A module side seam welding loading and unloading gripper

Abstract

The present invention relates to a loading and unloading gripper for module side seam welding, comprising a BASE welding frame, a first side plate clamping mechanism for clamping side plates on the front and rear sides of the module, a second side plate clamping mechanism for clamping the middle position of the side plates on the left and right sides of the module, a third side plate clamping mechanism for clamping the two end positions of the side plates on the left and right sides of the module, a first clamping mechanism for clamping the end plates on the front and rear sides of the module, a second clamping mechanism for clamping the end plates on the left and right sides of the module, and a middle clamping mechanism for clamping the middle partition plate and the middle end plate of the module. The middle partition plate, the middle end plate, the end plate and the side plate can be clamped simultaneously in one gripper device.

Description

Technical Field

[0001] The invention relates to the technical field of loading and unloading materials for side seam welding, in particular to a loading and unloading gripper for module side seam welding. Background Art

[0002] In the existing side seam welding station, the end plates and side plates are usually clamped, and it is impossible to clamp the middle partition plates, middle end plates, end plates and side plates with the same set of grippers. For example, in the Chinese patent with application number CN202210673159.4, publication number CNll5027945A, and patent name "A loading and unloading gripper and an automatic loading and unloading device", a first clamping component, a first adjustment component, a second clamping component and a second adjustment component are disclosed. The device can grasp and clamp the battery cell module. Although the device in the patent can grasp battery cell modules of different sizes, it cannot clamp the middle partition plates, middle end plates, end plates and side plates at the same time. When clamping the middle partition plates, middle end plates, end plates and side plates in the side seam welding station, multiple sets of equipment are required to clamp the battery cell module, which takes more time and economic cost. Summary of the invention

[0003] The purpose of the present invention is to provide a module side seam welding loading and unloading gripper, which can solve the problem that the middle partition plate, the middle end plate, the end plate and the side plate cannot be clamped simultaneously in a set of equipment.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a loading and unloading gripper for module side seam welding, comprising a BASE welding frame, a first side panel clamping mechanism for clamping the side panels on the front and rear sides of the module, a second side panel clamping mechanism for clamping the middle position of the side panels on the left and right sides of the module, a third side panel clamping mechanism for clamping the two end positions of the side panels on the left and right sides of the module, a first clamping mechanism for clamping the end panels on the front and rear sides of the module, a second clamping mechanism for clamping the end panels on the left and right sides of the module, and an intermediate clamping mechanism for clamping the middle partition plate and the middle end plate of the module, wherein the first clamping mechanism is fixed to the front and rear ends of the lower surface of the BASE welding frame. The first guide rail slides forward and backward, the first side panel clamping mechanism is fixed to the front and rear ends of the lower surface of the BASE welding frame and is located on the outer side of the first clamping mechanism, the second side panel clamping mechanism is fixed to the middle position of the left and right ends of the lower surface of the BASE welding frame, the third side panel clamping mechanism is fixed to the first clamping mechanism at the front and rear ends of the BASE welding frame and is located on the inner side of the first clamping mechanism, the second clamping mechanism slides left and right through the second guide rails fixed to the left and right sides of the lower surface of the BASE welding frame, and the middle clamping mechanism is fixed to the middle position of the lower surface of the BASE welding frame through the first connecting plate.

[0005] Furthermore, the first clamping mechanism includes an end clamp fixing seat, a first fixing plate, a thin cylinder, and an expansion assembly for controlling the forward and backward sliding of the first fixing plate. The end clamp fixing seat is fixed to the lower surface of the first fixing plate, and the upper surface of the first fixing plate is fixed with a first slide groove that can slide on the first guide rail located at the front and rear ends of the lower surface of the BASE welding frame by a first bolt in an inverted manner. The side surface of the first fixing plate is fixed with a first sheet metal having one end extending below the first bolt, a second fixing plate is fixed to the center position of the upper surface of the first fixing plate, and a third fixing plate is arranged on the inner side of the first fixing plate. The upper surface of the third fixed plate is fixed with a second slide groove sliding on the first guide rail by a second bolt in an inverted manner, and the side surface of the third fixed plate is fixed with a second sheet metal having one end extending below the second bolt. A cylinder fixing seat is fixed on the inner side of the third fixed plate, and the thin cylinder is fixed on the side surface of the cylinder fixing seat on the outer side. The output end of the thin cylinder is connected to a first telescopic rod, and one end of the first telescopic rod away from the thin cylinder is fixed on the inner surface of the second fixed plate, and the expansion component is arranged on the upper surface of the BASE welding frame and is located on both sides of the thin cylinder.

[0006] Furthermore, the expansion assembly includes a long-stroke cylinder fixed on the upper surface of the BASE welding frame and located on the left side of the thin cylinder, and a third guide rail fixed on the upper surface of the BASE welding frame and located on the right side of the thin cylinder. The output end of the long-stroke cylinder is connected to a second telescopic rod, and the end of the second telescopic rod away from the long-stroke cylinder is fixed with the fourth fixed plate, and the fourth fixed plate is fixedly connected to the cylinder fixing seat via an L-shaped connecting piece. An L-shaped fixing frame is fixed on the right side of the second fixing plate, and a clamp is fixed on the lower surface of the L-shaped fixing frame. The clamp slides back and forth on the third guide rail fixed on the upper surface of the BASE welding frame.

