Clamping device

Abstract

The clamping equipment disclosed by the embodiment of the invention comprises the components of a bracket main body which is provided with a first end and a second end which are oppositely arranged, the first end is provided with a connecting interface, and the second end is provided with a first accommodating cavity; the first fixing mechanism is arranged at the second end; and the first flexible positioning mechanism is connected in the first accommodating cavity at the second end, and the first flexible positioning mechanism can extend out of the first accommodating cavity or retract into the first accommodating cavity. The clamping equipment provided by the embodiment of the invention can be used for flexibly disassembling the to-be-clamped part such as a retired power battery, flexible positioning of the clamping equipment on the retired power battery pack shell can be realized, damage to the to-be-clamped part is reduced, and the recycling value of the disassembled part and the stability of the product quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy battery recycling, and in particular to a clamping device for disassembling retired power battery packs. Background Art

[0002] With the rapid development of the new energy vehicle industry, the number of retired power batteries has increased dramatically. Therefore, the effective recycling and reuse of retired power batteries has become an urgent problem to be solved. The recycling and reuse of power batteries usually requires the disassembly of retired power batteries. During the disassembly of power batteries, the screws, bolts, nuts and other fasteners in the standard module battery pack are removed one by one, the battery module and the busbar are separated, the battery pack shell and the battery cell are separated by cutting, and the positive electrode, negative electrode and diaphragm are further carefully separated, and finally the positive and negative electrode materials are crushed separately. The currently widely used disassembly clamping tools are rigid clamping tools, and the outer shell of the power battery is usually a thin-walled sheet metal part. Therefore, during positioning during the disassembly process, the rigid clamping tool is often easy to damage the outer shell of the power battery (the part to be clamped), which can easily cause scratches on the surface of the battery shell or cause shape deformation, thereby affecting the reuse value of the disassembled parts and the stability of product quality. Summary of the invention

[0003] In order to solve the above-mentioned deficiencies and defects of the prior art, the present invention provides a clamping device that can achieve flexible positioning of the clamping device, reduce damage to the clamped parts such as the power battery pack casing, and improve the reuse value of the disassembled parts and the stability of product quality.

[0004] On the one hand, a clamping device provided by an embodiment of the present invention, for example, includes: a bracket body, having a first end and a second end arranged opposite to each other, a connection interface being arranged on the first end, and a first accommodating cavity being arranged on the second end; a first fixing mechanism being arranged on the second end; and a first flexible positioning mechanism being connected to the first accommodating cavity of the second end, and the first flexible positioning mechanism can extend from the first accommodating cavity or retract into the first accommodating cavity.

[0005] In one embodiment of the present invention, a first opening is provided at the bottom of the first accommodating cavity; the first flexible positioning mechanism includes: an elastic connecting member, one end of which is inserted into the first opening; a positioning head, connected to the other end of the elastic connecting member, and the positioning head can move relative to the bracket body together with the elastic connecting member; a first force sensor, attached to the first fixing mechanism; and a reset member, arranged between the positioning head and the bracket body.

[0006] In one embodiment of the present invention, the first flexible positioning mechanism also includes: a second force sensor, which is attached to the elastic connecting member; and a displacement sensor, which is arranged on the elastic connecting member; wherein the clamping device also includes a main controller, which is arranged on the bracket body, and the main controller is electrically connected to the second force sensor, the first force sensor, the displacement sensor and the first fixing mechanism.

[0007] In one embodiment of the present invention, the first fixing mechanism includes a first magnetic member and a first magnetic control member, the first magnetic member is electrically connected to the first magnetic control member; the first magnetic member is arranged on the second end of the bracket body, and the first magnetic control member is arranged on the first end of the bracket body.

