Automobile battery tray feeding and discharging gripper and automobile battery tray welding system

Abstract

The application provides an automobile battery tray feeding and discharging gripper and an automobile battery tray welding system. The automobile battery tray feeding and discharging gripper comprises a mounting frame connected with a three-dimensional moving mechanism for movement; a first suction mechanism comprising a plurality of suction groups, the suction groups being arranged on the mounting frame and corresponding to the positions of the reinforcing ribs on the battery tray, and each suction group comprising a plurality of first suction cups, the first suction cups being arranged obliquely to be perpendicular to the inclined surface; and a second suction mechanism comprising a plurality of second suction cups, the second suction cups being arranged on the mounting frame and corresponding to the positions of the bottom plate of the battery tray, and the bottom surface of the second suction cups being lower than the bottom surface of the first suction cups. The automobile battery tray feeding and discharging gripper can automatically feed the bottom plate and the reinforcing ribs and discharge the battery tray after welding, thereby reducing the physical consumption of workers and greatly improving the work efficiency.

Description

Technical Field

[0001] This application belongs to the field of laser welding technology, and more specifically, relates to an automotive battery tray loading and unloading gripper and an automotive battery tray welding system. Background Technology

[0002] Automotive battery trays are typically made of extruded aluminum alloy, and different requirements are met through the splicing and processing of sheet metal. Among extruded aluminum battery trays, welded frame structures are common and offer considerable flexibility. Currently, the new energy vehicle market is expanding rapidly, leading to continuously increasing production capacity, which demands both improved production efficiency and cost savings.

[0003] The battery tray refers to the outer protective structure of the battery tray, which is welded from a base plate and six reinforcing ribs. The reinforcing ribs are bent along the center line to form two inclined surfaces on the left and right. During welding, the base plate and the six reinforcing ribs need to be moved together separately for welding. After welding, the welded battery tray needs to be moved and unloaded. Since the base plate of the battery tray is generally a large component of about 2 meters by 1 meter, weighing approximately 20-30 kilograms, it currently requires two or more people to manually load it. The continuous loading and unloading work is physically demanding for the workers. In addition, the battery tray also requires the loading of six reinforcing ribs, which is a large number, resulting in low efficiency for manual loading. Summary of the Invention

[0004] This application provides an automotive battery tray loading and unloading gripper that can automatically load the base plate and reinforcing ribs and unload the welded battery tray, reducing the physical exertion of workers and greatly improving work efficiency.

[0005] The technical solution adopted in this application embodiment is: to provide an automotive battery tray loading and unloading gripper for transporting a base plate, reinforcing ribs, and a battery tray. The battery tray includes the base plate and a plurality of reinforcing ribs fixed on the base plate. The reinforcing ribs are provided with inclined surfaces. The automotive battery tray loading and unloading gripper includes:

[0006] Mounting bracket for connection to a three-dimensional moving mechanism for movement;

[0007] A first adsorption mechanism includes multiple adsorption groups, each adsorption group being disposed on the mounting frame and corresponding to the position of the reinforcing rib on the battery tray. Each adsorption group includes multiple first suction cups, the first suction cups being inclined to be perpendicular to the inclined surface; and

[0008] The second suction mechanism includes a plurality of second suction cups, which are disposed on the mounting frame. The positions of the second suction cups correspond to the positions of the bottom plates of the battery tray, and the bottom surfaces of the second suction cups are lower than the bottom surfaces of the first suction cups.

[0009] Furthermore, in the reinforcing rib, the inclined surface is provided in two forms and arranged in an inverted V shape;

[0010] The adsorption assembly further includes a connector, which includes a connecting body, a first bent portion located at one end of the connecting body, and a second bent portion located at the other end of the connecting body. The connecting body is disposed on the mounting frame. The first bent portion is parallel to one inclined surface of the inverted V-shape, and the second bent portion is parallel to the other inclined surface of the inverted V-shape. Both the first bent portion and the second bent portion are provided with the first suction cup.

[0011] Furthermore, the adsorption assembly also includes a first limiting member, which is disposed on the mounting frame and corresponds to the position of the reinforcing rib. The bottom surface of the first limiting member is provided with an inverted V-shaped notch that matches the two inclined surfaces. When the notch abuts against the inclined surfaces, the first suction cup can fit against the inclined surfaces, and the second suction cup can fit against the base plate.

[0012] Furthermore, the first limiting member includes a fixing part, a first support part, and a second support part. The fixing part is connected to the mounting bracket. The upper end of the first support part is connected to the fixing part, and the upper end of the second support part is connected to the fixing part. The first support part and the second support part are spaced apart. The lower end of the first support part is provided with an inclined first abutment surface, and the lower end of the second support part is provided with an inclined second abutment surface. The first abutment surface and the second abutment surface constitute the notch.

[0013] Furthermore, the base plate is provided with a first pin hole, and the reinforcing rib is provided with a second pin hole, with the first pin hole and the second pin hole positioned vertically opposite each other in the battery tray;

[0014] The automotive battery tray loading and unloading gripper also includes a pin positioning mechanism corresponding to the reinforcing rib, the pin positioning mechanism comprising:

[0015] A pin is vertically mounted on the mounting bracket, and the position of the pin corresponds to the positions of the first pin hole and the second pin hole;

[0016] A first actuator, located on the mounting bracket, is used to drive the pin to rise and fall.

[0017] Furthermore, the second pin hole is located between the two inclined surfaces, and the pin is located between the notches.

[0018] Furthermore, the two pins corresponding to the two adjacent reinforcing ribs are respectively connected to the same first driver through a connecting structure. The connecting structure includes a first connecting segment connected to the first driver and a second connecting segment bent and connected to the first connecting segment. The second connecting segment is inserted into the notch, and the pin is located on the second connecting segment.

[0019] Furthermore, the second adsorption mechanism also includes a second limiting member, which is disposed on the mounting frame and offset from the position of the reinforcing rib. When the bottom surface of the second limiting member abuts against the base plate, the second suction cup can fit against the base plate, and the first suction cup can fit against the reinforcing rib.

