 61; since the piston rod of the third cylinder 65 can be compressed when in use, the second hook 61 can float in the Z-axis direction to ensure that the battery module is placed in place.

[0147] A fifth fixing seat 66, fixed to the third fixing seat 62;

[0148] The fourth cylinder 67 is fixed to the fifth fixing seat 66, and the piston rod is arranged along the Y axis;

[0149] The steel belt pressing member 68 is fixed to the piston rod of the fourth cylinder 67. At a preset position, the fourth cylinder 67 drives the steel belt pressing member 68 to press the steel belt 201 of the battery module to prevent the deformation of the steel belt 201 caused by the upstream production process from affecting the second hook 61 to grab the battery module 200.

[0150] The side thrust mechanism 7 comprises:

[0151] A sixth fixing seat 71, fixed to one side of the supporting frame 1;

[0152] The fifth cylinder 72 is fixed to the sixth fixing seat 71, and the piston rod is arranged downward along the Z axis;

[0153] The insulating push plate 73 is fixed to the piston rod of the fifth cylinder 72 and arranged vertically along the Z axis. For example, in a specific embodiment, the insulating push plate 73 is made of polyurethane, which is insulated and has a certain buffering effect due to its soft material, thereby avoiding hard contact with the battery module 200.

[0154] The insulating push plate 73 is driven by the fifth cylinder 72 to adjust the Z-axis coordinate of the insulating push plate 73 .

[0155] The visual part 8 comprises:

[0156] A visual support 81, fixed to the support frame 1;

[0157] The industrial camera 82 is fixed to the visual bracket 81, and the lens is arranged downward along the Z axis; the industrial camera 82 is used to capture the position coordinates in the X and Y axis directions.

[0158] The light source 83 is fixed to the visual support 81 and arranged downward along the Z axis.

[0159] The detection device 9 is a laser distance measuring sensor. The detection device 9 is used to detect the position coordinates in the Z-axis direction.

[0160] Specific usage:

[0161] The support frame 1 is fixed to a robot, and the robot drives the clamp 100 to move.

[0162] The robot, the first cylinder 53, the second cylinder 63, the third cylinder 65, the fourth cylinder 67, the fifth cylinder 72, the first drive motor 21, the second drive motor 31, the industrial camera 82, the light source 83, and the detection device 9 are respectively connected to the PLC and controlled uniformly by the PLC.

[0163] Set up work procedures in advance.

[0164] (1) During operation, the PLC controls the robot to drive the fixture 100 to translate above the battery module 200 to be boxed;

[0165] (2) The PLC controls the industrial camera 82 to take a picture to detect the position of the diagonal bolt holes 202 of the battery module 200. In other embodiments, other parts on the battery module 200 can also be set as the reference position to determine the positions of the battery module in the X and Y axes;

[0166] (3) The PLC controls the detection device 9 to detect the height distance between the first claw 51 and the battery module 200;

[0167] (4) The PLC controls the industrial camera 82 to scan the battery module 200 to read the product information of the battery module 200 and identify the distances between the preset positioning holes one 203 and the positioning holes two 204 on the battery module 200; If there is no bar code on the battery module 200, the distance information of the battery module 200 can be preset in advance to omit this step;

[0168] (5) The PLC controls the first drive motor 21 and the second drive motor 31 to work according to the product information, automatically adjusts the distance between the first claws 51 and the distance between the second claws 61, and automatically changes the clamping size of the battery module 200 required;

[0169] (6) The PLC controls the robot to drive the fixture 100 to descend as a whole and stop at the set position above the battery module 200 as rough positioning. At this time, the first claw 51 is directly opposite to the positioning hole one 203;

[0170] Then the PLC controls the piston rod of the fourth cylinder 67 to extend to drive the steel strip pressing part 68 to press the steel strip 201 of the battery module;

[0171] Then the PLC controls the piston rod of the third cylinder 65 to extend downward so that the second claw 61 is directly opposite to the positioning hole two 204; Then it controls the piston rod of the second cylinder 63 to retract, driving the second claws 61 to move towards each other to hook the positioning hole two 204. After reaching the position, the PLC controls the robot to drive the fixture 100 to lift, lifting the battery module 200 to a predetermined height, such as 20 mm, so that the battery module 200 remains horizontal;

[0172] Then the PLC controls the piston rod of the first cylinder 53 to extend, driving the first claw 51 to hook into the positioning hole one 203 of the battery module 200. At this time, the battery module has been firmly held by six claws to ensure the safety of the battery;

[0173] (VII) The PLC controls the robot to continue to rise with the battery module, and then translates to the top of the box placement position, and then controls the industrial camera 82 to take pictures to detect whether there are foreign objects in the predetermined placement position, and controls the detection device 9 to measure whether the size gap below is sufficient to place the battery module 200. If there is already a battery module 200 in the box and it has been offset, and there is not enough space to place the second module, then the PLC controls the piston rod of the fifth cylinder 72 to extend downward, drive the insulating push plate 73 to descend, and then control the robot to drive the clamp 100 to move, use the push plate to push the first battery module 200 to the specified position and then rise and retreat, and control the piston rod of the fifth cylinder 72 to reset and retract, and control the industrial camera 82 to take pictures and re-judge, until the second module can be safely placed in the box.