[0007] Furthermore, the first side plate clamping mechanism includes a second connecting plate, a connecting column, a first two-finger parallel gripper, a first proximity sensor, a second proximity sensor, a left gripper, and a right gripper. The second connecting plate is fixed to the front and rear ends of the lower surface of the BASE welding frame by inverted third bolts. The left and right side surfaces of the second connecting plate are fixed with a third sheet metal having one end extending to the bottom of the third bolt. The connecting column is fixed to the lower surface of the second connecting plate, the first two-finger parallel gripper is fixed to the lower surface of the connecting column, the left gripper is fixed to the left side of the lower surface of the first two-finger parallel gripper, and the right gripper is fixed to the right side of the lower surface of the first two-finger parallel gripper. The first proximity sensor is located on the side of the first two-finger parallel gripper, and the second proximity sensor is located on the side surfaces of the right gripper and the left gripper.

[0008] Furthermore, the second side panel clamping mechanism includes an L-shaped bracket, a hydraulic buffer, a second two-finger parallel gripper, and a third proximity sensor. The L-shaped bracket is fixed at the middle position of the left and right sides of the upper surface of the BASE welding frame. The hydraulic buffer is fixed to the upper surface of the L-shaped bracket through a fifth fixing plate. The second two-finger parallel gripper is fixed to one end of the L-shaped bracket which is far higher than the BASE welding frame. The lower surface of the second two-finger parallel gripper is fixed with a first finger rubber block that can clamp the side panels on the left and right sides of the module. The third proximity sensor is located on the front side of the second two-finger parallel gripper.

[0009] Furthermore, the third side panel clamping mechanism includes a left bracket and a right bracket, the left bracket is fixed at a position on the left side of the lower surface of the first fixed plate, and the right bracket is fixed at a position on the right side of the lower surface of the first fixed plate, and a third two-finger parallel gripper is fixed to the lower surface of one end of the left bracket and the right bracket away from the first fixed plate, a fourth proximity sensor is fixed to the side surface of the third two-finger parallel gripper, and a second finger rubber block is fixed to the lower surface of the third two-finger parallel gripper for clamping the two end positions of the side panels on the left and right sides of the module.

[0010] Furthermore, the second clamping mechanism includes a left push plate, a right push plate, a first side push cylinder, and a second side push cylinder, the left push plate slides on the second guide rail located on the left side of the BASE welding frame through a fourth slide groove, and the right push plate slides on the second guide rail located on the right side of the BASE welding frame through a fifth slide groove, the first side push cylinder is fixed to the lower surface of the BASE welding frame, the output end of the first side push cylinder is connected to a third telescopic rod, the end of the third telescopic rod away from the first side push cylinder is fixed to the left push plate, the inner surface of the end of the left push plate away from the second guide rail is fixed with a left supporting plate, the second side push cylinder is fixed to the lower surface of the BASE welding frame and is located on the side of the first side push cylinder, the output end of the second side push cylinder is connected to a fourth telescopic rod, the end of the fourth telescopic rod away from the second side push cylinder is fixed to the right push plate, and the inner surface of the end of the right push plate away from the second guide rail is fixed with a right supporting plate.

[0011] Furthermore, the middle clamping mechanism includes a middle plate clamp, a groove-type photoelectric sensor, a fifth proximity sensor, a sixth proximity sensor, an upper and lower cylinder, and a fixed long strip. The upper and lower cylinders are fixed to the middle position of the lower surface of the BASE welding frame through a third connecting plate. The output ends of the upper and lower cylinders are connected to a fifth telescopic rod. A long square plate is fixed to one end of the fifth telescopic rod away from the upper and lower cylinders. The upper surface of the long square plate is located on both sides of the upper and lower cylinders and is provided with guide columns fixed to the left and right opposite positions. A guide plate is sleeved on the guide columns arranged opposite to the left and right. The fifth proximity sensor is fixed on the front surface of the guide plate. The fourth second finger is fixed to the four equally divided positions of the long square plate. Parallel gripper, the lower surface of the fourth two-finger parallel gripper is fixed with a third-finger rubber block that can grasp the middle partition of the battery cell module, an opening is opened in the middle of the long square plate, the fixed long block is arranged in the opening, the fixed long block is fixed to the lower surface of the third connecting plate through the shaft compensation block, the lower surface of the fixed long block away from the shaft compensation block is fixedly connected with a fifth two-finger parallel gripper, the lower surface of the fifth two-finger parallel gripper is connected with the middle-end plate clamp that can clamp the middle-end plate, the groove-type photoelectric sensor is arranged on the right side surface of the fifth two-finger parallel gripper, and the sixth proximity sensor is fixed on the front side surface of the middle-end plate clamp away from the fixed long block.