[0020] Furthermore, the automotive battery tray loading and unloading gripper also includes an anti-detachment mechanism, which includes:

[0021] A connecting bracket, connected to the mounting bracket and located above the edge of the base plate;

[0022] A telescopic rod is provided on the connecting frame and is telescopic;

[0023] A clamping hook includes a hook shank and a hook head located at one end of the hook shank, wherein the end of the hook shank away from the hook head is hinged to the telescopic rod;

[0024] The connecting rod has one end hinged to the end of the hook shank near the hook head, and the other end hinged to the connecting frame with the hinge point located below the telescopic rod; and

[0025] A clamping block is fixed to the connecting frame and located below the telescopic rod, the position of the clamping block corresponding to the edge of the base plate;

[0026] The anti-detachment mechanism has a loosened state and a clamped state. In the loosened state, the telescopic rod is shortened and the clamping hook rotates upward and away from the clamping block. In the clamped state, the telescopic rod is extended and the clamping hook rotates downward so that the hook head is located below the clamping block to clamp the edge of the base plate.

[0027] Furthermore, the automotive battery tray loading and unloading gripper also includes:

[0028] A base plate sensor, mounted on the mounting bracket, is used to detect the presence or absence of a base plate;

[0029] A reinforcing rib sensor is disposed on the mounting bracket and corresponds to the position of the reinforcing rib. The reinforcing rib sensor is used to detect whether there is a reinforcing rib.

[0030] Furthermore, the automotive battery tray loading and unloading gripper also includes:

[0031] A distance sensor, mounted on the mounting bracket, is used to detect the distance between the distance sensor and the object below.

[0032] Furthermore, the automotive battery tray loading and unloading gripper also includes:

[0033] A vacuum generating device is mounted on the mounting frame;

[0034] A first adsorption line is connected to the vacuum generating device and the first suction cup. The first adsorption line includes a first control valve disposed on the mounting frame.

[0035] The second adsorption line connects the vacuum generator and the second suction cup, and the second adsorption line includes a second control valve located on the mounting frame.

[0036] A controller is mounted on the mounting bracket and is electrically connected to the first control valve and the second control valve.

[0037] Furthermore, the mounting bracket includes:

[0038] The mounting frame is rectangular.

[0039] Multiple mounting arms are provided, each of which is parallel to each other and spaced apart from the mounting frame. One end of each mounting arm is connected to the mounting frame, and the other end extends horizontally.

[0040] A mounting plate is disposed on the mounting frame and seals the inner frame of the mounting frame. The mounting plate is used to connect the three-dimensional moving mechanism.

[0041] The first suction cup is disposed on the mounting frame and / or the mounting arm, and the second suction cup is disposed on the mounting frame and / or the mounting arm.

[0042] Furthermore, the mounting frame and the mounting arm are made of polygonal tubing;

[0043] The cross-section of the polygonal tube perpendicular to its length direction is a regular polygon, and each face of the polygonal tube is provided with multiple connecting through holes.

[0044] This application also provides an automotive battery tray welding system, including:

[0045] A base plate supply mechanism for supplying the base plate;

[0046] A reinforcing rib supply mechanism is used to supply a plurality of said reinforcing ribs, the positions of said plurality of reinforcing ribs in the reinforcing rib supply mechanism corresponding to the positions of said plurality of reinforcing ribs on the battery tray;

[0047] A clamping mechanism is used to clamp the base plate and the reinforcing rib, the positions of which correspond to their positions on the battery tray;

[0048] A laser welding device is used to weld the base plate and multiple reinforcing ribs clamped on the fixture mechanism to form a battery tray;

[0049] A gripping robot, comprising a three-dimensional moving mechanism and a car battery tray loading / unloading gripper as described above, wherein the mounting frame is connected to the three-dimensional moving mechanism; and

[0050] The tray delivery mechanism is used to transport battery trays.

[0051] The beneficial effects of the automotive battery tray loading and unloading gripper provided in this application embodiment are as follows: The automotive battery tray loading and unloading gripper in this application embodiment is equipped with a first suction mechanism and a second suction mechanism. The position of the suction cup of the second suction mechanism corresponds to the position of the bottom plate on the battery tray, enabling it to suction and transport the bottom plate to the welding device. The position of the suction group of the first suction mechanism corresponds to the position of the reinforcing rib on the battery tray, and the first suction cup is inclined to be perpendicular to the inclined surface of the reinforcing rib. It can suction and transport the reinforcing rib to the welding device according to its position relative to the reinforcing rib of the battery tray, placing and clamping the reinforcing rib on the bottom plate. Since the position of the reinforcing rib is corresponding during transport, the position of the reinforcing rib on the bottom plate is correct at this time, and there is no need to adjust the position of the reinforcing rib, allowing direct welding. After welding, a battery tray is obtained. The first and second suction cups are used simultaneously; the first suction cup suctions the reinforcing rib on the battery tray, and the second suction cup suctions the bottom plate of the battery tray, realizing the unloading and transport of the battery tray. The automotive battery tray loading and unloading gripper, in conjunction with a three-dimensional moving mechanism (such as a robotic arm), can automatically transport the base plate, reinforcing ribs, and battery tray for welding. It eliminates the need for position adjustment, offers fast transport speed, reduces worker physical exertion, and greatly improves work efficiency. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 A schematic diagram showing the base plate and reinforcing ribs welded together to form a battery tray, as provided in an embodiment of this application;

[0054] Figure 2 A schematic diagram of the automotive battery tray loading and unloading gripper provided in this embodiment of the application for picking up the battery tray;

[0055] Figure 3 A three-dimensional structural diagram of the automotive battery tray loading and unloading gripper provided in an embodiment of this application;

[0056] Figure 4 This is a bottom view of the automotive battery tray loading and unloading gripper provided in an embodiment of this application;

[0057] Figure 5 A three-dimensional structural diagram of the first adsorption mechanism and the pin positioning mechanism provided in the embodiments of this application;

[0058] Figure 6 A front view of the first adsorption mechanism and the pin positioning mechanism provided in the embodiments of this application;

[0059] Figure 7 A three-dimensional structural schematic diagram of the first limiting member provided in the embodiments of this application;

[0060] Figure 8 A schematic diagram of a structure provided in this application embodiment showing two pins connected to the same first driver via a connection structure;

[0061] Figure 9 A schematic diagram showing the anti-detachment mechanism provided in this application switching from a released state to a clamped state;

[0062] Figure 10 This is a schematic diagram of the structure of the mounting bracket provided in an embodiment of this application;

[0063] Figure 11 A cross-sectional view of the polygonal tube provided in an embodiment of this application;

[0064] Figure 12 This is a schematic diagram of an automotive battery tray welding system provided in an embodiment of this application.

