A universal composite material battery pack cover grabbing tool

Abstract

The present invention discloses a universal gripping tool for composite material battery pack cover provided by the present application, including: a bracket, a lateral force arm, a positioning assembly, a vertical force arm, a vacuum adsorption assembly and a first locking assembly, wherein the bracket is used to connect the robot's actuator and the lateral force arm, the lateral force arm is spread out in all directions, the vertical force arm is slidably connected to the lateral force arm through the positioning assembly, so that the vertical force arm can slide along the length direction of the lateral force arm and its own length direction, the vacuum adsorption assembly connects one end of the vertical force arm away from the bracket, and the first locking assembly is used to lock the lateral force arm and the positioning assembly, the positioning assembly and the vertical force arm, so that the position of the vacuum adsorption assembly is fixed. The gripping tool uses a vacuum adsorption assembly whose position can be adjusted in the horizontal and vertical directions to adsorb the battery pack cover, so that the degree of adaptation between itself and different types of battery pack covers can be quickly changed, and there is no need to design a corresponding gripping tool for each type of battery pack cover.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and in particular to a universal gripping tool for a composite material battery pack upper cover. Background Art

[0002] The battery pack cover made of epoxy resin composite fiberglass material is cured and formed using a high-temperature mold. During the process from curing to delivery, there are multiple processes involving the handling, flipping, and stacking of semi-finished and finished battery pack covers.

[0003] At present, large-sized products with smooth surfaces are usually transported using a robot with a suction cup. For example, Chinese publication number CN216109573U discloses an integrated device for installing and transporting large-sized tiles. In order to adapt to tiles of different sizes, the expansion range of the robot can be adjusted by a telescopic rod.

[0004] However, the heights of different types of battery pack covers vary greatly, and simply adjusting the expansion range of the robot arm is not enough to make it adapt to different types of battery pack covers.

[0005] Therefore, currently, manual handling, flipping, and stacking of battery pack covers are still the mainstream. Summary of the invention

[0006] The purpose of the present invention is to provide a universal composite material battery pack upper cover grabbing tool to solve the technical problem of how to carry different types of battery pack upper covers with large differences in lateral amplitude and height fluctuation.

[0007] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0008] The present application provides a universal gripping tool for a composite material battery pack upper cover, comprising: a bracket for connecting an actuator of a robot, the bracket having a shape that is centrally symmetrical around a first axis, the first axis being the centerline of the bracket itself; a transverse force arm having a length perpendicular to the first axis, one end of the transverse force arm being fixedly connected to the bracket, and the other end being perpendicular to the first axis and suspended in a direction away from the bracket, the transverse force arm having a plurality of ends and being evenly distributed around the first axis; a positioning assembly, slidably connected to the transverse force arm and capable of sliding along the length direction of the transverse force arm; a vertical force arm having a length parallel to the first axis, the vertical force arm being slidably connected to the positioning assembly and capable of sliding along its own length direction; a vacuum adsorption assembly, connected to one end of the vertical force arm away from the bracket, and the suction end of the vacuum adsorption assembly facing in a direction away from the bracket; a first locking assembly, connected and used to lock the transverse force arm and the positioning assembly, the positioning assembly and the vertical force arm, so that the position of the vacuum adsorption assembly is fixed.

[0009] Furthermore, the lateral force arm includes a plurality of cross bar assemblies, and the plurality of cross bar assemblies are fixedly connected adjacent to each other, and each of the cross bar assemblies is slidably connected to the longitudinal extension arm; wherein each of the cross bar assemblies includes a first slide rail for connecting the positioning assembly, and first limit members are also provided at both ends of the plurality of first slide rails connected in series, and the first limit member is used to prevent the positioning assembly from separating from the first slide rail.

[0010] Furthermore, adjacent cross bar assemblies are fixedly connected by a connecting piece, and the connecting piece is connected to the bracket through a diagonal assembly, and the diagonal assembly is inclined upward; wherein, the diagonal assembly comprises: a first diagonal rod, one end of which is hinged to the bracket through a first pin shaft, and the other end is connected with a bolt; a second diagonal rod, one end of which is hinged to the connecting piece through a second pin shaft, and the other end is connected to the bolt through a long hole, and the length direction of the long hole is parallel to the length direction of the second diagonal rod.

[0011] Further, the bracket includes: a connecting platform, which has a flat plate shape perpendicular to the first axis and has a connecting hole and a threading hole; a fixed beam, which is fixedly connected to the connecting platform and has a flat plate shape parallel to the first axis, and the fixed beams have multiple and are evenly distributed around the connecting platform, and the fixed beams are fixedly connected to the cross bar assembly at a position away from the connecting platform, and a plurality of circular holes at different heights are formed on the fixed beam, and the circular holes are used to hinge the ends of the inclined-stayed assembly.

[0012] Furthermore, the vertical force arm includes a plurality of vertical rod assemblies, and the plurality of vertical rod assemblies are adjacent to each other, wherein the tallest vertical rod assembly is slidably connected to the positioning assembly and the relative movement therebetween is prevented by the first locking assembly, and the vertical rod assembly is slidably connected to the adjacent vertical rod assembly and the relative movement therebetween is prevented by the second locking assembly.