[0008] In one embodiment of the present invention, the clamping device also includes a second fixing mechanism, which includes: a first vacuum suction cup, which is arranged at the second end of the bracket body; a pneumatic control unit, which is arranged on the first end of the bracket body and connected to the first vacuum suction cup; a second magnetic suction component, which is sleeved outside the first vacuum suction cup; a second magnetic suction control component, which is arranged on the bracket body and electrically connected to the second magnetic suction component, and the second magnetic suction control component is arranged adjacent to the first magnetic suction control component.

[0009] In one embodiment of the present invention, the second fixing mechanism further includes: a telescopic mechanism connected between the first vacuum suction cup and the bracket body; and a second force sensor arranged between the telescopic mechanism and the first vacuum suction cup, or between the telescopic mechanism and the bracket body.

[0010] In one embodiment of the present invention, the bracket body includes: a fixed bracket, the connection interface is arranged at one end of the fixed bracket; a first adjustable bracket, one end of which is movably connected to the other end of the fixed bracket, and the first flexible positioning mechanism and the first fixing mechanism are arranged on one end of the first adjustable bracket away from the fixed bracket.

[0011] In one embodiment of the present invention, the bracket body also includes: a second adjustable bracket, one end of which is connected to the fixed bracket and is arranged opposite to the first adjustable bracket; a third adjustable bracket, one end of which is connected to the other end of the second adjustable bracket; and a fourth adjustable bracket, one end of which is connected to the other end of the third adjustable bracket; wherein the clamping device also includes: a second fixing mechanism, which is arranged at one end of the first adjustable bracket on the first adjustable bracket away from the fixed bracket and adjacent to the first fixing mechanism; a third fixing mechanism, which is arranged at the other end of the fourth adjustable bracket and is arranged opposite to the first fixing mechanism; a second flexible positioning mechanism, which is arranged at the other end of the fourth adjustable bracket and is arranged opposite to the first flexible positioning mechanism; and a fourth fixing mechanism, which is arranged at the other end of the fourth adjustable bracket and adjacent to the third fixing mechanism, and the fourth fixing mechanism is arranged opposite to the second fixing mechanism.

[0012] In one embodiment of the present invention, the bracket body also includes: a first adjustment mechanism connected between the fixed bracket and the second adjustable bracket; a second adjustment mechanism connected between the second adjustable bracket and the third adjustable bracket; and a third adjustment mechanism connected between the third adjustable bracket and the fourth adjustable bracket.

[0013] In one embodiment of the present invention, the clamping device further includes: an image acquisition unit, which is arranged on the bracket body; and a main controller, which is arranged in the bracket body, and the main controller is electrically connected to the image acquisition unit, the first fixing mechanism and the first flexible positioning mechanism.

[0014] One or more of the above technical solutions have at least the following advantages or beneficial effects:

[0015] The embodiment of the present invention realizes flexible positioning of the clamping device by providing a first flexible positioning mechanism with a telescopic positioning function, reduces damage to the clamped parts such as the power battery pack, and improves the reuse value and stability of the power battery pack after disassembly. In addition, by providing multiple force sensors and displacement sensors and combining a force feedback control algorithm, the accuracy of flexible positioning and clamping force control is achieved, further improving the stability of the disassembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1A schematic diagram of the three-dimensional structure of a clamping device provided in an embodiment of the present invention.

[0018] Figure 2 for Figure 1 A schematic diagram of the top view of the clamping device is shown.

[0019] Figure 3 for Figure 2 Schematic diagram of the cross-section AA in the figure.

[0020] Figure 4 for Figure 2 Schematic diagram of the cross-section BB.

[0021] Figure 5 for Figure 3 Schematic diagram of the local enlarged structure of the C area in the middle.

[0022] Figure 6 for Figure 3 A partial enlarged structural schematic diagram of the second fixing structure is shown in FIG.

[0023] Figure 7 for Figure 1 A schematic diagram of the three-dimensional structure of the bracket body is shown in FIG.

[0024] Figure 8 for Figure 7 A schematic diagram of the three-dimensional structure of the bracket body from another perspective is shown in FIG.