[0065] The following are the labeling elements in the figure:

[0066] 10. Mounting bracket; 11. Mounting frame; 12. Mounting arm; 13. Mounting plate; 14. Polygonal tube; 141. Connecting through hole;

[0067] 20. First adsorption mechanism; 21. Adsorption assembly; 211. First suction cup; 212. Connector; 2121. Connecting body; 2122. First bending part; 2123. Second bending part; 213. First limiting part; 2131. Notch; 2132. Fixing part; 2133. First supporting part; 2134. Second supporting part; 2135. First contact surface; 2136. Second contact surface;

[0068] 30. Second adsorption mechanism; 31. Second suction cup; 32. Second limiting component;

[0069] 40. Pin positioning mechanism; 41. Pin; 42. First driver; 43. Connecting structure; 431. First connecting section; 432. Second connecting section;

[0070] 50. Anti-detachment mechanism; 51. Connecting frame; 52. Telescopic rod; 53. Clamping hook; 531. Hook handle; 532. Hook head; 54. Connecting rod; 55. Clamping block;

[0071] 61. Base plate sensor; 62. Reinforcing rib sensor; 63. Distance sensor; 64. Vacuum generator; 65. First control valve; 66. Second control valve; 67. Controller;

[0072] 01. Base plate supply mechanism; 02. Reinforcing rib supply mechanism; 03. Clamping mechanism; 04. Laser welding device; 05. Gripping robot; 051. Three-dimensional moving mechanism; 052. Car battery tray loading and unloading gripper; 06. Tray delivery mechanism; 09. Battery tray; 091. Base plate; 0911. First pin hole; 092. Reinforcing rib; 0921. Inclined surface; 0922. Second pin hole. Detailed Implementation

[0073] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0074] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0075] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0077] Please see Figure 1 and Figure 2The present application will now describe the automotive battery tray loading and unloading gripper 052 provided in the embodiments of this application. The automotive battery tray loading and unloading gripper 052 provided in the embodiments of this application is used to transport the base plate 091, the reinforcing rib 092 and the battery tray 09.

[0078] like Figure 1 As shown, the battery tray 09 may include a base plate 091 and multiple reinforcing ribs 092 fixed on the base plate 091. Each reinforcing rib 092 has an inclined surface 0921. That is, the base plate 091 and the multiple reinforcing ribs 092 can be welded together to obtain the battery tray 09. Therefore, before welding, the base plate 091 needs to be transported to the welding device, clamped and fixed, and then the reinforcing ribs 092 are transported and placed on the base plate 091 according to their positions on the battery tray 09, and then welding is performed. It is understood that multiple reinforcing ribs 092 can be transported at once. Before transport, the position of each reinforcing rib 092 has already been determined. The transport mechanism only needs to transport the reinforcing ribs 092 in their original positions onto the base plate 091 once, thus achieving the correct placement of the reinforcing ribs 092 on the base plate 091, without requiring further position adjustments.

[0079] Reference Figure 1 The inclined surface 0921 on the reinforcing rib 092 is formed by bending the middle part of the sheet-like reinforcing rib 092 during the production process to improve its strength, thus turning a flat horizontal surface into two inclined surfaces 0921.

[0080] Reference Figure 1 and Figure 2 The automotive battery tray loading and unloading gripper 052 of this application embodiment can both adsorb and transport the base plate 091 and multiple reinforcing ribs 092, and can also transport the welded battery tray 09. The automotive battery tray loading and unloading gripper 052 may include a mounting frame 10, a first adsorption mechanism 20 and a second adsorption mechanism 30.

[0081] Reference Figure 3 and Figure 12 The mounting frame 10 is connected to the three-dimensional moving mechanism 051 for movement. The three-dimensional moving mechanism 051 can drive the mounting frame 10 to perform three-dimensional movement in space, that is, to perform a combination of up-down, left-right, and forward-backward movements. The three-dimensional moving mechanism 051 can be a robotic arm. The mounting frame 10 is mounted and fixed to the end of the robotic arm, and its three-dimensional movement is controlled by the robotic arm within its range of motion.

[0082] Reference Figure 1 , Figure 3 and Figure 4The first adsorption mechanism 20 may include multiple adsorption groups 21, which are disposed on the mounting frame 10 and correspond to the positions of the reinforcing ribs 092 on the battery tray 09. Each adsorption group 21 may include multiple first suction cups 211, which are inclined and perpendicular to the inclined surface 0921. The position of each adsorption group 21 corresponds to the position of the reinforcing ribs 092 on the battery tray 09. Therefore, when adsorbing the reinforcing ribs 092, the positions of the multiple reinforcing ribs 092 need to be pre-arranged, and then the multiple adsorption groups 21 together adsorb the multiple reinforcing ribs 092. Thus, during subsequent welding and handling, there is no need to adjust the position of the reinforcing ribs 092. Because the reinforcing ribs 092 have an inclined surface 0921, the first suction cups 211 of the adsorption group 21 are inclined to ensure proper adsorption of the reinforcing ribs 092. This allows the first suction cups 211 to be perpendicular to the inclined surface 0921 during downward adsorption, ensuring that the bottom surface of the first suction cup 211 is parallel and in contact with the inclined surface 0921, preventing air leakage.

[0083] In other words, the first adsorption mechanism 20 can adsorb multiple reinforcing ribs 092 arranged according to their positions on the battery tray 09. It is understandable that the first adsorption mechanism 20 can also adsorb multiple reinforcing ribs 092 on the battery tray 09.