[0013] Furthermore, there are four transverse force arms, which are evenly distributed in a cross shape around the bracket, and the center lines of the four transverse force arms in the length direction are located on two straight lines perpendicular to each other; a laser generator is installed at the bottom of the bracket, and the laser generator can emit at least two flat laser beams perpendicular to each other toward the horizontal plane directly below, and the laser beams and the center lines of the length direction of the transverse force arms are located on the same vertical plane; the vacuum adsorption assembly includes a vacuum suction cup, and the vacuum suction cup is suspended below the transverse force arm through the positioning assembly and the vertical force arm and deviates from the center line of the transverse force arm, and when the laser beam coincides with the reinforcement rib of the battery pack cover, the vacuum suction cup does not contact the reinforcement rib when it moves vertically.

[0014] Furthermore, the laser generator is connected to the bracket through an automatic measuring table, and the laser generator can move universally on a horizontal plane and rotate around a vertical axis through the automatic measuring table, and measure the horizontal movement distance and rotation angle of the laser generator; wherein the automatic measuring table includes: a first linear slide, which is detachably connected to the bracket, and the first linear slide and one of the laser beams are located in the same vertical plane; a second linear slide, which is perpendicular to the first linear slide and fixedly connected to the first sliding part of the first linear slide, and the second linear slide and another of the laser beams are located in the same vertical plane; a turntable, which is fixedly connected to the second sliding part of the second linear slide and has a rotating part fixedly connected to the laser generator; a measuring part, which is used to measure the displacement distance of the first sliding part, the displacement distance of the second sliding part and the rotation angle of the rotating part.

[0015] Furthermore, an angle of 5° to 20° is formed between an extension direction of the first linear slide and a length direction of the transverse force arm located in the same vertical plane, an angle of 5° to 20° is formed between an extension direction of the second linear slide and a length direction of the transverse force arm located in the same vertical plane, a projection length of the sliding stroke of the first sliding part and the second sliding part on the horizontal plane is greater than a distance between two adjacent reinforcing ribs, and a projection of the second linear slide on the horizontal plane is perpendicular to a projection of the first linear slide on the horizontal plane; the rotation axis of the rotating part is vertical, and the rotating part is connected to the turntable by a torsion spring, and the torsion spring is used to apply a motion tendency of the rotating part to rotate to a specified angle when the rotating part is rotated by an external force.

[0016] The present application also provides a universal gripping tool for a composite material battery pack cover, the gripping tool comprising: a bracket for connecting to an actuator of a robot, the bracket having a shape that is centrally symmetrical around a first axis; a transverse force arm having a length perpendicular to the first axis, one end of the transverse force arm being fixedly connected to the bracket, and the other end being perpendicular to the first axis and suspended in a direction away from the bracket, the transverse force arm having multiple ends that are evenly distributed around the first axis; a positioning assembly that is slidably connected to the transverse force arm and can slide along the length direction of the transverse force arm; a vertical force arm that has a length parallel to the first axis, the vertical force arm that is slidably connected to the positioning assembly and can slide along its own length direction ; a vacuum adsorption assembly, connected to one end of the vertical force arm away from the bracket, and the suction end of the vacuum adsorption assembly is facing in a direction away from the bracket; a first linear drive, transmission-connected to the transverse force arm and the positioning assembly, the first linear drive is used to drive the positioning assembly to slide along the length direction of the transverse force arm; a second linear drive, transmission-connected to the positioning assembly and the vertical force arm, the second linear drive is used to drive the vertical force arm to slide along its own length direction relative to the positioning assembly; a suction cup in-place sensor, used to send a signal when the vacuum adsorption assembly contacts the grasped object, and send a working signal to the second linear drive through the controller to stop driving the vertical force arm to move.

[0017] The present application also provides a universal composite material battery pack upper cover grasping tool, the grasping tool comprising: a bracket, used to connect the robot's actuator, the bracket having a shape that is centrally symmetrical around a first axis; a transverse force arm, having a length perpendicular to the first axis, one end of the transverse force arm is fixedly connected to the bracket, and the other end is perpendicular to the first axis and suspended in a direction away from the bracket, the transverse force arm has multiple and is evenly distributed around the first axis; a positioning component, slidably connected to the transverse force arm and capable of sliding along the length direction of the transverse force arm; a vertical force arm, having a length parallel to the first axis, the vertical force arm is slidably connected to the positioning component, and Able to slide along its own length direction; a vacuum adsorption component, connected to the end of the vertical force arm away from the bracket, and the suction end of the vacuum adsorption component is facing the direction away from the bracket; a first linear drive, transmission-connected to the transverse force arm and the positioning component, the first linear drive is used to drive the positioning component to slide along the length direction of the transverse force arm; a first locking component, connected and used to lock the positioning component and the vertical force arm so that the height of the vacuum adsorption component is fixed; a suction cup in place sensor, used to send a signal when the vacuum adsorption component contacts the grasped object, and send a working signal to the first locking component to lock the vertical force arm through the controller.

[0018] Compared with the prior art, this application has the following beneficial effects:

[0019] Provided is a universal composite material battery pack upper cover grasping tool, which uses a vacuum adsorption component whose position can be adjusted in the horizontal and vertical directions to adsorb the battery pack upper cover, so that the degree of adaptation between the tool and different types of battery pack upper covers can be quickly changed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0021] Figure 1 It is a three-dimensional diagram of Example 1 of the present invention, and a partial enlarged diagram thereof;

[0022] Figure 2 This is a front view of Embodiment 1 of the present invention;

[0023] Figure 3 It is a front view of the lateral force arm of Example 1 of the present invention;

[0024] Figure 4 is a three-dimensional diagram of a vertical lever arm according to Embodiment 1 of the present invention;

[0025] Figure 5 FIG. 1 is a mechanical diagram of a vacuum adsorption assembly according to Example 1 of the present invention, wherein: Figure 5 (a) is the state before the vacuum adsorption component contacts the battery pack cover. Figure 5 (b) is the state after the vacuum adsorption assembly contacts the upper cover of the battery pack;