[0025] Fig. 9 , Fig.10 and Fig.11 They are Figure 7 Schematic diagram of the structure of the fixed bracket at different viewing angles shown in FIG.

[0026] Fig.12 for Figure 7 A schematic structural diagram of a first adjustable bracket is shown in FIG.

[0027] Fig.13 for Figure 7 A schematic structural diagram of a second adjustable bracket is shown in FIG.

[0028] Fig.14 for Figure 7 A schematic structural diagram of a third adjustable bracket is shown in FIG.

[0029] Fig.15 for Figure 7 A schematic structural diagram of a fourth adjustable bracket is shown in FIG.

[0030] Fig.16 It is a schematic diagram of the three-dimensional structure of another clamping device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", "one end", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, products, or devices.

[0033] See also Figure 1 The embodiment of the present invention provides a clamping device 10. The clamping device 10 is, for example, a flexible clamping tool for intelligent disassembly of retired power batteries. Specifically, the clamping device 10 includes, for example: a bracket body 100, a first fixing mechanism 200 and a first flexible positioning mechanism 300.

[0034] The support body 100 is the main body of the clamping device 10, and is used to provide support and installation positions for the first fixing mechanism 200 and the first flexible positioning mechanism. Figure 1 and Figure 2 As shown, the bracket body 100 has a first end E1 and a second end E2 arranged opposite to each other along the Y direction, and a connection interface 101 is arranged on the first end E1. The connection interface 101 is, for example, an interface for connecting the clamping device to other devices such as a robot arm. The connection interface 101 is, for example, a plurality of flange connection holes, and is connected to the robot arm by, for example, passing through the plurality of flange connection holes respectively with a plurality of bolts. Figure 3 and Figure 5 As shown, a first accommodating cavity 102 is disposed on the second end E2.

[0035] The first fixing mechanism 200 is used to clamp and fix the part to be clamped, such as the housing sheet metal of the retired power battery. The first fixing mechanism 200 is, for example, arranged on the second end E2.

[0036] The first flexible positioning mechanism 300 is, for example, a positioning mechanism with a telescopic function, and is used for flexible positioning of the clamping device 10. After the first flexible positioning mechanism 300 completes the positioning of the clamping position of the part to be clamped, the first fixing mechanism 200 clamps and fixes the part to be clamped to disassemble the retired power battery. Figure 3 and Figure 5 As shown, the first flexible positioning mechanism 300 is connected to the first accommodating cavity 102 of the second end E2, and the first flexible positioning mechanism 300 can extend from the first accommodating cavity 102 or retract into the first accommodating cavity 102. At the beginning of positioning, the first flexible positioning mechanism 300 can extend from the first accommodating cavity 102. When it contacts the positioning hole of the part to be clamped and continues to approach the part to be clamped, the first flexible positioning mechanism 300 gradually retracts into the first accommodating cavity 102; when the first fixing mechanism 200 reaches the predetermined position, the first flexible positioning mechanism 300 stops shrinking, and the first fixing mechanism 200 clamps and fixes the part to be clamped.

[0037] Therefore, the embodiment of the present invention realizes flexible positioning of the clamping device 10 by providing a first flexible positioning mechanism 300 with a telescopic positioning function, reduces damage to the clamped parts such as the battery pack, improves the reuse value and stability of the battery pack after disassembly, and solves the problems of inaccurate positioning of the clamped parts and limited compatibility of the clamping tools in the prior art. This ensures that the clamping surface fits perfectly with the surface of the battery pack shell, avoids damage caused by over-tight clamping, and ensures the stability and reliability of the clamping.