[0084] Reference Figure 3 The second suction mechanism 30 may include multiple second suction cups 31. The second suction cups 31 are disposed on the mounting frame 10, and their positions correspond to the positions of the base plate 091 of the battery tray 09. The bottom surface of the second suction cup 31 is lower than the bottom surface of the first suction cup 211. The second suction cups 31 are used to suction the base plate 091. The positions of the second suction cups 31 correspond to the positions of the base plate 091 on the battery tray 09. It can be understood that the second suction cups 31 are set to correspond to the base plate 091, and their positions avoid the installation positions of the reinforcing ribs 092 on the base plate 091. Thus, the second suction cups 31 can suction both individual base plates 091 and the base plate 091 of the battery tray 09.

[0085] Based on the above structure, the working process of the automotive battery tray loading and unloading gripper 052 in this application embodiment is as follows:

[0086] 1. A base plate 091 is adsorbed by the second adsorption mechanism 30, and the base plate 091 is transported to the welding device and clamped by the fixture. The base plate 091 is then released. During this process, the first adsorption mechanism 20 does not start adsorption.

[0087] 2. Multiple reinforcing ribs 092 are arranged in advance according to their positional relationship on the battery tray 09. The first adsorption mechanism 20 adsorbs these multiple reinforcing ribs 092 and transports them to the welding device where they are clamped onto the base plate 091 by the fixture. The reinforcing ribs 092 are then released. During this process, the second adsorption mechanism 30 does not start adsorption.

[0088] 3. The welding device welds the reinforcing rib 092 and the base plate 091 together to form the battery tray 09. The car battery tray loading and unloading gripper 052 moves to the welding device and adsorbs the welded battery tray 09. At this time, the first adsorption mechanism 20 adsorbs the reinforcing rib 092 on the battery tray 09, and the second adsorption mechanism 30 adsorbs the base plate 091 on the battery tray 09, adsorbing the battery tray 09 onto the conveyor belt for unloading.

[0089] In other words, the automotive battery tray loading and unloading gripper 052 of this application embodiment can realize the automatic handling of welding of the base plate 091, reinforcing rib 092 and battery tray 09 without adjusting the position, with fast handling speed, which can reduce the physical consumption of workers and greatly improve work efficiency.

[0090] Reference Figure 1 In the reinforcing rib 092, there are two inclined surfaces 0921 arranged in an inverted V shape. That is, when the first suction cup 211 is used for adsorption, both inclined surfaces 0921 must be adsorbed to ensure stable adsorption.

[0091] Reference Figure 5 The adsorption assembly 21 may also include a connector 212. The connector 212 may include a connecting body 2121, a first bent portion 2122 located at one end of the connecting body 2121, and a second bent portion 2123 located at the other end of the connecting body 2121. The connecting body 2121 is mounted on the mounting bracket 10. The first bent portion 2122 is parallel to one inclined surface 0921 of the inverted V shape, and the second bent portion 2123 is parallel to the other inclined surface 0921 of the inverted V shape. Both the first bent portion 2122 and the second bent portion 2123 are provided with a first suction cup 211.

[0092] Reference Figure 5The connector 212 can be a sheet metal part, formed by bending to create a connecting body 2121, a first bent portion 2122, and a second bent portion 2123. Since the reinforcing rib 092 has two inclined surfaces 0921, two first suction cups 211 are needed for adsorption. One of these first suction cups 211 is mounted on the first bent portion 2122, and the other on the second bent portion 2123. The first bent portion 2122 and the second bent portion 2123 are set parallel to the corresponding inclined surfaces 0921, and the first suction cups 211 are mounted perpendicularly to the first bent portion 2122 and the second bent portion 2123, thus making the first suction cups 211 perpendicular to the inclined surfaces 0921. The two first suction cups 211 simultaneously adsorb onto these two inclined surfaces 0921, ensuring that the reinforcing rib 092 does not become skewed during transport. Of course, multiple first suction cups 211 can be used for adsorption on the same inclined surface 0921. In this embodiment, each connector 212 is provided with two first suction cups 211, and each of the multiple adsorption groups 21 in the first adsorption mechanism 20 is provided with multiple connectors 212. The number of adsorption groups 21 corresponds to the number of reinforcing ribs 092 on the battery tray 09. For example, if there are six reinforcing ribs 092, then there are six adsorption groups 21 in the first adsorption mechanism 20. Each adsorption group 21 has two or more connectors 212, and each connector 212 has two first suction cups 211.

[0093] Reference Figure 5 and Figure 6 The adsorption assembly 21 may further include a first limiting member 213. The first limiting member 213 is disposed on the mounting frame 10 and corresponds to the position of the reinforcing rib 092. The bottom surface of the first limiting member 213 has an inverted V-shaped notch 2131 that matches the two inclined surfaces 0921. When the notch 2131 abuts against the inclined surface 0921, the first suction cup 211 can fit against the inclined surface 0921, and the second suction cup 31 can fit against the base plate 091. That is, the first limiting member 213 can limit the height position of the first suction cup 211 when it is adsorbed on the reinforcing rib 092. The first limiting member 213 is provided with an inverted V-shaped notch 2131 that matches the shape of the two inverted V-shaped inclined surfaces 0921. When the mounting bracket 10 descends to the point where the notch 2131 abuts against the inclined surface 0921, it can no longer descend. At this point, the first suction cup 211 can adhere to the inclined surface 0921 for adsorption, and the second suction cup 31 can also adhere to the base plate 091 without affecting normal adsorption. After the first limiting member 213 abuts against the inclined surface 0921, it limits the descent height of the mounting plate 13, preventing excessive pressure on the suction cups due to excessive descent, which could cause deformation of the relatively fragile structures of the suction cups and affect the subsequent adsorption effect.

[0094] Reference Figure 5 and Figure 7The first limiting member 213 may include a fixing part 2132, a first support part 2133, and a second support part 2134. The fixing part 2132 is connected to the mounting bracket 10. The upper end of the first support part 2133 is connected to the fixing part 2132, and the upper end of the second support part 2134 is connected to the fixing part 2132. The first support part 2133 and the second support part 2134 are spaced apart. The lower end of the first support part 2133 is provided with an inclined first abutment surface 2135, and the lower end of the second support part 2134 is provided with an inclined second abutment surface 2136. The first abutment surface 2135 and the second abutment surface 2136 form a notch 2131. The upper ends of the first support part 2133 and the second support part 2134 are connected to the fixing part 2132, and the lower ends extend downward. The lower ends are set as inclined abutment surfaces, which can abut against the corresponding inclined surface 0921 on the reinforcing rib 092. The first support portion 2133 and the second support portion 2134 can be columnar structures, which can be fixed together with the fixing portion 2132 by screws. The first support portion 2133 and the second support portion 2134 are arranged at intervals, forming a gap between them, which can avoid the edge between the two inclined surfaces 0921 formed by bending on the reinforcing rib 092.