[0012] Furthermore, it also includes a flange mounting plate that can be connected to the robot, a valve island for input and output of control signals, and an anti-fall valve for preventing the upper and lower cylinders from falling. The flange mounting plate is fixed in the middle position of the upper surface of the BASE welding frame, and the valve island is arranged at the front right side of the upper surface of the BASE welding frame. The valve island is connected to the upper and lower cylinders through an outlet air pipe, and the anti-fall valve is arranged on the outlet air pipe.

[0013] The beneficial effects of the present invention are as follows: compared with the prior art, the first side panel clamping mechanism in the present invention can clamp the side panels on the front and rear sides of the module, the second side panel clamping mechanism and the third side panel clamping mechanism cooperate to clamp the middle position of the side panels on the left and right sides of the module, the first clamping mechanism can clamp the end panels on the front and rear sides of the module, the second clamping mechanism can clamp the end panels on the left and right sides of the module, and the middle clamping mechanism can clamp the middle partition panel and middle end panel of the module. The middle clamping mechanism can realize the simultaneous clamping of the middle partition panel, middle end panel, end panel and side panel in one gripper device, especially for the middle end panel and middle partition panel which cannot be clamped in the traditional side seam welding station. The gripper mechanism adopts an axis compensation block installed in the center position of the gripper. When the robot is moved, the axis compensation block can lock the position of the middle end panel and the middle partition panel to ensure that the position of the middle end panel and the middle partition panel is not biased when placed in the station. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention;

[0015] Figure 2 It is a front view of the present invention;

[0016] Figure 3 It is a left side view of the present invention;

[0017] Figure 4 A top view of the present invention;

[0018] Figure 5 A bottom view of the present invention;

[0019] Figure 6 It is a structural schematic diagram of the first side plate clamping mechanism in the present invention;

[0020] Figure 7 is a structural schematic diagram of the second side plate clamping mechanism in the present invention;

[0021] Figure 8 It is a structural schematic diagram of the first clamping mechanism and the third side plate clamping mechanism in the present invention;

[0022] Fig. 9 It is a partial structural schematic diagram of the second clamping mechanism in the present invention;

[0023] Fig.10 It is a structural schematic diagram of the intermediate clamping mechanism in the present invention.

[0024] Among them: 1. BASE welding frame, 2. First side plate clamping mechanism, 3. Second side plate clamping mechanism, 4. Third side plate clamping mechanism, 5. First clamping mechanism, 6. Second clamping mechanism, 7. Middle clamping mechanism, 8. First guide rail, 9. Second guide rail, 10. End clamp fixing seat, 11. First fixing plate, 12. Thin cylinder, 13. First slide groove, 14. Second fixing plate, 15. Third fixing plate, 16. Second slide groove, 17. First Sheet metal, 18, second sheet metal, 19, cylinder fixing seat, 20, valve island, 21, long stroke cylinder, 22, third guide rail, 23, fourth fixing plate, 24, L-shaped connecting piece, 25, L-shaped fixing frame, 26, second connecting plate, 27, connecting column, 28, first two-finger parallel gripper, 29, first proximity sensor, 30, second proximity sensor, 31, left gripper, 32, right gripper, 33, third sheet metal, 34, L-shaped bracket, 35. Hydraulic buffer, 36. Second two-finger parallel gripper, 37. Third proximity sensor, 38. Fifth fixed plate, 39. First finger rubber block, 40. Left bracket, 41. Right bracket, 42. Third two-finger parallel gripper, 43. Fourth proximity sensor, 44. Second finger rubber block, 45. Left push plate, 46. Right push plate, 47. First side push cylinder, 48. Second side push cylinder, 49. Fourth slide, 50. Flange installation Plate, 51. Left support plate, 52. Right support plate, 53. Middle plate clamp, 54. Groove type photoelectric sensor, 55. Fifth proximity sensor, 56. Sixth proximity sensor, 57. Upper and lower cylinders, 58. Fixed long strip, 59. Third connecting plate, 60. Long square plate, 61. Guide column, 62. Guide plate, 63. Fourth two-finger parallel gripper, 64. Third finger rubber block, 65. Axle compensation block, 66. Fifth two-finger parallel gripper. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings. For better understanding, the orientation of the present invention is described according to the orientation shown in the accompanying drawings and cannot be understood as limiting the present application; the following terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] See also Figures 1 to 5The present invention provides an embodiment: a module side seam welding loading and unloading gripper, comprising a BASE welding frame 1, a first side panel clamping mechanism 2 for clamping the side panels on the front and rear sides of the module, a second side panel clamping mechanism 3 for clamping the middle position of the side panels on the left and right sides of the module, a third side panel clamping mechanism 4 for clamping the two end positions of the side panels on the left and right sides of the module, a first clamping mechanism 5 for clamping the end panels on the front and rear sides of the module, a second clamping mechanism 6 for clamping the end panels on the left and right sides of the module, and an intermediate clamping mechanism 7 for clamping the middle partition plate and the middle end plate of the module, wherein the first clamping mechanism 5 is clamped by a first guide rail 8 fixed to the front and rear ends of the lower surface of the BASE welding frame 1. Sliding forward and backward, the first side plate clamping mechanism 2 is fixed to the front and rear ends of the lower surface of the BASE welding frame 1 and is located at the outer side of the first clamping mechanism 5, the second side plate clamping mechanism 3 is fixed to the middle position of the left and right ends of the lower surface of the BASE welding frame 1, the third side plate clamping mechanism 4 is fixed to the first clamping mechanism 5 at the front and rear ends of the BASE welding frame 1 and is located at the inner side of the first clamping mechanism 5, the second clamping mechanism 6 slides left and right through the second guide rails fixed to the left and right sides of the lower surface of the BASE welding frame 1, and the middle clamping mechanism 7 is fixed to the middle position of the lower surface of the BASE welding frame 1 through the first connecting plate. Figure 2 and Figure 5 As shown, the first side panel clamping mechanism 2 can clamp the side panels on the front and rear sides of the module, the second side panel clamping mechanism 3 and the third side panel clamping mechanism 4 can cooperate to clamp the middle position of the side panels on the left and right sides of the module, the first clamping mechanism 5 can clamp the end panels on the front and rear sides of the module, the second clamping mechanism 6 can clamp the end panels on the left and right sides of the module, and the middle clamping mechanism 7 can clamp the middle partition plate and middle end plate of the module, so that the middle partition plate, middle end plate, end plate and side plate can be clamped simultaneously in one gripper device.