[0038] Typically, such as Figure 4 As shown, the clamping device 10 also includes a main controller 800. The main controller 800 is, for example, an electronic device with data processing and control functions, such as a CPU, a microcontroller (MCU), a PLC, a DSP, etc. The main controller 800 is electrically connected to the first fixing mechanism 200 and the first flexible positioning mechanism 300 to control the actions of the first fixing mechanism 200 and the first flexible positioning mechanism 300. The main controller 800 is arranged in the bracket body 100, for example, arranged inside the first end E1 of the bracket body 100. In this way, the clamping device 10 can independently process the data and action instructions of each mechanism, and there is no need to send the data and instructions to the control system of the mechanical arm connected to the clamping device 10 and other equipment for disassembling retired power batteries for processing, eliminating the secondary control and processing of the control signal, simplifying the structure of the entire system, reducing the failure rate, and realizing the immediacy and accuracy of signal processing, so that the clamping and fixing action responds more quickly, significantly improving work efficiency, and reducing overall costs.

[0039] Specifically, if Figure 5As shown, a first opening 103 is disposed at the bottom of the first accommodating cavity 102. The first flexible positioning mechanism 300 includes: an elastic connecting member 310, a positioning head 320, a first force sensor 330 and a reset member 340.

[0040] Among them, the elastic connector 310 is, for example, an elastic rod with a certain elasticity, and the elastic connector 310 can be bent and deformed under the action of external force. The elastic connector 310 is, for example, a slender round rod. One end of the elastic connector 310 is inserted into the first opening 103. The positioning head 320 is, for example, a conical positioning pin, that is, a positioning part with a conical end. Usually, the maximum diameter of the cone surface of the positioning head 320 is greater than the diameter of the positioning hole of the part to be clamped. The positioning head 320 is connected to the other end of the elastic connector 310. The positioning head 320 can reciprocate along the first opening 103 relative to the bracket body 100 together with the elastic connector 310. The first force sensor 330 is, for example, a semiconductor pressure sensor. The first force sensor 330 is arranged on the first fixing mechanism 200, for example, attached to the side of the first fixing mechanism 200 away from the bracket body 100. The first force sensor 330 is electrically connected to the main controller 800 to transmit the sensed pressure signal to the main controller 800 for processing. When the main controller 800 of the clamping device 10 controls the first flexible positioning mechanism 300 to contact the positioning hole of the part to be clamped and continue to approach the part to be clamped, the first flexible positioning mechanism 300 gradually retracts into the first accommodating cavity 102. After the first force sensor 330 on the first fixing mechanism 200 contacts the clamping surface of the part to be clamped, the clamping device 10 continues to approach the part to be clamped. When the main controller 800 obtains that the pressure sensed by the first force sensor 330 reaches the preset pressure, the clamping device 10 stops approaching the part to be clamped, and the main controller 800 controls the first fixing mechanism 200 to clamp and fix the part to be clamped. The reset member 340 is, for example, a tension and compression spring or other elastic reset member. The reset member 340 is arranged between the positioning head 320 and the bracket body 100, and is used to push the positioning head 320 retracted into the first accommodating cavity 102 out of the first accommodating cavity 102 to achieve flexible positioning.