[0095] Reference Figure 1 and Figure 5 The base plate 091 has a first pin hole 0911, and the reinforcing rib 092 has a second pin hole 0922. The first pin hole 0911 and the second pin hole 0922 are positioned vertically opposite each other in the battery tray 09. That is, the battery tray 09 can be vertically connected through the first pin hole 0911 and the second pin hole 0922. Due to the high precision requirements in the production of the battery tray 09, the first pin hole 0911 and the second pin hole 0922 are provided. Both are positioning structures used during handling and welding.

[0096] Reference Figure 1 and Figure 5 The automotive battery tray loading and unloading gripper 052 may also include a pin positioning mechanism 40 corresponding to the reinforcing rib 092. The pin positioning mechanism 40 may include a pin 41 and a first driver 42. The pin 41 is vertically mounted on the mounting frame 10, and the position of the pin 41 corresponds to the position of the first pin hole 0911 and the second pin hole 0922. That is, during adsorption and handling, when the mounting frame 10 descends above the reinforcing rib 092 or the base plate 091, the pin 41 can descend and insert into the first pin hole 0911 or the second pin hole 0922, and be positioned by the pin 41 and the pin hole. Then, the first suction cup 211 or the second suction cup 31 is further descended for adsorption, thereby avoiding displacement during adsorption and affecting subsequent welding. Similarly, after welding is completed, the pin 41 can also be inserted into the first pin hole 0911 and pass through the second pin hole 0922, and the first suction cup 211 and the second suction cup 31 are further descended for adsorption, thereby avoiding displacement during adsorption.

[0097] Reference Figure 3 The first actuator 42 is mounted on the mounting bracket 10 and is used to drive the pin 41 to rise and fall. The first actuator 42 is a mechanism that provides the lifting power for the pin 41. The first actuator 42 can be a cylinder or a linear motor.

[0098] Understandably, the first driver 42 can be mounted on the mounting bracket 10, and the pin 41 is mounted on the drive end of the first driver 42, so that the pin 41 can be driven to move up and down relative to the mounting bracket 10 by the first driver 42.

[0099] Reference Figure 1 The second pin hole 0922 is located between the two inclined surfaces 0921, and the pin 41 is located between the notches 2131. That is, the second pin hole 0922 is on the edge formed by the intersection of the two inclined surfaces 0921, and correspondingly, the pin 41 is set between the notches 2131 of the first positioning member.

[0100] Understandably, after the pin 41 passes through the second pin hole 0922, since the second pin hole 0922 is open, the pin 41 will not abut against the reinforcing rib 092 and thus affect the abutment limit between the first limiting member 213 and the inclined surface 0921.

[0101] When handling the reinforcing ribs 092 or the battery tray 09, there are multiple reinforcing ribs 092, and correspondingly, there are also multiple pins 41. These pins 41 can each use one first driver 42, or two adjacent pins 41 can share one first driver 42.

[0102] Reference Figure 3 and Figure 8 Two pins 41 corresponding to two adjacent reinforcing ribs 092 are connected to the same first driver 42 via a connecting structure 43. The connecting structure 43 may include a first connecting segment 431 connected to the first driver 42 and a second connecting segment 432 bent and connected to the first connecting segment 431. The second connecting segment 432 is inserted into a notch 2131, and the pins 41 are located in the second connecting segment 432. That is, the two pins 41 corresponding to two adjacent reinforcing ribs 092 share one first driver 42, and these two pins 41 are connected to the first driver 42 via the connecting structure 43. The first connecting segment 431 is connected to the first driver 42 and bent and connected to the second connecting segment 432, with the second connecting end inserted into the notch 2131, thereby preventing the first connecting segment 431 from lying horizontally between the first limiting member 213 and the reinforcing rib 092. Specifically, the connecting structure 43 is similar to an L-shape, with one connecting structure 43 connected to one pin 41. Of course, two connecting structures 43 can also be connected together.

[0103] Reference Figure 2The second adsorption mechanism 30 may further include a second limiting member 32. The second limiting member 32 is disposed on the mounting frame 10 and offset from the position of the reinforcing rib 092. When the bottom surface of the second limiting member 32 abuts against the base plate 091, the second suction cup 31 can adhere to the base plate 091, and the first suction cup 211 can adhere to the reinforcing rib 092. That is, when adsorbing the base plate 091, the second limiting member 32 can abut against the base plate 091. After abutting, the height of the mounting frame 10 is limited, preventing it from descending further. At this time, the second suction cup 31 can adhere to the base plate 091, thereby performing adsorption. Similarly, when adsorbing the battery tray 09, when the second limiting member 32 abuts against the base plate 091, the second suction cup 31 can adsorb the base plate 091, and at the same time, the first suction cup 211 can adsorb the reinforcing rib 092, without interfering with normal adsorption and handling. Due to the limiting effect of the second limiting member 32, the mounting bracket 10 can be prevented from descending too low during adsorption, which would cause the first suction cup 211 and the second suction cup 31 to be subjected to excessive pressure and deform, thus affecting subsequent adsorption.

[0104] Since the base plate 091 and battery tray 09 are heavy, they may fall off if they are only held in place by the second suction cup 31 during transportation. Therefore, the following structure is provided in this embodiment.

[0105] Reference Figure 2 and Figure 9 The automotive battery tray loading and unloading gripper 052 may also include an anti-detachment mechanism 50, which may include a connecting frame 51, a telescopic rod 52, a hook 53, a connecting rod 54, and a clamping block 55.

[0106] Reference Figure 9 The connecting bracket 51 is connected to the mounting bracket 10 and is located above the edge of the base plate 091 to facilitate the installation of anti-detachment structural components at the edge of the base plate 091.