[0026] Figure 6 It is a bottom view of embodiment 4 of the present invention;

[0027] Figure 7 FIG. 5 is a schematic diagram of the alignment process of the laser beam and the reinforcing rib according to Embodiment 5 of the present invention, wherein: Figure 7 (a) is the state before the laser beam is aligned with the reinforcing rib. Figure 7 (a) is the state after the laser beam is aligned with the reinforcing rib;

[0028] Figure 8 It is a front view of the laser generator and the automatic measuring platform of Example 6 of the present invention;

[0029] Fig. 9 It is a right side view of the laser generator and the automatic measuring platform of Example 6 of the present invention;

[0030] Fig.10 A stereogram of a laser generator and an automatic measuring platform according to Embodiment 6 of the present invention;

[0031] The numbers in the figure represent the following:

[0032] 1-bracket; 11-connecting platform; 111-connecting hole; 112-threading hole; 12-fixed beam; 121-slot; 122-round hole; 13-sensor terminal; 2-lateral force arm; 21-crossbar assembly; 211-first slide rail; 212-first stopper; 22-connecting member; 221-first slider; 222-second slide rail; 23-slant-stay assembly; 231-first diagonal tie rod; 232-first pin shaft; 233-bolt; 234-second diagonal tie rod; 235-second pin shaft; 236-long hole; 3-positioning assembly; 31-first locking assembly; 32-second limit member; 4-vertical force arm; 41-vertical rod assembly; 42-second locking assembly; 5-vacuum adsorption assembly; 51-vacuum suction cup; 52-moving part; 53-proximity switch; 54-first retaining spring; 55-second retaining spring; 6-laser generator; 61-laser beam; 7-battery pack cover; 71-reinforcement rib; 8-automatic measuring table; 81-first linear slide; 811-first sliding part; 82-second linear slide; 821-second sliding part; 83-turntable; 831-rotating part. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] This specific implementation provides Example 1, please refer to Figure 1-4 .

[0035] The gripping tooling includes:

[0036] A bracket 1, used for connecting the actuator of the robot, the bracket 1 has a shape that is centrally symmetrical around a first axis, and the first axis is the center line of the bracket 1 itself;

[0037] A transverse force arm 2, having a length perpendicular to the first axis, one end of the transverse force arm 2 is fixedly connected to the bracket 1, and the other end is perpendicular to the first axis and suspended in a direction away from the bracket 1, and there are multiple transverse force arms 2 and they are evenly distributed around the first axis;

[0038] A positioning assembly 3 is slidably connected to the transverse force arm 2 and is capable of sliding along the length direction of the transverse force arm 2;

[0039] A vertical force arm 4 has a length parallel to the first axis, the vertical force arm 4 is slidably connected to the positioning assembly 3, and can slide along its own length direction;

[0040] A vacuum adsorption component 5 is connected to an end of the vertical force arm 4 away from the bracket 1, and the suction end of the vacuum adsorption component 5 faces a direction away from the bracket 1;

[0041] The first locking assembly 31 is connected and used to lock the lateral force arm 2 and the positioning assembly 3 , and the positioning assembly 3 and the vertical force arm 4 , so that the position of the vacuum adsorption assembly 5 is fixed.

[0042] Specific:

[0043] A sensor terminal 13 is installed on the bracket 1. Each vacuum adsorption component 5 includes a vacuum suction cup 51 and a suction cup position sensor. The sensor terminal 13 is communicated with each suction cup position sensor to determine whether the vacuum adsorption component 5 is in contact with the battery pack cover 7.

[0044] For example, each vacuum adsorption component 5 is equipped with a negative pressure sensor, each negative pressure sensor is in communication connection with the sensor terminal 13, and the vacuum adsorption component 5 always sucks air through its suction end. When the sensor terminal 13 senses that the negative pressure inside the vacuum adsorption component 5 increases, the vacuum adsorption component 5 contacts the battery pack cover 7;

[0045] Alternatively, a tensile pressure sensor is installed on each vacuum adsorption component 5, and each tensile pressure sensor is communicatively connected to the sensor terminal 13. When the vacuum adsorption component 5 squeezes the battery pack cover 7, the battery pack cover 7 applies a reaction force to the vacuum adsorption component 5, causing the tensile pressure sensor to send a signal to the sensor terminal 13.

[0046] Or, if Figure 5 As shown, the vacuum adsorption assembly 5 includes a vacuum suction cup 51, a movable part 52, a proximity switch 53 and a vacuum pump, wherein the vacuum pump is not shown in the figure, the movable part 52 is vertically slidably connected to the vacuum suction cup 51, and the stroke of the movable part 52 is limited by the first retaining spring 54 and the second retaining spring 55, the movable part 52 is a metal part, the proximity switch 53 is a metal proximity switch, the proximity switch 53 is fixedly connected to the vacuum suction cup 51 through the first retaining spring 54, the movable part 52 approaches the battery pack cover 7 before the vacuum suction cup 51, and when the vacuum suction cup 51 contacts the battery pack cover 7, the movable part 52 approaches the proximity switch 53 so that the proximity switch 53 sends a signal to the sensor terminal 13.

[0047] The connecting member 22 includes a first sliding block 221 and a second sliding rail 222 . The first sliding block 221 is used to connect to the first sliding rail 211 . The second sliding rail 222 is perpendicular to the first sliding rail 211 and is used to connect to the vertical force arm 4 .