[0027] Please continue reading Figures 1 to 8 As shown, in one embodiment of the present invention, the first clamping mechanism 5 includes an end clamp fixing seat 10, a first fixing plate 11, a thin cylinder 12, and a distance expansion component for controlling the first fixing plate 11 to slide forward and backward, such as Figure 8As shown; the end clamp fixing seat 10 is fixed to the lower surface of the first fixing plate 11, and the upper surface of the first fixing plate 11 is fixed with a first slide groove 13 that can slide on the first guide rail 8 located at the front and rear ends of the lower surface of the BASE welding frame 1 by a first bolt inverted manner, and the side surface of the first fixing plate 11 is fixed with a first sheet metal 17 with one end extending below the first bolt, and a second fixing plate 14 is fixed at the center position of the upper surface of the first fixing plate 11, and a third fixing plate 15 is arranged at the inner side of the first fixing plate 11, and the upper surface of the third fixing plate 15 is fixed by a second bolt inverted manner. A second slide groove 16 is fixed to slide on the first guide rail 8, a second sheet metal 18 with one end extending below the second bolt is fixed to the side surface of the third fixing plate 15, a cylinder fixing seat 19 is fixed to the inner side of the third fixing plate 15, the thin cylinder 12 is fixed to the outer side surface of the cylinder fixing seat 19, the output end of the thin cylinder 12 is connected to the first telescopic rod, and the end of the first telescopic rod away from the thin cylinder 12 is fixed to the inner surface of the second fixing plate 14, and the extension assembly is arranged on the upper surface of the BASE welding frame 1 and is located on both sides of the thin cylinder 12. Figure 1 As shown, the first clamping mechanism 5 is arranged on the front and rear ends of the lower surface of the BASE welding frame 1, and clamps the battery box from the front and rear ends. The first fixed plate 11 can move forward and backward on the first guide rail 8 by driving the thin cylinder 12 through the first slide groove 13. The end clamp fixing seat 10 is fixed on the lower surface of the first fixed plate 11. When the first fixed plate 11 moves, the end clamp fixing seat 10 is driven to clamp the battery module. When facing products of different sizes, the first fixed plate 11 can be controlled to slide forward and backward to change the distance to clamp products of different lengths. The side surface of the first fixed plate 11 is fixed with a first sheet metal 17 with one end extending below the first bolt, and the side surface of the third fixed plate 15 is fixed with a second sheet metal 18 with one end extending below the second bolt, which can lock the inverted bolts to prevent the risk of screws falling.

[0028] Please continue reading Figures 1 to 8As shown, in one embodiment of the present invention, the distance expansion assembly includes a long-stroke cylinder 21 fixed on the upper surface of the BASE welding frame 1 and located on the left side of the thin cylinder 12, and a third guide rail 22 fixed on the upper surface of the BASE welding frame 1 and located on the right side of the thin cylinder 12. The output end of the long-stroke cylinder 21 is connected to a second telescopic rod, and the end of the second telescopic rod away from the long-stroke cylinder 21 is fixed to the fourth fixed plate 23, and the fourth fixed plate 23 is fixedly connected to the cylinder fixing seat 19 via an L-shaped connecting piece 24. An L-shaped fixing frame 25 is fixed on the right side of the second fixing plate 14, and a clamp (not marked in the figure) is fixed to the lower surface of the L-shaped fixing frame 25. The clamp slides back and forth on the third guide rail 22 fixed on the upper surface of the BASE welding frame 1. As shown Figure 1 As shown, the fourth fixing plate 23 and the cylinder fixing seat 19 are connected by an L-shaped connecting piece 24, and the telescopic rod of the long-stroke cylinder 21 is fixedly connected to the fourth fixing plate 23. When the product is changed and the size is different, the distance can be changed to clamp products of different lengths. When the distance does not need to be changed, because the L-shaped connecting piece 24 connects and fixes the fourth fixing plate 23 and the cylinder fixing seat 19, there is a support point when the thin cylinder 12 is in operation, preventing the thin cylinder 12 from moving inward under its own action.