[0041] In addition, if Figure 5As shown, the first flexible positioning mechanism 300 also includes: a second force sensor 350 and a displacement sensor 360. Among them, the second force sensor 350 is, for example, a multi-axis force sensor. The multi-axis force sensor can measure the forces in multiple directions of space respectively, and has the advantages of high sensitivity and small mutual interference. The multi-axis force sensor can, for example, adopt the existing three-axis force sensor in the prior art, such as the three-axis force sensor of model LF-303M-40. The three-axis force sensor can simultaneously measure the forces in three vertical axes in the Cartesian coordinate system. The three-axis force sensor adopts the resistance strain principle based on the strain-type force sensor, and is composed of an elastic element, a resistance strain gauge and a Wheatstone bridge circuit. The second force sensor 350 is connected to the elastic connector 310, such as being attached to the circumferential side wall of the elastic connector 310. The displacement sensor 360 is, for example, a potentiometer displacement sensor, an inductive displacement sensor, a Hall displacement sensor, etc. The displacement sensor 360 is arranged on the elastic connector 310 to sense the movement displacement of the elastic connector 310. Typically, the second force sensor 350 is connected to the elastic connector 310 through a threaded connector, and is used to sense the forces of the elastic connector 310 or the positioning head 320 in different directions. In this way, when the positioning head 320 contacts the part to be clamped, the edge of one side of the positioning hole will give a lateral force to the conical surface of the positioning head 320, and the positioning head 320 will drive the elastic connector 310 to bend and deform, and the second force sensor 350 set on the elastic connector 310 senses the force data of the elastic connector 310, and the main controller 800 obtains the force data of the second force sensor 350. The main controller 800 analyzes the force data of the second force sensor 350 in real time to determine the force direction of the positioning head 320, so as to determine the direction in which the positioning head 320 needs to move. Specifically, the force direction of the positioning head 320 (the direction of the offset load) is the same as the direction in which the positioning head 320 needs to move. Afterwards, the main controller 800 controls the clamping device 10 to move up in the direction by a preset displacement, and then controls the first flexible positioning mechanism 300 to approach the positioning hole; when the positioning head 320 touches one side edge of the positioning hole again, the edge of the positioning hole will again give a lateral force to the conical surface of the positioning head 320. At this time, the main controller 800 obtains the force data of the second force sensor 350 again, analyzes and determines the force direction of the positioning head 320 and the direction in which it needs to move again, and then controls the clamping device 10 to move up in the re-determined moving direction by a preset displacement, and then controls the first flexible positioning mechanism 300 to approach the positioning hole until the positioning head 320 moves to the positioning center position. Because at this time the conical surface of the positioning head 320 is in contact with the edge of the positioning hole on all sides, without being subjected to unbalanced load, the elastic connecting member 310 does not bend and deform, and the main controller 800 does not obtain force data from the second force sensor 350, so the main controller 800 determines that the center of the positioning head 320 coincides with the center position of the positioning hole.Next, the main controller 800 controls the first fixing mechanism 200 to clamp and fix the part to be clamped, thereby further realizing the flexible and precise positioning function of the positioning hole.

[0042] Based on the above, Figure 4 and Figure 5 As shown, the first fixing mechanism 200 includes a first magnetic member 210 and a first magnetic control member 220. The first magnetic member 210 is electrically connected to the first magnetic control member 220. The first magnetic member 210 is, for example, an electromagnet, which has the characteristics of generating a magnetic field when powered on and disappearing when the electromagnetic field is turned off. Typically, an electromagnet in the prior art includes an iron core and a conductive winding wound around the outside of the iron core, and its detailed structure is not repeated here. The first magnetic member 210 is arranged on the second end E2 of the bracket body 100. Further, the first magnetic member 210 is arranged on the end face of the second end E2, and the first magnetic member 210 is, for example, an annular magnetic member, which surrounds the first accommodating cavity 102, and the first flexible positioning mechanism 300 can pass through the annular magnetic member. Such a setting can save structural space occupation and simplify the overall structure. The first magnetic control member 220 is, for example, a circuit unit that controls the first magnetic member 210 to generate a magnetic field or the disappearance of the magnetic field, and powers or cuts off the power to the electromagnet. The first magnetic control component 220 is disposed at the first end E1 of the bracket body 100. Specifically, the first magnetic control component 220 is disposed inside the bracket body 100, adjacent to the main controller 800. The first magnetic control component 220 is electrically connected to the main controller 800. When it is necessary to clamp and fix the part to be clamped, the main controller 800 sends a power-on signal to the first magnetic control component 220, and the first magnetic control component 220 supplies power to the first magnetic component 210 so that the first magnetic component 210 generates a magnetic field. Since the shell of the power battery is usually an iron sheet metal part, under the action of the magnetic field, the shell of the power battery is clamped and fixed by the first magnetic component 210.

[0043] Furthermore, if Figure 1 and Figure 3 As shown, the clamping device 10 also includes a second fixing mechanism 400, and may even include a third fixing mechanism 500, a second flexible positioning mechanism 600, a fourth fixing mechanism 700, etc. In this way, when the clamping device 10 clamps and fixes the part to be clamped, it can clamp and fix it more firmly and reliably.