[0048] In view of the difference in lateral amplitudes of different types of battery pack covers 7 , the position of the vertical force arm 4 is adjusted by moving the position of the positioning assembly 3 , so that the vacuum adsorption assembly 5 can be moved to the edge of the battery pack cover 7 .

[0049] In view of the height fluctuation differences of different types of battery pack covers 7 , the height of the vacuum adsorption assembly 5 is adjusted by moving the position of the vertical force arm 4 , so that the vacuum adsorption assembly 5 can contact various parts of the battery pack cover 7 with different heights.

[0050] After the vacuum adsorption assembly 5 is precisely in contact with the battery pack upper cover 7 , the first locking assembly 31 is operated to lock the positioning assembly 3 and the vertical force arm 4 .

[0051] Optionally, see Figure 3 .

[0052] The transverse force arm 2 includes a plurality of cross bar assemblies 21 , which are fixedly connected adjacent to each other, and the cross bar assemblies 21 are slidably connected to the longitudinal span arm.

[0053] The deployment distance of the transverse force arm 2 can be changed by changing the length of the cross bar assembly 21 or increasing or decreasing the number of the cross bar assemblies 21 .

[0054] like Figure 3 and 4 As shown, each crossbar assembly 21 includes a first slide rail 211 for connecting the positioning assembly 3 , and first stoppers 212 are provided at both ends of the first slide rail 211 , and the first stoppers 212 are used to prevent the positioning assembly 3 from separating from the first slide rail 211 .

[0055] The first limiting member 212 is preferably a hydraulic buffer.

[0056] Since the suspended end of the lateral force arm 2 is prone to droop due to its own weight, the weight of the longitudinal arm and the battery pack cover 7, the longitudinal arm cannot always remain vertical, which also causes the adsorption surface of the vacuum adsorption component 5 to be unable to maintain a horizontal posture.

[0057] To solve the above technical problems, optionally, please refer to Figure 3 .

[0058] Adjacent crossbar assemblies 21 are fixedly connected via a connecting member 22 , and the connecting member 22 is connected to the bracket 1 via an inclined-stayed assembly 23 , and the inclined-stayed assembly 23 is inclined upward.

[0059] The diagonal assembly 23 is a retractable rigid structure or flexible structure formed by connecting a plurality of diagonal rods or a plurality of steel cables. As the deployment distance of the lateral force arm 2 is adjusted, the length of the diagonal assembly 23 is also adaptively adjusted, so that the diagonal assembly 23 can always apply a pulling force to the cross bar assembly 21 that is inclined upward and toward the bracket 1, thereby preventing the suspended end of the cross bar assembly 21 from sagging.

[0060] Since replacing the crossbar assembly 21 to change the length of the lateral force arm 2 will also change the length and angle of the diagonal assembly 23, the two ends of the diagonal assembly 23 are respectively hinged to the bracket 1 and the crossbar assembly 21, so that the angle of the diagonal assembly 23 can also be adaptively adjusted, and the length of the diagonal assembly 23 can be adjusted.

[0061] Specific:

[0062] The inclined stay assembly 23 comprises:

[0063] A first inclined tie rod 231, one end of which is hinged to the bracket 1 through a first pin shaft 232, and the other end of which is connected with a bolt 233;

[0064] One end of the second diagonal tie rod 234 is hinged to the connecting member 22 via a second pin shaft 235 , and the other end is connected to the bolt 233 via a long hole 236 , and the length direction of the long hole 236 is parallel to the length direction of the second diagonal tie rod 234 .

[0065] The loosened bolt 233 can slide in the long hole 236 to change the length of the inclined-bracing assembly 23 , and the tightened bolt 233 can fix the first inclined-bracing rod 231 and the second inclined-bracing rod 234 .

[0066] To facilitate the installation of the crossbar assembly 21 and the inclined pull assembly 23, optionally, please refer to Figure 2 , Figure 3 .

[0067] The bracket 1 includes:

[0068] The connecting platform 11 is in the shape of a plate perpendicular to the first axis and has a connecting hole 111 and a threading hole 112. The connecting hole 111 is used to connect the robot, and the threading hole 112 is used to pass cables and pipes. The first axis is parallel to the axis of the connecting hole 111.

[0069] The fixed beam 12 is fixedly connected to the connecting platform 11 and presents a flat plate shape parallel to the first axis. The fixed beam 12 has multiple fixed beams 12 and is evenly distributed around the connecting platform 11. The part of the fixed beam 12 away from the connecting platform 11 is connected to the cross bar assembly 21 through a slot 121. A plurality of circular holes 122 located at different heights are formed on the fixed beam 12, and the circular holes 122 are used to hinge the ends of the inclined-stayed assembly 23.

[0070] Specifically, the first pin shaft 232 can be selectively connected to one of the circular holes 122 to change the angle of the inclined-stay assembly 23 .

[0071] Optionally, see Figure 4 .

[0072] The vertical force arm 4 includes a plurality of vertical rod assemblies 41, and the plurality of vertical rod assemblies 41 are adjacent to each other, wherein the highest vertical rod assembly 41 is slidably connected to the positioning assembly 3 and the relative movement therebetween is prevented by the first locking assembly 31, and the vertical rod assembly 41 is slidably connected to the adjacent vertical rod assembly 41 and the relative movement therebetween is prevented by the second locking assembly 42.

[0073] A second stopper 32 is installed on the positioning assembly 3 , and the second stopper 32 is used to prevent the vertical rod assembly 41 located at the highest position from being separated from the positioning assembly 3 .