[0029] Please continue reading Figures 1 to 7 As shown, in one embodiment of the present invention, the first side plate clamping mechanism 2 includes a second connecting plate 26, a connecting column 27, a first two-finger parallel gripper 28, a first proximity sensor 29, a second proximity sensor 30, a left gripper 31, and a right gripper 32. Figure 6As shown, the second connecting plate 26 is fixed to the front and rear ends of the lower surface of the BASE welding frame 1 by inverted third bolts, and the side surfaces on the left and right sides of the second connecting plate 26 are fixed with a third sheet metal 33 with one end extending to the bottom of the third bolt. The connecting column 27 is fixed on the lower surface of the second connecting plate 26, and the first two-finger parallel gripper 28 is fixed on the lower surface of the connecting column 27. The left gripper 31 is fixed on the left side of the lower surface of the first two-finger parallel gripper 28, and the right gripper 32 is fixed on the right side of the lower surface of the first two-finger parallel gripper 28. The first proximity sensor 29 is located on the side of the first two-finger parallel gripper 28, and the second proximity sensor 30 is located on the side surfaces of the right gripper 32 and the left gripper 31. A third sheet metal 33 with one end extending to the bottom of the third bolt is fixed to the side surfaces on the left and right sides of the second connecting plate 26, which can lock the inverted bolts to prevent the risk of the screws falling. The left gripper 31 and the right gripper 32 cooperate with each other to clamp the sides of the front and back of the battery module, wherein the first proximity sensor 29 senses whether the first two-finger parallel 28 gripper air claws are open, and the second proximity sensor 30 senses whether the clamping action of the left gripper 31 and the right gripper 32 is in place.

[0030] Please continue reading Figures 1 to 6 As shown, in one embodiment of the present invention, the second side plate clamping mechanism 3 includes an L-shaped bracket 34, a hydraulic buffer 35, a second two-finger parallel gripper 36, and a third proximity sensor 37. Figure 6 As shown, the L-shaped bracket 34 is fixed at the middle position of the left and right sides of the upper surface of the BASE welding frame 1, the hydraulic buffer 35 is fixed to the upper surface of the L-shaped bracket 34 through the fifth fixing plate 38, the second two-finger parallel gripper 36 is fixed on the end of the L-shaped bracket 34 away from the BASE welding frame 1, and the lower surface of the second two-finger parallel gripper 36 is fixed with a first finger rubber block 39 that can clamp the side panels on the left and right sides of the module, and the third proximity sensor 37 is located on the front side of the second two-finger parallel gripper 36. The first L-shaped bracket 34 is fixed at the middle position of the left and right sides of the upper surface of the BASE welding frame 1. A hydraulic buffer 35 is fixed to the L-shaped bracket 34 to prevent the second clamping mechanism 6 from sliding left and right on the second guide rail 9 and causing the position of the clamping device to shift. By fixing the first finger rubber block 39 on the lower surface of the second two-finger parallel gripper 36, the end plates on the left and right sides of the battery module are clamped between the gaps of the first finger rubber block 39, thereby clamping the middle position of the end plates on the left and right sides of the battery module.

[0031] Please continue reading Figures 1 to 8As shown, in one embodiment of the present invention, the third side plate clamping mechanism 4 includes a left bracket 40 and a right bracket 41, and the left bracket 40 is fixed to the left side of the lower surface of the first fixing plate 11, as shown in FIG. Figure 8 As shown, the right bracket 41 is fixed to the right side of the lower surface of the first fixed plate 11, and the lower surface of the left bracket 40 and the right bracket 41, which are far higher than the first fixed plate 11, are fixed with a third two-finger parallel gripper 42, and a fourth proximity sensor 43 is fixed on the side surface of the third two-finger parallel gripper 42. The lower surface of the third two-finger parallel gripper 42 is fixed with a second finger rubber block 44 for clamping the two end positions of the left and right side panels of the module. The left bracket 40 and the right bracket 41 are fixed to the first fixed plate 11 and can move together with the forward and backward movement of the first fixed plate 11 to adapt to the size of different types of battery modules. The second finger rubber block 44 and the friction between the second finger rubber block 44 can use the friction between the gaps to clamp the left and right side panels of the battery module, and the fourth proximity sensor 43 can sense whether the second finger rubber block 44 clamps the left and right side panels of the battery module.