[0107] Reference Figure 9 The telescopic rod 52 is mounted on the connecting frame 51 and is telescopic. The hook 53 may include a hook handle 531 and a hook head 532 located at one end of the hook handle 531. The end of the hook handle 531 away from the hook head 532 is hinged to the telescopic rod 52. One end of the connecting rod 54 is hinged to the end of the hook handle 531 near the hook head 532, and the other end is hinged to the connecting frame 51, with the hinge point located below the telescopic rod 52. The telescopic rod 52, the hook 53, and the connecting rod form a simple connecting rod 54 structure. When the telescopic rod 52 extends or retracts, the direction of the hook 53 can be changed. The clamping block 55 is fixed on the connecting frame 51 and located below the telescopic rod 52. The position of the clamping block 55 corresponds to the edge of the base plate 091. The telescopic rod 52 may be a cylinder or a linear motor.

[0108] Among them, reference Figure 9The anti-detachment mechanism 50 has a loose state and a clamping state. In the loose state, the telescopic rod 52 is shortened and the clamping hook 53 rotates upward and moves away from the clamping block 55. In the clamping state, the telescopic rod 52 is extended and the clamping hook 53 rotates downward so that the hook head 532 is located below the clamping block 55 to clamp the edge of the base plate 091.

[0109] The telescopic rod 52 extends and retracts, changing the direction of the clamping hook 53. When not picking up the base plate 091 or battery tray 09, the telescopic rod 52 can be shortened, rotating the clamping hook 53 away from the clamping block 55, without clamping. When picking up the base plate 091 or battery tray 09, the telescopic rod 52 extends, rotating the clamping hook 53 closer to the clamping block 55, clamping and securing the edge of the base plate 091 located between the clamping block 55 and the hook head 532, thus preventing the base plate 091 or battery tray 09 from falling off during handling.

[0110] Understandably, the anti-detachment mechanism 50 has multiple sets that can work together to ensure greater stability during handling and prevent the base plate 091 or battery tray 09 from falling off.

[0111] Reference Figure 2 and Figure 3 The automotive battery tray loading and unloading gripper 052 may also include a base plate sensor 61 and a reinforcing rib sensor 62. The base plate sensor 61 is mounted on the mounting bracket 10 and is used to detect the presence or absence of a base plate 091. The reinforcing rib sensor 62 is mounted on the mounting bracket 10 and corresponds to the position of the reinforcing rib 092; the reinforcing rib sensor 62 is used to detect the presence or absence of the reinforcing rib 092. The placement of these two types of sensors allows for checking the presence of a corresponding component below before suction. If not, the gripper moves to the location of another component and continues the detection and suction process. By using sensors to detect the presence or absence of components, the suction process becomes smoother, reducing suction failures (failure to suction the corresponding component).

[0112] Reference Figure 2 and Figure 3 The automotive battery tray loading and unloading gripper 052 may also include a distance sensor 63, which is mounted on the mounting bracket 10 and used to detect the distance between the distance sensor 63 and the object below. By detecting the distance between the distance sensor 63 and the object below, the descent height can be determined based on this distance, thereby enabling precise control of the descent and adsorption action.

[0113] Reference Figure 2 and Figure 3 The automotive battery tray loading and unloading gripper 052 may also include a vacuum generator 64, a first adsorption pipeline, a second adsorption pipeline, and a controller 67.

[0114] A vacuum generating device 64 is mounted on the mounting bracket 10. The vacuum generating device 64 is used to generate negative pressure to provide suction for the adsorption of the first suction cup 211 and the second suction cup 31.

[0115] The first adsorption line connects the vacuum generator 64 and the first suction cup 211. The first adsorption line may include a first control valve 65 located on the mounting bracket 10. The first adsorption line connects the vacuum generator 64 to the first suction cup 211 for negative pressure adsorption. The first control valve 65 controls the connection and disconnection of the first adsorption line, controlling the start and end of the adsorption action. The first control valve 65 may be a solenoid valve.

[0116] The second adsorption line connects the vacuum generator 64 and the second suction cup 31. The second adsorption line may include a second control valve 66 located on the mounting bracket 10. The second adsorption line connects the vacuum generator 64 and the second suction cup 31 for negative pressure adsorption. The second control valve 66 controls the connection and disconnection of the second adsorption line, controlling the start and end of the adsorption action. The second control valve 66 may be a solenoid valve.

[0117] Reference Figure 2 and Figure 3 The controller 67 is mounted on the mounting bracket 10 and is electrically connected to the first control valve 65 and the second control valve 66. The controller 67 can control the first control valve 65 and the second control valve 66 to open and close respectively. When the adsorption and handling base plate 091 is in operation, the second control valve 66 is open and the first control valve 65 is closed. When the adsorption and handling reinforcing rib 092 is in operation, the first control valve 65 is open and the second control valve 66 is closed. When the adsorption and handling battery tray 09 is in operation, both the first control valve 65 and the second control valve 66 are open.

[0118] Reference Figure 10 The mounting frame 10 may include a mounting frame 11, multiple mounting arms 12 and a mounting plate 13.

[0119] The mounting frame 11 is rectangular. Mounting arms 12 are parallel to each other and spaced apart within the mounting frame 11. One end of each mounting arm 12 is connected to the mounting frame 11, and the other end extends horizontally. A mounting plate 13 is placed on the mounting frame 11 and seals the inner frame of the mounting frame 11. The mounting plate 13 is used to connect the three-dimensional moving mechanism 051.

[0120] The first suction cup 211 is disposed on the mounting frame 11 and / or the mounting arm 12, and the second suction cup 31 is disposed on the mounting frame 11 and / or the mounting arm 12.

[0121] Multiple mounting arms 12 are connected via mounting frame 11 to provide mounting positions for the first suction cup 211 and the second suction cup 31. Mounting plate 13 is connected to three-dimensional moving mechanism 051, and mounting plate 13 is connected to mounting frame 11, thereby enabling the entire automotive battery tray loading and unloading gripper 052 to be moved via three-dimensional moving mechanism 051.

[0122] In addition, the solenoid valve controlling adsorption, the controller 67, and the sensors and distance sensors 63 that detect the presence or absence of the components are all mounted on the mounting frame 11 or the mounting arm 12.

[0123] Reference Figure 10 and Figure 11 The mounting frame 11 and mounting arm 12 are made of polygonal tube 14; the cross section of the polygonal tube 14 perpendicular to the length direction is a regular polygon, and each face of the polygonal tube 14 is provided with multiple connecting through holes 141.