[0174] (VIII) PLC controls the piston rod of the second cylinder 63 to extend, driving the second hook 61 to move away, and the second hook withdraws from the second positioning hole 204, first releasing the battery module 200;

[0175] Then, the piston rod of the first air cylinder 53 is controlled to retract, driving the first hook 51 to withdraw from the first positioning hole 203, and also releasing the battery module 200, so that the battery module 200 can be placed in place;

[0176] (IX) Finally, the PLC controls the robot to lift the fixture 100, and finally drives the fixture 100 and all mechanisms on the fixture 100 to return to their initial positions.

[0177] (J) The PLC controls the robot to return to the origin position with the fixture 100, and the subsequent grasping action repeats this operation.

[0178] 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 fixture for square battery modules, Features: include: Support frame; An X-axis pitch-changing mechanism connected to the support frame; A Y-axis pitch-changing mechanism connected to the X-axis pitch-changing mechanism; There are two X-axis transfer guide rails, which are connected to the Y-axis pitch-changing mechanism and are arranged symmetrically; There are four first hook parts, including a first hook part floating along the Z axis, the first hook part is movably connected to the X-axis transfer guide along the X axis, and each of the X-axis transfer guides is correspondingly connected to two first hook parts, and the four first hook parts are arranged in a rectangular shape; There are two second hook parts, including a second hook part floating along the Z axis, and the second hook parts are fixed one by one at the center position of the X-axis transfer guide rail; A side thrust mechanism, fixed to one side of the support frame; A visual part, fixed to the support frame and arranged downward; A detection device, fixed to the support frame and used to detect the distance between the first hook portion and the second hook portion and the battery module; The X-axis pitch changing mechanism comprises: A first driving motor is fixed to the supporting frame; The first adapter has two; A first transmission assembly is connected to the first drive motor and the two first adapters respectively; There are three first guide rails, which are fixed to the support frame in parallel and at intervals along the X-axis, and each of the first guide rails is slidably connected to two symmetrically arranged first sliders, and the six first sliders are arranged in a rectangular shape; Wherein, the first driving motor drives the first transmission assembly to drive the two first adapters to move synchronously toward or away from each other along the X-axis; The first transmission assembly comprises: A first positive and negative threaded rod is rotatably connected to the support frame and arranged along the X-axis; A first pulley, fixed to the output shaft of the first driving motor; A second pulley, fixed to the first positive and negative threaded rod; a first belt connected to the first pulley and the second pulley; A first left-handed nut connected to the left-handed external threaded portion of the first positive and negative threaded screw rod and fixedly connected to one of the first adapter seats; A first right-handed nut connected to the right-handed external threaded portion of the first positive and negative threaded screw rod and fixedly connected to another first adapter seat; The Y-axis pitch changing mechanism comprises: A second driving motor is fixed to the supporting frame; There are two second transfer seats, which are fixed one by one to the center position of the X-axis transfer guide rail; A second transmission assembly is connected to the second drive motor and the two second adapters respectively; There are two second guide rails, arranged along the Y axis, and each of the second guide rails is slidably connected to two symmetrically arranged second sliders, and the four second sliders are arranged in a rectangular shape; each second guide rail is also fixedly connected to two first sliders; and the second guide rails are also fixedly connected to the first adapters one by one; There are four third sliders, each of the X-axis transfer guide rails is slidably connected with two of the third sliders, and the four third sliders are arranged in a rectangular shape; the first hook portions are fixedly connected to the third sliders in a one-to-one correspondence; and the third sliders are also fixedly connected to the second sliders in a one-to-one correspondence; Wherein, the second driving motor drives the second transmission assembly to drive the two second adapters to move synchronously toward or away from each other along the Y axis; Each of the second hook portions further comprises: A third fixed seat, fixed at the center position of the X-axis transfer guide rail; The second cylinder is fixed to the third fixing seat, and the piston rod is arranged along the Y axis; a fourth fixing seat, movably connected to the third fixing seat along the Y axis and fixed to the piston rod of the second cylinder; A third cylinder is fixed to the fourth fixing seat, and a piston rod is downwardly facing along the Z axis and fixed to the second hook; a fifth fixing seat, fixed to the third fixing seat; A fourth cylinder, fixed to the fifth fixing seat, and a piston rod arranged along the Y axis; A steel belt pressure piece is fixed to the piston rod of the fourth cylinder.

2. A clamp for a square battery module as claimed in claim 1, Features: Each of the first hook portions further comprises: A first fixing seat, fixedly connected to the third sliding block in a one-to-one correspondence; A first cylinder, fixed to the first fixing seat, and a piston rod arranged along the Y axis; A second fixing seat, movably connected to the first fixing seat along the Y axis and fixed to the piston rod of the first cylinder; A guide shaft is fixed to the second fixing seat and arranged along the Z axis; wherein the first hook is movably arranged on the guide shaft along the Z axis; The spring is sleeved on the guide shaft, with the top end abutting against the second fixing seat and the bottom end abutting against the first hook claw.

3. A clamp for a square battery module as claimed in claim 1, Features: The side thrust mechanism comprises: a sixth fixing seat, fixed to one side of the supporting frame; A fifth cylinder is fixed to the sixth fixing seat, and the piston rod is arranged downward along the Z axis; The insulating push plate is fixed to the piston rod of the fifth cylinder and is vertically arranged along the Z axis.

4. A clamp for a square battery module as claimed in claim 1, Features: The visual part includes: A visual support, fixed to the support frame; An industrial camera is fixed to the visual bracket, and the lens is arranged downward along the Z axis; The light source is fixed to the visual support and arranged downward along the Z axis.

5. A clamp for a square battery module as claimed in claim 1, Features: The detection device is a laser ranging sensor.

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