[0032] Please continue reading Figures 1 to 9 As shown, in one embodiment of the present invention, the second clamping mechanism 6 includes a left push plate 45, a right push plate 46, a first side push cylinder 47, and a second side push cylinder 48. Fig. 9 As shown, the left push plate 45 slides on the second guide rail 9 located on the left side of the BASE welding frame 1 through the fourth slide groove 49, and the right push plate 46 slides on the second guide rail 9 located on the right side of the BASE welding frame 1 through the fifth slide groove (not marked), the first side push cylinder 47 is fixed to the lower surface of the BASE welding frame 1, the output end of the first side push cylinder 47 is connected to the third telescopic rod, the end of the third telescopic rod away from the first side push cylinder 47 is fixed to the left push plate 45, the inner surface of the end of the left push plate 45 away from the second guide rail 9 is fixed with a left support plate 51, the second side push cylinder 48 is fixed to the lower surface of the BASE welding frame 1 and is located on the side of the first side push cylinder 47, the output end of the second side push cylinder 48 is connected to the fourth telescopic rod, the end of the fourth telescopic rod away from the second side push cylinder 48 is fixed to the right push plate 46, and the inner surface of the end of the right push plate 46 away from the second guide rail 9 is fixed with a right support plate 52. The left push plate 45 is driven by the first cylinder to move on the second guide rail 9, and the right push plate 46 is driven by the second cylinder to move on the second guide rail 9. When the left push plate 45 and the right push plate 46 approach the battery cell module, the left support plate 51 and the right support plate 52 can lift the bottom of the battery cell module, so as to clamp the end plates on both sides of the battery cell module.

[0033] Please continue reading Figures 1 to 10As shown, in one embodiment of the present invention, the middle clamping mechanism 7 includes a middle plate clamp 53, a groove-type photoelectric sensor 54, a fifth proximity sensor 55, a sixth proximity sensor 56, an upper and lower cylinder 57, and a fixed long strip block 58. The upper and lower cylinders 57 are fixed to the middle position of the lower surface of the BASE welding frame 1 through a third connecting plate 59. The output ends of the upper and lower cylinders 57 are connected to a fifth telescopic rod. A long square plate 60 is fixed to one end of the fifth telescopic rod away from the upper and lower cylinders 57. The upper surface of the long square plate 60 is located on both sides of the upper and lower cylinders 57. Guide columns 61 fixed to the left and right opposite positions are provided. A guide plate 62 is sleeved on the guide columns 61 arranged opposite to the left and right. The fourth proximity sensor 43 is fixed on the front surface of the guide plate 62. The four equally divided positions on the long square plate 60 are fixed. There is a fourth two-finger parallel gripper 63, and a third-finger rubber block 64 that can grasp the middle partition of the battery cell module is fixed on the lower surface of the fourth two-finger parallel gripper 63. An opening is opened in the middle position of the long square plate 60, and the fixed long block 58 is arranged in the opening. The fixed long block 58 is fixed to the lower surface of the third connecting plate 59 through the shaft compensation block 65. A fifth two-finger parallel gripper 66 is fixedly connected to the lower surface of the fixed long block 58 away from the shaft compensation block 65. The lower surface of the fifth two-finger parallel gripper 66 is connected to the middle-end plate clamp 53 that can clamp the middle-end plate. The groove-type photoelectric sensor 54 is arranged on the right side surface of the fifth two-finger parallel gripper 66, and the sixth proximity sensor 56 is fixed to the front side surface of the middle-end plate clamp 53 away from the fixed long block 58. The lower surface of the fourth two-finger parallel gripper 63 in the intermediate clamping mechanism 7 is provided with a third finger rubber block 64 which can clamp and grasp the middle partition of the battery cell module. The third finger rubber block 64 can control the long square plate 60 to move up and down through the upper and lower cylinders 57, thereby driving the third finger rubber block 64 to move up and down, and clamp the middle partition of the battery cell module, wherein the guide column 61 and the guide plate 62 can prevent the direction of the up and down movement of the long square plate 60 from being offset, and the middle end plate clamp 53 is fixed to the lower surface of the third connecting plate 59 by the compensation block. When the robot is moved, the shaft compensation block 65 can lock the position of the middle end plate and the middle partition to ensure that the position of the middle end plate and the middle partition is not biased when placed in the work station. The function of the groove type photoelectric sensor 54 is to sense whether the air claw of the fifth two-finger parallel gripper 66 is open, the function of the fourth proximity sensor 43 is to sense whether the upper and lower cylinders 57 are retracted into place, and the function of the sixth proximity sensor 56 is to sense whether the middle end plate clamp 53 clamps the middle end plate.

[0034] Please continue reading Figures 1 to 5As shown, in one embodiment of the present invention, it also includes a flange mounting plate 50 that can be connected to the robot, a valve island 20 for inputting and outputting control signals, and an anti-fall valve for preventing the upper and lower cylinders 57 from falling. The flange mounting plate 50 is fixed in the middle position of the upper surface of the BASE welding frame 1, and the valve island 20 is arranged at the front position on the right side of the upper surface of the BASE welding frame 1. The valve island 20 is connected to the upper and lower cylinders 57 through an outlet air pipe, and the anti-fall valve is arranged on the outlet air pipe. The valve island 20 is a control component composed of multiple electric control valves, which integrates signal input / output and signal control, controls each motor cylinder, etc. The flange mounting plate 50 can be connected to the mounting flange of the KUKA robot so that the robot drives it to move.