[0124] Reference Figure 10 and Figure 11 The mounting frame 11 and mounting arm 12 are made of a polygonal tube 14, which is a hollow tube that is lightweight. Multiple connecting holes 141 are provided on it to further reduce weight. Furthermore, the multiple connecting holes 141 facilitate the mounting of suction cups, sensors, and other structures. The cross-section of the polygonal tube 14 is a regular polygon, meaning its outer surface has multiple planes. These planes make mounting suction cups, sensors, and other structures on it more stable and convenient. Specifically, the regular polygon can be an equilateral triangle, square, regular pentagon, regular hexagon, etc. In a preferred embodiment, the regular polygon is a regular octagon, meaning the polygonal tube 14 is an octagonal porous tube.

[0125] Reference Figure 12 This application also provides a welding system for an automotive battery tray 09, which may include a base plate supply mechanism 01, a reinforcing rib supply mechanism 02, a clamping mechanism 03, a laser welding device 04, a gripping robot 05, and a tray delivery mechanism 06.

[0126] The base plate supply mechanism 01 is used to supply the base plate 091. During the welding process, the worker places the base plate 091 to be welded at the input end of the base plate supply mechanism 01, which then transports it to the gripping range of the gripping robot 05. The gripping robot 05 picks up the base plate 091 and transports it to the clamping mechanism 03 to clamp the base plate 091 for welding. The base plate supply mechanism 01 can be a conveying mechanism such as a conveyor belt or conveyor rollers.

[0127] The reinforcing rib supply mechanism 02 supplies multiple reinforcing ribs 092, the positions of which correspond to their positions on the battery tray 09. During the welding process, the worker places the reinforcing ribs 092 to be welded at the input end of the reinforcing rib supply mechanism 02, which then transports them to the gripping range of the gripping robot 05. The number and position of the reinforcing ribs 092 are aligned with those on the battery tray 09. The gripping robot 05 picks up the reinforcing ribs 092 and transports them to the clamping mechanism 03. The clamping mechanism 03 clamps the previously transported base plate 091 and places the reinforcing ribs 092 on it. At this point, the number and position of the reinforcing ribs 092 on the base plate 091 correspond to those on the battery tray 09, ensuring that the battery tray 09 can be directly obtained after welding the reinforcing ribs 092 and the base plate 091 together. The reinforcing rib supply mechanism 02 can be a conveying mechanism such as a conveyor belt or conveyor rollers.

[0128] The clamping mechanism 03 is used to clamp the base plate 091 and the reinforcing rib 092, the positions of which correspond to their positions on the battery tray 09. The clamping mechanism 03 can clamp the base plate 091 and the reinforcing rib 092 separately. When the reinforcing rib 092 is transported, its quantity and position have been pre-arranged according to the quantity and position on the battery tray 09. Therefore, when it is transported, placed on the base plate 091, and clamped by the clamping mechanism 03, it is also arranged according to that position.

[0129] The laser welding device 04 is used to weld the base plate 091 and multiple reinforcing ribs 092 clamped on the fixture mechanism 03 to form a battery tray 09. The laser welding device 04 is positioned above the fixture mechanism 03 and can weld the base plate 091 and reinforcing ribs 092 below. Since the base plate 091 and reinforcing ribs 092 are already positioned accordingly, the battery tray 09 is obtained after welding.

[0130] The gripping robot 05 may include a three-dimensional moving mechanism 051 and a car battery tray loading / unloading gripper 052 as described in any of the above embodiments. The mounting frame 11 is connected to the three-dimensional moving mechanism 051. The three-dimensional moving mechanism 051 may be a robotic arm, and the car battery tray loading / unloading gripper 052 is mounted at the end of the robotic arm, thereby driving the car battery tray 09 to move in three dimensions and change its position. The gripping robot 05 can adsorb the base plate 091 on the base plate supply mechanism 01 and transport it to the clamping mechanism 03 for clamping, or it can adsorb multiple reinforcing ribs 092 on the reinforcing rib supply mechanism 02 and place them on the clamping mechanism 03 for clamping. In this case, the number and position of the reinforcing ribs 092 on the base plate 091 correspond to the number and position of the reinforcing ribs 092 on the battery tray 09. After welding is completed, the gripping robot 05 transports the welded battery tray 09 to the tray delivery mechanism 06.

[0131] The pallet delivery mechanism 06 is used to transport the battery pallet 09 to its own output end for unloading.

[0132] The automotive battery tray 09 welding system of this application embodiment can include the automotive battery tray loading and unloading gripper 052 in any of the above embodiments, and therefore has the beneficial effects brought by the automotive battery tray loading and unloading gripper 052 in any of the above embodiments, which will not be repeated here.

[0133] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A loading and unloading gripper for an automotive battery tray, used for transporting a base plate, reinforcing ribs, and a battery tray, wherein the battery tray includes the base plate and a plurality of reinforcing ribs fixed to the base plate, the reinforcing ribs having inclined surfaces, the inclined surfaces being two in an inverted V-shape, characterized in that... The automotive battery tray loading and unloading gripper includes: Mounting bracket for connection to a three-dimensional moving mechanism for movement; A first adsorption mechanism includes multiple adsorption groups, each adsorption group being disposed on the mounting frame and corresponding to the position of the reinforcing rib on the battery tray. Each adsorption group includes multiple first suction cups and a first limiting member. The first suction cups are inclined and perpendicular to the inclined surface. The first limiting member is disposed on the mounting frame and corresponds to the position of the reinforcing rib. The bottom surface of the first limiting member has an inverted V-shaped notch matching the two inclined surfaces. The second suction mechanism includes multiple second suction cups and a second limiting member. The second suction cups are disposed on the mounting frame, and their positions correspond to the positions of the bottom plate of the battery tray. The bottom surface of the second suction cup is lower than the bottom surface of the first suction cup. The second limiting member is disposed on the mounting frame and is offset from the position of the reinforcing rib. When the bottom surface of the second limiting member abuts against the bottom plate, the second suction cup can fit against the bottom plate, and the first suction cup can fit against the reinforcing rib. When the notch abuts against the inclined surface, the first suction cup can fit against the inclined surface, the second suction cup can fit against the base plate, and the first limiting member can limit the height position of the first suction cup when it is attached to the reinforcing rib.