[0044] Specifically, if Figure 4 and Figure 6 As shown, the second fixing mechanism 400 is a fixing mechanism that combines vacuum adsorption and electromagnetic adsorption dual-holding fixing methods, and specifically includes: a first vacuum suction cup 410, a pneumatic control unit 420, a second magnetic attraction component 430, and a second magnetic attraction control component 440.

[0045] Among them, the first vacuum suction cup 410 is arranged at the second end E2 of the bracket body 100. The first vacuum suction cup 410 is typically a device that uses the principle of negative pressure to adsorb objects, and is widely used in automated production lines, warehousing and logistics, paper printing, woodworking and other fields. The working principle of the first vacuum suction cup 410 is to use a vacuum pump or a vacuum generator to generate negative pressure inside the first vacuum suction cup 410, so that the pressure inside the first vacuum suction cup 410 is lower than the external atmospheric pressure, thereby forming a pressure difference between the first vacuum suction cup 410 and the surface of the part to be clamped, thereby generating an adsorption force. The side of the first vacuum suction cup 410 facing the surface of the part to be clamped is a flexible contact surface, and its material is rubber or silicone. The pneumatic control unit 420 is arranged on the one end of the bracket body 100 and is connected to the first vacuum suction cup 410. As Figure 4 As shown, the pneumatic control unit 420 can be, for example, arranged inside the support body 100 and adjacent to the main controller 800. The pneumatic control unit 420 is also electrically connected to the main controller 800. The main controller 800 sends a control instruction of the first vacuum suction cup 410 to the pneumatic control unit 420 to control the action of the first vacuum suction cup 410. The pneumatic control unit 420 is a control unit of the first vacuum suction cup 410, such as a pneumatic valve, which controls the switch, suction force and release of the first vacuum suction cup 410 according to the control instruction of the main controller 800. The pneumatic control unit 420 is also connected to a vacuum pump or a vacuum generator to generate negative pressure in the first vacuum suction cup 410. The first vacuum suction cup 410, the pneumatic control unit 420 and the vacuum pump can adopt mature products in the prior art, as long as they can realize the clamping and fixing function of the clamped parts, and their specific structures will not be repeated this time.

[0046] Based on the above, Figure 6 As shown, the second magnetic member 430 is sleeved outside the first vacuum suction cup 410. The second magnetic member 430 is, for example, an electromagnet, which has the characteristics of generating a magnetic field when powered on and disappearing the electromagnetic field when powered off. The second magnetic member 430 is similar to the first magnetic member 210. For example, the first vacuum suction cup 410 is, for example, a circular disc-shaped structure, and the second magnetic member 430 is, for example, a ring-shaped structure. The second magnetic member 430 is sleeved outside the first vacuum suction cup 410 and is connected to the first vacuum suction cup 410 by a clamping or threaded connection (see Figure 6). In this way, the adsorption surface of the first vacuum suction cup 410 and the adsorption surface of the second magnetic suction component 430 are on the same side, and the first vacuum suction cup 410 and the second magnetic suction component 430 can simultaneously hold and adsorb the parts to be clamped. The second magnetic suction control component 440 is, for example, a circuit unit that controls the second magnetic suction component 430 to generate a magnetic field or the disappearance of the magnetic field, and supplies power to or cuts off the power to the electromagnet. The second magnetic suction control component 440 is arranged on the bracket body 100 and is electrically connected to the second magnetic suction component 430. The second magnetic suction control component 440 is arranged adjacent to the first magnetic suction control component 220, that is, the first magnetic suction control component 220 and the second magnetic suction control component 440 are both arranged inside the first end E1 of the bracket body 100.