[0035] The present invention has the following working principle: the first side panel clamping mechanism in the present invention can clamp the side panels on the front and rear sides of the module, the second side panel clamping mechanism and the third side panel clamping mechanism cooperate to clamp the middle position of the side panels on the left and right sides of the module, the first clamping mechanism can clamp the end panels on the front and rear sides of the module, the second clamping mechanism can clamp the end panels on the left and right sides of the module, and the middle clamping mechanism can clamp the middle partition plate and middle end plate of the module. Through the mutual cooperation of various parts between the mechanisms, the middle partition plate, middle end plate, end plate and side plate can be clamped simultaneously in one gripper device.

[0036] The above description is only a preferred embodiment of the present invention and should not be construed as limiting the present application. All equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A module side seam welding loading and unloading gripper, characterized in that: The base welding frame includes a first side panel clamping mechanism for clamping the side panels on the front and rear sides of the module, a second side panel clamping mechanism for clamping the middle position of the side panels on the left and right sides of the module, a third side panel clamping mechanism for clamping the two end positions of the side panels on the left and right sides of the module, a first clamping mechanism for clamping the end panels on the front and rear sides of the module, a second clamping mechanism for clamping the end panels on the left and right sides of the module, and an intermediate clamping mechanism for clamping the middle partition plate and the middle end plate of the module, wherein the first clamping mechanism slides forward and backward through a first guide rail fixed to the front and rear ends of the lower surface of the base welding frame, and the first side panel The clamping mechanism is fixed to the front and rear ends of the lower surface of the BASE welding frame and is located at the outer side of the first clamping mechanism. The second side plate clamping mechanism is fixed to the middle position of the left and right ends of the lower surface of the BASE welding frame. The third side plate clamping mechanism is fixed to the first clamping mechanism at the front and rear ends of the BASE welding frame and is located at the inner side of the first clamping mechanism. The second clamping mechanism slides left and right through the second guide rails fixed on the left and right sides of the lower surface of the BASE welding frame. The middle clamping mechanism is fixed to the middle position of the lower surface of the BASE welding frame through the first connecting plate. The middle clamping mechanism includes a middle plate clamp, a groove-type photoelectric sensor, a fifth proximity sensor, a sixth proximity sensor, an upper and lower cylinder, and a fixed long strip. The upper and lower cylinders are fixed to the middle position of the lower surface of the BASE welding frame through a third connecting plate. The output ends of the upper and lower cylinders are connected to a fifth telescopic rod. A long square plate is fixed to one end of the fifth telescopic rod away from the upper and lower cylinders. The upper surface of the long square plate is located on both sides of the upper and lower cylinders and is provided with guide columns fixed to the left and right opposite positions. A guide plate is sleeved on the guide columns arranged opposite to the left and right. The fifth proximity sensor is fixed to the front surface of the guide plate. The four equally divided positions of the long square plate are all fixed with a fourth two-finger parallel gripper. hand, the lower surface of the fourth two-finger parallel gripper is fixed with a third-finger rubber block that can grasp the middle partition of the battery cell module, an opening is opened in the middle position of the long square plate, the fixed long block is arranged in the opening, and the fixed long block is fixed to the lower surface of the third connecting plate through the shaft compensation block, and the lower surface of the fixed long block away from the shaft compensation block is fixedly connected with a fifth two-finger parallel gripper, and the lower surface of the fifth two-finger parallel gripper is connected with the middle-end plate clamp that can clamp the middle-end plate, the groove-type photoelectric sensor is arranged on the right side surface of the fifth two-finger parallel gripper, and the sixth proximity sensor is fixed on the front side surface of the middle-end plate clamp away from one end of the fixed long block.

2. A module side seam welding loading and unloading gripper according to claim 1, characterized in that: The first clamping mechanism includes an end clamp fixing seat, a first fixing plate, a thin cylinder, and an expansion assembly for controlling the front and rear sliding of the first fixing plate. The end clamp fixing seat is fixed to the lower surface of the first fixing plate. The upper surface of the first fixing plate is fixed with a first slide groove that can slide on the first guide rail located at the front and rear ends of the lower surface of the BASE welding frame by a first bolt inverted manner. The side surface of the first fixing plate is fixed with a first sheet metal having one end extending below the first bolt. A second fixing plate is fixed to the center position of the upper surface of the first fixing plate. A third fixing plate is arranged on the inner side of the first fixing plate. The upper surface of the third fixed plate is fixed with a second slide groove sliding on the first guide rail by a second bolt in an inverted manner, and the side surface of the third fixed plate is fixed with a second sheet metal having one end extending to the bottom of the second bolt, and a cylinder fixing seat is fixed on the inner side of the third fixed plate, and the thin cylinder is fixed on the side surface of the cylinder fixing seat on the outer side, and the output end of the thin cylinder is connected to a first telescopic rod, and one end of the first telescopic rod away from the thin cylinder is fixed on the inner surface of the second fixed plate, and the expansion assembly is arranged on the upper surface of the BASE welding frame and is located on both sides of the thin cylinder.