2. The automotive battery tray loading and unloading gripper according to claim 1, characterized in that, The adsorption assembly further includes a connector, which includes a connecting body, a first bent portion located at one end of the connecting body, and a second bent portion located at the other end of the connecting body. The connecting body is disposed on the mounting frame. The first bent portion is parallel to one inclined surface of the inverted V-shape, and the second bent portion is parallel to the other inclined surface of the inverted V-shape. Both the first bent portion and the second bent portion are provided with the first suction cup.

3. The automotive battery tray loading and unloading gripper according to claim 1, characterized in that, The first limiting member includes a fixing part, a first support part, and a second support part. The fixing part is connected to the mounting bracket. The upper end of the first support part is connected to the fixing part, and the upper end of the second support part is connected to the fixing part. The first support part and the second support part are spaced apart. The lower end of the first support part is provided with an inclined first abutment surface, and the lower end of the second support part is provided with an inclined second abutment surface. The first abutment surface and the second abutment surface constitute the notch.

4. The automotive battery tray loading and unloading gripper according to claim 3, characterized in that, The base plate is provided with a first pin hole, and the reinforcing rib is provided with a second pin hole. The first pin hole and the second pin hole are positioned vertically opposite each other in the battery tray. The automotive battery tray loading and unloading gripper also includes a pin positioning mechanism corresponding to the reinforcing rib, the pin positioning mechanism comprising: A pin is vertically mounted on the mounting bracket, and the position of the pin corresponds to the positions of the first pin hole and the second pin hole; A first actuator, located on the mounting bracket, is used to drive the pin to rise and fall.

5. The automotive battery tray loading and unloading gripper according to claim 4, characterized in that, The second pin hole is located between the two inclined surfaces, and the pin is located between the notches.

6. The automotive battery tray loading and unloading gripper according to claim 5, characterized in that, The two pins corresponding to the two adjacent reinforcing ribs are respectively connected to the same first driver through a connecting structure. The connecting structure includes a first connecting segment connected to the first driver and a second connecting segment bent and connected to the first connecting segment. The second connecting segment is inserted into the notch, and the pin is located on the second connecting segment.

7. The automotive battery tray loading and unloading gripper according to claim 1, characterized in that, The automotive battery tray loading and unloading gripper also includes an anti-detachment mechanism, which includes: A connecting bracket, connected to the mounting bracket and located above the edge of the base plate; A telescopic rod is provided on the connecting frame and is telescopic; A clamping hook includes a hook shank and a hook head located at one end of the hook shank, wherein the end of the hook shank away from the hook head is hinged to the telescopic rod; The connecting rod has one end hinged to the end of the hook shank near the hook head, and the other end hinged to the connecting frame with the hinge point located below the telescopic rod; and A clamping block is fixed to the connecting frame and located below the telescopic rod, the position of the clamping block corresponding to the edge of the base plate; The anti-detachment mechanism has a loosened state and a clamped state. In the loosened state, the telescopic rod is shortened and the clamping hook rotates upward and away from the clamping block. In the clamped state, the telescopic rod is extended and the clamping hook rotates downward so that the hook head is located below the clamping block to clamp the edge of the base plate.

8. The automotive battery tray loading and unloading gripper according to claim 1, characterized in that, The automotive battery tray loading and unloading gripper also includes: A base plate sensor, mounted on the mounting bracket, is used to detect the presence or absence of a base plate; A reinforcing rib sensor is disposed on the mounting bracket and corresponds to the position of the reinforcing rib. The reinforcing rib sensor is used to detect whether there is a reinforcing rib.

9. The automotive battery tray loading and unloading gripper according to claim 1, characterized in that, The automotive battery tray loading and unloading gripper also includes: A distance sensor, mounted on the mounting bracket, is used to detect the distance between the distance sensor and the object below.

10. The automotive battery tray loading and unloading gripper according to claim 1, characterized in that, The automotive battery tray loading and unloading gripper also includes: A vacuum generating device is mounted on the mounting frame; A first adsorption line is connected to the vacuum generating device and the first suction cup. The first adsorption line includes a first control valve disposed on the mounting frame. The second adsorption line connects the vacuum generator and the second suction cup, and the second adsorption line includes a second control valve located on the mounting frame. A controller is mounted on the mounting bracket and is electrically connected to the first control valve and the second control valve.

11. The automotive battery tray unloading gripper according to any one of claims 1 to 10, characterized in that, The mounting bracket includes: The mounting frame is rectangular. Multiple mounting arms are provided, each of which is parallel to each other and spaced apart from the mounting frame. One end of each mounting arm is connected to the mounting frame, and the other end extends horizontally. A mounting plate is disposed on the mounting frame and seals the inner frame of the mounting frame. The mounting plate is used to connect the three-dimensional moving mechanism. The first suction cup is disposed on the mounting frame and / or the mounting arm, and the second suction cup is disposed on the mounting frame and / or the mounting arm.

12. The automotive battery tray loading and unloading gripper according to claim 11, characterized in that, The mounting frame and the mounting arm are made of polygonal tubing; The cross-section of the polygonal tube perpendicular to its length direction is a regular polygon, and each face of the polygonal tube is provided with multiple connecting through holes.

13. A welding system for an automotive battery tray, characterized in that, include: A base plate supply mechanism for supplying the base plate; A reinforcing rib supply mechanism is used to supply a plurality of said reinforcing ribs, the positions of said plurality of reinforcing ribs in the reinforcing rib supply mechanism corresponding to the positions of said plurality of reinforcing ribs on the battery tray; A clamping mechanism is used to clamp the base plate and the reinforcing rib, the positions of which correspond to their positions on the battery tray; A laser welding device is used to weld the base plate and multiple reinforcing ribs clamped on the fixture mechanism to form a battery tray; A gripping robot, comprising a three-dimensional moving mechanism and an automotive battery tray loading / unloading gripper as described in any one of claims 1 to 12, wherein the mounting frame is connected to the three-dimensional moving mechanism; and The tray delivery mechanism is used to transport battery trays.

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