[0074] The first locking assembly 31 and the second locking assembly 42 can be manual, pneumatic or electric locking assemblies, such as a jackscrew, a pneumatic guide rail caliper, or an electric guide rail caliper.

[0075] Further:

[0076] The first locking assembly 31 and the second locking assembly 42 in Example 1 can be replaced by a linear drive, such as a synchronous belt slide or a servo electric push rod, so as to automatically move the position of the positioning assembly 3 and the vertical force arm 4 without manual operation.

[0077] In order to achieve the above-mentioned purpose, this specific implementation manner also provides Example 2, which is not shown in the figure.

[0078] The gripping tooling includes:

[0079] A bracket 1, used for connecting the actuator of the robot, the bracket 1 has a shape that is centrally symmetrical around the first axis;

[0080] A transverse force arm 2 has a length perpendicular to the first axis, one end of the transverse force arm 2 is fixedly connected to the bracket 1, and the other end is perpendicular to the first axis and suspended in a direction away from the bracket 1, and there are multiple transverse force arms 2 and they are evenly distributed around the first axis;

[0081] A positioning assembly 3 is slidably connected to the transverse force arm 2 and is capable of sliding along the length direction of the transverse force arm 2;

[0082] A vertical force arm 4 has a length parallel to the first axis, the vertical force arm 4 is slidably connected to the positioning assembly 3, and can slide along its own length direction;

[0083] A vacuum adsorption component 5 is connected to an end of the vertical force arm 4 away from the bracket 1, and the suction end of the vacuum adsorption component 5 faces a direction away from the bracket 1;

[0084] A first linear drive, which is transmission-connected between the transverse force arm 2 and the positioning assembly 3, and is used to drive the positioning assembly 3 to slide along the length direction of the transverse force arm 2;

[0085] A second linear drive, which is transmission-connected to the positioning assembly 3 and the vertical force arm 4, and is used to drive the vertical force arm 4 to slide relative to the positioning assembly 3 along its own length direction;

[0086] The suction cup in-position sensor is used to send a signal when the vacuum adsorption component 5 contacts the grasped object, and send a working signal to the second linear drive to stop driving the vertical force arm 4 to move through the controller.

[0087] The first linear drive may adopt a synchronous belt slide or a servo electric push rod, and the second linear drive may adopt a servo electric push rod with a self-locking function, or a synchronous belt slide with a pneumatic caliper.

[0088] The output distance of the first linear drive or the movement distance of the robot can be input in advance by the staff, for example, by establishing a table to associate the specifications of the battery pack cover 7 with the moving distance. After the specifications of the battery pack cover 7 are replaced, the controller automatically adjusts the output distance of the first linear drive.

[0089] Alternatively, the output distance of the first linear actuator is determined by machine vision. For example, a CCD camera is installed on the bracket 1, and the CCD camera is used to identify the size of the grasped object and find the flat surface of the edge of the object. The first linear actuator drives the vacuum adsorption assembly 5 to move to just above the flat surface of the edge of the object according to the recognition result of the CCD camera. At the same time, the CCD camera can also identify the raised or recessed reinforcing ribs 71 formed on the battery pack cover 7, so that the vacuum adsorption assembly 5 can avoid the reinforcing ribs 71 and adsorb the battery pack cover 7.

[0090] Further:

[0091] In Example 2, double the number of servo electric push rods are required for the number of vacuum adsorption components 5, so that Example 2 has too high a manufacturing cost compared with Example 1. When there are fewer types of battery pack covers 7, Example 2 is not economical enough. However, when there are more types of battery pack covers 7, the speed of manually adjusting the position of the positioning component 3 and the vertical force arm 4 is slow, which affects the production efficiency of the battery pack covers 7.

[0092] For this purpose, people need a kind of low-cost grasping tool which combines embodiment 1 with the automation of embodiment 2. Based on this purpose, this specific implementation method also provides embodiment 3, which is not shown in the figure.

[0093] The gripping tooling includes:

[0094] A bracket 1, used for connecting the actuator of the robot, the bracket 1 has a shape that is centrally symmetrical around the first axis;

[0095] A transverse force arm 2 has a length perpendicular to the first axis, one end of the transverse force arm 2 is fixedly connected to the bracket 1, and the other end is perpendicular to the first axis and suspended in a direction away from the bracket 1, and there are multiple transverse force arms 2 and they are evenly distributed around the first axis;

[0096] A positioning assembly 3 is slidably connected to the transverse force arm 2 and is capable of sliding along the length direction of the transverse force arm 2;

[0097] A vertical force arm 4 has a length parallel to the first axis, the vertical force arm 4 is slidably connected to the positioning assembly 3, and can slide along its own length direction;

[0098] A vacuum adsorption component 5 is connected to an end of the vertical force arm 4 away from the bracket 1, and the suction end of the vacuum adsorption component 5 faces a direction away from the bracket 1;

[0099] A first linear drive, which is transmission-connected between the transverse force arm 2 and the positioning assembly 3, and is used to drive the positioning assembly 3 to slide along the length direction of the transverse force arm 2;

[0100] A first locking assembly 31 is connected and used to lock the positioning assembly 3 and the vertical force arm 4 so that the height of the vacuum adsorption assembly 5 is fixed;

[0101] The suction cup in-position sensor is used to send a signal when the vacuum adsorption component 5 contacts the grasped object, and send a working signal for locking the vertical force arm 4 to the first locking component 31 through the controller.