3. A module side seam welding loading and unloading gripper according to claim 2, characterized in that: The expansion assembly includes a long-stroke cylinder fixed on the upper surface of the BASE welding frame and located on the left side of the thin cylinder, and a third guide rail fixed on the upper surface of the BASE welding frame and located on the right side of the thin cylinder. The output end of the long-stroke cylinder is connected to a second telescopic rod, and a fourth fixing plate is fixed to the end of the second telescopic rod away from the long-stroke cylinder. The fourth fixing plate is fixedly connected to the cylinder fixing seat through an L-shaped connecting piece. An L-shaped fixing frame is fixed on the right side of the second fixing plate, and a clamp is fixed on the lower surface of the L-shaped fixing frame. The clamp slides back and forth on the third guide rail fixed on the upper surface of the BASE welding frame.

4. A module side seam welding loading and unloading gripper according to claim 1, characterized in that: The first side plate clamping mechanism includes a second connecting plate, a connecting column, a first two-finger parallel gripper, a first proximity sensor, a second proximity sensor, a left gripper, and a right gripper. The second connecting plate is fixed to the front and rear ends of the lower surface of the BASE welding frame by inverted third bolts. The left and right side surfaces of the second connecting plate are fixed with a third sheet metal having one end extending below the third bolt. The connecting column is fixed to the lower surface of the second connecting plate, the first two-finger parallel gripper is fixed to the lower surface of the connecting column, the left gripper is fixed to the left side of the lower surface of the first two-finger parallel gripper, and the right gripper is fixed to the right side of the lower surface of the first two-finger parallel gripper. The first proximity sensor is located on the side of the first two-finger parallel gripper, and the second proximity sensor is located on the side surfaces of the right gripper and the left gripper.

5. The module side seam welding loading and unloading gripper according to claim 1 is characterized in that: The second side panel clamping mechanism includes an L-shaped bracket, a hydraulic buffer, a second two-finger parallel gripper, and a third proximity sensor. The L-shaped bracket is fixed at the middle position of the left and right sides of the upper surface of the BASE welding frame. The hydraulic buffer is fixed to the upper surface of the L-shaped bracket through a fifth fixing plate. The second two-finger parallel gripper is fixed to one end of the L-shaped bracket away from the BASE welding frame. The lower surface of the second two-finger parallel gripper is fixed with a first finger rubber block that can clamp the side panels on the left and right sides of the module. The third proximity sensor is located on the front side of the second two-finger parallel gripper.

6. A module side seam welding loading and unloading gripper according to claim 2, characterized in that: The third side panel clamping mechanism includes a left bracket and a right bracket, the left bracket is fixed at the left side of the lower surface of the first fixed plate, and the right bracket is fixed at the right side of the lower surface of the first fixed plate, and a third two-finger parallel gripper is fixed to the lower surface of one end of the left bracket and the right bracket away from the first fixed plate, a fourth proximity sensor is fixed to the side surface of the third two-finger parallel gripper, and a second finger rubber block is fixed to the lower surface of the third two-finger parallel gripper for clamping the two end positions of the side panels on the left and right sides of the module.

7. A module side seam welding loading and unloading gripper according to claim 1, characterized in that: The second clamping mechanism includes a left push plate, a right push plate, a first side push cylinder, and a second side push cylinder, the left push plate slides on the second guide rail located on the left side of the BASE welding frame through a fourth slide groove, and the right push plate slides on the second guide rail located on the right side of the BASE welding frame through a fifth slide groove, the first side push cylinder is fixed to the lower surface of the BASE welding frame, the output end of the first side push cylinder is connected to a third telescopic rod, the end of the third telescopic rod away from the first side push cylinder is fixed to the left push plate, the inner surface of the end of the left push plate away from the second guide rail is fixed with a left supporting plate, the second side push cylinder is fixed to the lower surface of the BASE welding frame and is located on the side of the first side push cylinder, the output end of the second side push cylinder is connected to a fourth telescopic rod, the end of the fourth telescopic rod away from the second side push cylinder is fixed to the right push plate, and the inner surface of the end of the right push plate away from the second guide rail is fixed with a right supporting plate.

8. The module side seam welding loading and unloading gripper according to claim 1 is characterized in that: It also includes a flange mounting plate that can be connected to the robot, a valve island for input and output of control signals, and an anti-fall valve for preventing the upper and lower cylinders from falling. The flange mounting plate is fixed in the middle position of the upper surface of the BASE welding frame, and the valve island is arranged at the front right side of the upper surface of the BASE welding frame. The valve island is connected to the upper and lower cylinders through an outlet air pipe, and the anti-fall valve is arranged on the outlet air pipe.

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