[0102] Compared with Example 1, Example 3 is more automated, and can fully automatically adapt to battery pack covers 7 of various lateral sizes and height fluctuations. Among them, the vertical force arm 4 can slide by itself through the reaction force after the vacuum adsorption component 5 contacts the battery pack cover 7, so there is no need for the second linear drive to drive independently. When all the sensor terminals 13 send signals, the vertical force arm 4 stops moving through the second locking component 42.

[0103] Compared with Example 2, the servo electric push rods in Example 3 are reduced by half, thereby significantly reducing the production cost of the gripping tooling.

[0104] The structure of the suction cup in-place sensor in Embodiment 2 and Embodiment 3 is the same as the structure of the suction cup in-place sensor in Embodiment 1, and will not be described again here.

[0105] Further:

[0106] The battery pack upper cover 7 is not completely horizontal, and the surface of the battery pack upper cover 7 is usually provided with protruding or recessed reinforcing ribs 71 , which makes it difficult for the vacuum adsorption assembly 5 to adsorb.

[0107] In the first embodiment, the position of the positioning assembly 3 can only be moved manually so that the vacuum adsorption assembly 5 avoids the reinforcing rib 71 .

[0108] In Embodiment 2 or 3, the moving coordinates of the positioning component 3 need to be manually input in advance so that the vacuum adsorption component 5 avoids the reinforcing rib 71, or the position of the reinforcing rib 71 is identified by a CCD camera.

[0109] However, the technical solution to the problem is difficult to implement. When the vacuum adsorption component 5 is located directly above the reinforcing rib 71 and the length direction of the reinforcing rib 71 is parallel to the length direction of the transverse force arm 2, the positioning component 3 can only slide along the length direction of the reinforcing rib 71. No matter how the positioning component 3 is moved, the vacuum adsorption component 5 cannot be moved away from directly above the reinforcing rib 71.

[0110] In order to solve the above technical problems, the robot is also required to horizontally move the coordinates of the bracket 1 to avoid the lateral force arm 2 and the reinforcing rib 71 of the battery pack cover 7 being located on the same vertical plane. However, the reinforcing ribs 71 of the battery pack cover 7 are perpendicular to each other. When one row of vacuum adsorption components 5 is adjusted to be away from the top of the reinforcing rib 71 of the battery pack cover 7, another row of vacuum adsorption components 5 may be moved to the top of the reinforcing rib 71 of the battery pack cover 7. This brings great difficulties to the staff in adjusting the position of the vacuum adsorption components 5, affects the speed at which the staff adjusts the position of the bracket 1 and the positioning component 3, and further affects the production efficiency of the battery pack cover 7.

[0111] In order to solve the above technical problems, based on Example 1, this specific implementation method also provides implementation 4, please refer to Figure 6 and Figure 7 .

[0112] There are four transverse force arms 2, which are evenly distributed around the bracket 1 in a cross shape, and the center lines of the four transverse force arms 2 in the length direction are located on two straight lines perpendicular to each other;

[0113] A laser generator 6 is installed at the bottom of the bracket 1. The laser generator 6 can emit at least two flat laser beams 61 perpendicular to each other toward the horizontal plane directly below. The laser beams 61 and the center line of the length direction of the transverse force arm 2 are located in the same vertical plane;

[0114] The vacuum adsorption assembly 5 includes a vacuum suction cup 51, which is suspended below the transverse force arm 2 through the positioning assembly 3 and the vertical force arm 4 and deviates from the center line of the transverse force arm 2. When the center line of the transverse force arm 2 is aligned with the reinforcing rib 71 of the battery pack cover 7, the vacuum suction cup 51 does not contact the reinforcing rib 71 when it moves vertically.

[0115] The horizontal distance between the axis of the vacuum suction cup 51 and the center line of the transverse force arm 2 in the length direction is greater than (the diameter of the vacuum suction cup 51 + the width of the reinforcing rib 71 of the battery pack upper cover 7) / 2.

[0116] The laser generator 6 is commonly used in the field of laser surveying and mapping, such as a laser level, which emits a laser beam through a laser head and then uses a rotating prism to reflect the laser beam so that the laser beam forms a flat light beam. Two laser heads and two rotating prisms can be used to obtain two flat lights that are perpendicular to each other.

[0117] like Figure 7 As shown, the staff can control the robot connected to the bracket 1 to move the position and angle of the bracket 1, and then adjust the position and direction of the laser beam 61. When the two laser beams 61 coincide with any two mutually perpendicular reinforcing ribs 71 on the battery pack cover 7, since the vacuum adsorption component 5 and the laser beam 61 are not on the same vertical plane, the vacuum adsorption component 5 and the reinforcing rib 71 are also not on the same vertical plane. At this time, the vacuum adsorption component 5 will not contact the reinforcing rib 71 when it descends vertically.

[0118] The process of overlapping the laser beam 61 and the reinforcing rib 71 can be visually inspected by staff or determined by machine vision. Compared with lowering each vacuum adsorption component 5 to determine whether it just contacts the reinforcing rib 71, overlapping the laser beam 61 and the reinforcing rib 71 is simpler and more convenient.

[0119] Further:

[0120] In order to shorten the time for adjusting the position of the bracket 1 by the robot so that the laser beam 61 overlaps with the reinforcing rib 71, and improve the production efficiency of the battery pack cover 7, based on Example 4, this specific implementation method also provides implementation 5, please refer to Figure 8 , 9 、10.

[0121] The laser generator 6 is connected to the bracket 1 through the automatic measuring platform 8. The laser generator 6 can move universally on the horizontal plane and rotate around the vertical axis through the automatic measuring platform 8, and the horizontal moving distance and rotation angle of the laser generator 6 can be measured;

[0122] Among them, the automatic measuring station 8 includes:

[0123] A first linear slide 81 is detachably connected to the bracket 1, and the first linear slide 81 and a laser beam 61 are located in the same vertical plane;

[0124] A second linear slide 82 is perpendicular to the first linear slide 81 and fixedly connected to the first sliding portion 811 of the first linear slide 81 , and the second linear slide 82 and another laser beam 61 are located in the same vertical plane;

[0125] The turntable 83 is fixedly connected to the second sliding portion 821 of the second linear slide 82 and has a rotating portion 831 fixedly connected to the laser generator 6;

[0126] The measuring part is used to measure the displacement distance of the first sliding part 811 , the displacement distance of the second sliding part 821 and the rotation angle of the rotating part 831 .

[0127] The measuring part is not shown in the figure. Specifically: the measuring part includes a linear photoelectric encoder and a rotary photoelectric encoder.

[0128] The linear photoelectric encoder is used to measure the displacement distance of the first sliding part 811 and the displacement distance of the second sliding part 821 , and the rotary photoelectric encoder is used to measure the rotation angle of the rotating part 831 .

[0129] The staff can directly hold the laser generator 6 by hand to move and rotate it so that the laser beam 61 and the reinforcing rib 71 are aligned. The linear photoelectric encoder and the rotary photoelectric encoder respectively obtain the distance a moved by the laser generator 6 along the X-axis in the horizontal plane, the distance b moved along the Y-axis, and the angle α rotated around the Z-axis.

[0130] The X-axis coincides with the center lines of the two lateral force arms 2 , the Y-axis coincides with the center lines of the other two lateral force arms 2 , and the Z-axis is perpendicular to the X-axis and the Y-axis.

[0131] Before the grabbing tooling is started, the laser generator 6 is reset through the automatic measuring table 8, or the automatic measuring table 8 and the laser generator 6 are removed from the bottom of the bracket 1, and the industrial robot drives the bracket 1 to move a distance a along the X-axis, b along the Y-axis, and rotate an angle α around the Z-axis, so that the center line of the lateral force arm 2 is aligned with the reinforcing rib 71.

[0132] Compared with aligning the laser beam 61 and the reinforcing rib 71 by operating the robot to move the bracket 1, the speed of the staff directly pushing the laser generator 6 is much faster.

[0133] Further:

[0134] Before the grabbing tooling is started, the laser generator 6 should restore its initial position and initial angle to avoid errors when the movement and rotation of the laser generator 6 are measured by the measuring part next time. However, workers often forget to reset the position of the laser generator 6 to zero. Therefore, based on Example 5, this specific implementation method also provides implementation 6.

[0135] The extension direction of the first linear slide 81 and the length direction of the transverse force arm 2 located on the same vertical plane have an included angle of 5° to 20°, the extension direction of the second linear slide 82 and the length direction of the transverse force arm 2 located on the same vertical plane have an included angle of 5° to 20°, the projection length of the sliding stroke of the first sliding portion 811 and the second sliding portion 821 on the horizontal plane is greater than the distance between two adjacent reinforcing ribs 71, and the projection of the second linear slide 82 on the horizontal plane is perpendicular to the projection of the first linear slide 81 on the horizontal plane;

[0136] The rotating part 831 has a vertical rotating axis. The rotating part 831 is connected to the turntable 83 via a torsion spring. The torsion spring is used to apply a motion tendency to the rotating part 831 to rotate to a specified angle when the rotating part 831 is rotated by an external force.

[0137] Since the projected lengths of the sliding strokes of the first sliding part 811 and the second sliding part 821 on the horizontal plane are both greater than the distance between two adjacent reinforcing ribs 71 , the laser generator 6 can certainly align the laser beam 61 with the reinforcing ribs 71 within the moving range of the laser generator 6 .

[0138] The torsion spring is arranged inside the turntable 83 and is therefore not shown in the figure. When the rotating part 831 is rotated by an external force, the torsion spring accumulates internal force. When the external force is removed, the rotating part 831 rotates to the initial angle under the action of the torsion spring.

[0139] After the laser beam 61 is aligned with the reinforcing rib 71, the staff releases the laser generator 6, and the laser generator 6 can automatically move to the lowest end of the second linear slide 82 under the action of gravity. The second linear slide 82 can automatically move to the lowest end of the first linear slide 81 under the action of gravity. The turntable 83 can return to the initial angle under the action of the rebound force of the torsion spring. At this time, the laser generator 6 automatically returns to zero.

[0140] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A universal composite material battery pack upper cover grabbing tool, characterized in that: include: A bracket (1) for connecting an actuator of a robot, the bracket (1) having a shape that is centrally symmetrical around a first axis, the first axis being the centerline of the bracket (1) itself; a transverse force arm (2) having a length perpendicular to the first axis, one end of the transverse force arm (2) being fixedly connected to the bracket (1), and the other end of the transverse force arm (2) being perpendicular to the first axis and suspended in a direction away from the bracket (1), and the transverse force arm (2) having a plurality of portions and being evenly distributed around the first axis; A positioning assembly (3) is slidably connected to the transverse force arm (2) and is capable of sliding along the length direction of the transverse force arm (2); A vertical force arm (4) having a length parallel to the first axis, the vertical force arm (4) being slidably connected to the positioning assembly (3) and being able to slide along its own length direction; A vacuum adsorption component (5) connected to an end of the vertical force arm (4) away from the bracket (1), and a suction end of the vacuum adsorption component (5) faces in a direction away from the bracket (1); a first locking assembly (31), connected to and used for locking the lateral force arm (2) and the positioning assembly (3), and the positioning assembly (3) and the vertical force arm (4), so that the position of the vacuum adsorption assembly (5) is fixed; There are four transverse force arms (2), the four transverse force arms (2) are evenly distributed around the bracket (1) in a cross shape, and the center lines of the four transverse force arms (2) in the length direction are located on two straight lines perpendicular to each other; A laser generator (6) is installed at the bottom of the bracket (1), and the laser generator (6) is capable of emitting at least two mutually perpendicular flat laser beams (61) toward a horizontal plane directly below, and the laser beams (61) and a center line of the length direction of the transverse force arm (2) are located in the same vertical plane; The vacuum adsorption assembly (5) comprises a vacuum suction cup (51), the vacuum suction cup (51) being suspended below the transverse force arm (2) and offset from the center line of the transverse force arm (2) via the positioning assembly (3) and the vertical force arm (4), and when the laser beam (61) coincides with the reinforcing rib (71) of the battery pack upper cover (7), the vacuum suction cup (51) does not contact the reinforcing rib (71) when moving vertically; The laser generator (6) is connected to the bracket (1) via an automatic measuring platform (8); the laser generator (6) can be universally moved on a horizontal plane and rotated around a vertical axis via the automatic measuring platform (8), and the horizontal movement distance and rotation angle of the laser generator (6) can be measured; Wherein, the automatic measuring platform (8) comprises: A first linear slide (81) is detachably connected to the bracket (1), wherein the first linear slide (81) and one of the laser beams (61) are located on the same vertical plane; A second linear slide (82) is perpendicular to the first linear slide (81) and fixedly connected to the first sliding portion (811) of the first linear slide (81), the second linear slide (82) and the other laser beam (61) being located on the same vertical plane; A turntable (83) fixedly connected to the second sliding portion (821) of the second linear slide (82), and having a rotating portion (831) fixedly connected to the laser generator (6); a measuring part, used to measure a displacement distance of the first sliding part (811), a displacement distance of the second sliding part (821), and a rotation angle of the rotating part (831); An angle of 5° to 20° is formed between the extension direction of the first linear slide (81) and the length direction of the transverse force arm (2) located on the same vertical plane, an angle of 5° to 20° is formed between the extension direction of the second linear slide (82) and the length direction of the transverse force arm (2) located on the same vertical plane, the projection lengths of the sliding strokes of the first sliding portion (811) and the second sliding portion (821) on the horizontal plane are both greater than the distance between two adjacent reinforcing ribs (71), and the projection of the second linear slide (82) on the horizontal plane is perpendicular to the projection of the first linear slide (81) on the horizontal plane; The rotation axis of the rotating part (831) is vertical; the rotating part (831) is connected to the turntable (83) via a torsion spring; the torsion spring is used to impart a movement tendency to the rotating part (831) to rotate to a specified angle when the rotating part (831) is rotated by an external force.

2. The universal composite material battery pack upper cover grabbing tool according to claim 1, characterized in that: The lateral force arm (2) comprises a plurality of cross bar assemblies (21), the plurality of cross bar assemblies (21) are fixedly connected adjacent to each other, and each of the cross bar assemblies (21) is slidably connected to the vertical force arm (4); Each of the crossbar assemblies (21) comprises a first slide rail (211) for connecting to the positioning assembly (3), and first stoppers (212) are provided at both ends of the plurality of first slide rails (211) connected in series, wherein the first stoppers (212) are used to prevent the positioning assembly (3) from separating from the first slide rail (211).

3. The universal composite material battery pack upper cover grabbing tool according to claim 2, characterized in that: The adjacent crossbar assemblies (21) are fixedly connected via a connecting member (22), the connecting member (22) is connected to the bracket (1) via an inclined-stayed assembly (23), and the inclined-stayed assembly (23) is inclined upward; Wherein, the inclined-stayed assembly (23) comprises: A first inclined tie rod (231), one end of which is hinged to the bracket (1) via a first pin shaft (232), and the other end of which is connected to a bolt (233); The second inclined rod (234) has one end hinged to the connecting member (22) via a second pin shaft (235), and the other end connected to the bolt (233) via a long hole (236), wherein the length direction of the long hole (236) is parallel to the length direction of the second inclined rod (234).

4. The universal composite material battery pack upper cover grabbing tool according to claim 3, characterized in that: The support (1) comprises: A connecting platform (11) having a flat plate shape perpendicular to the first axis and having a connecting hole (111) and a threading hole (112); A fixed beam (12) is fixedly connected to the connection platform (11) and has a flat plate shape parallel to the first axis. The fixed beam (12) has a plurality of fixed beams (12) that are evenly distributed around the connection platform (11). A portion of the fixed beam (12) that is away from the connection platform (11) is fixedly connected to the crossbar assembly (21). The fixed beam (12) is formed with a plurality of circular holes (122) located at different heights, and the circular holes (122) are used to hinge the ends of the inclined-stayed assembly (23).

5. A universal composite material battery pack upper cover grabbing tool according to any one of claims 1 to 4, characterized in that: The vertical force arm (4) comprises a plurality of vertical rod assemblies (41), wherein the plurality of vertical rod assemblies (41) are adjacent to each other, wherein the highest vertical rod assembly (41) is slidably connected to the positioning assembly (3) and the relative movement therebetween is prevented by the first locking assembly (31), and the vertical rod assembly (41) is slidably connected to the adjacent vertical rod assembly (41) and the relative movement therebetween is prevented by the second locking assembly (42).

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