[0047] When the clamping device 10 is positioned and against the clamping surface of the part to be clamped, the main controller 800 controls the first fixing mechanism 200 and the second fixing mechanism 400 to simultaneously adsorb the clamping surface of the part to be clamped. In this way, such a double-supporting fixing method improves the stability, reliability and safety of the clamping fixation. More importantly, in emergencies (such as sudden power failure causing the electromagnetic adsorption mechanism to fail, or gas failure causing the vacuum adsorption mechanism to fail), the two clamping methods can form effective complementarity and redundancy, ensuring that at least one clamping and fixing method can maintain normal operation, thereby avoiding the loss and risk of the production line caused by the falling of the part to be clamped, and improving the overall reliability and safety of the production line.

[0048] Furthermore, if Figure 6 As shown, the second fixing mechanism 400 further includes a telescopic mechanism 450. The telescopic mechanism 450 is connected between the first vacuum suction cup 410 and the support body 100. The telescopic mechanism 450 is, for example, a servo-controlled telescopic cylinder, which is used to control the first vacuum suction cup 410 and the second magnetic suction member 430 of the second fixing mechanism 400 to move away from or close to the clamping surface of the part to be clamped. Figure 6 As shown, the telescopic mechanism 450 telescopes along the Z direction. The telescopic mechanism 450 can be electrically connected to the main controller 800, for example, and can control the movements of the first vacuum suction cup 410 and the second magnetic suction member 430 under the control of the main controller 800. In this way, when the clamping surface of the part to be clamped is a plane, the main controller 800 can control the adsorption surfaces of the first vacuum suction cup 410 and the second magnetic suction member 430 to be in the same plane as the adsorption surface of the first magnetic suction member 210 of the first fixing mechanism 200. When the clamping surface of the part to be clamped is not a plane, the main controller 800 can control the first vacuum suction cup 410 and the second magnetic suction member 430 to move to a predetermined position to complete the clamping and fixation of the clamping surface. That is, the provision of the telescopic mechanism 450 expands the range of parts that can be clamped by the clamping device 10, and improves the application range and adaptability of the clamping device 10. In addition, as Figure 6As shown, the second fixing mechanism 400 also includes a second force sensor 460. The second force sensor 460 is, for example, a pressure sensor. The second force sensor 460 is disposed in the telescopic mechanism 450. For example, when the telescopic mechanism 450 is a servo hydraulic cylinder, the second force sensor 460 can be disposed in the oil chamber of the servo hydraulic cylinder. When the piston rod of the servo hydraulic cylinder drives the first vacuum suction cup 410 and the second magnetic suction member 430 to extend to the clamping surface, the piston rod of the servo hydraulic cylinder will be subjected to pressure. After the main controller 800 obtains that the pressure value sensed by the second force sensor 460 reaches a preset value, the main controller 800 controls the piston rod of the servo hydraulic cylinder to stop extending. Afterwards, the main controller 800 controls the first vacuum suction cup 410 and the second magnetic suction member 430 to clamp and fix the parts to be clamped at the same time.

[0049] In one embodiment of the present invention, Figure 1 and Figure 7 As shown, the bracket body 100 includes: a fixed bracket 110, a first adjustable bracket 120, and may also include a second adjustable bracket 130, a third adjustable bracket 140 and a fourth adjustable bracket 150. Among them, the connection interface 101 of the fixed bracket 110 is arranged at one end of the fixed bracket 110. One end of the first adjustable bracket 120 is movably connected to the other end of the fixed bracket 110, and the first flexible positioning mechanism 300 and the first fixing mechanism 200 are arranged on the first adjustable bracket 120 at an end away from the fixed bracket 110. One end of the second adjustable bracket 130 is movably connected to the fixed bracket 110 and is arranged opposite to the first adjustable bracket 120. One end of the third adjustable bracket 140 is movably connected to the other end of the second adjustable bracket 130. One end of the fourth adjustable bracket 150 is movably connected to the other end of the third adjustable bracket 140.

[0050] In addition, the second fixing mechanism 400 is arranged at one end of the first adjustable bracket 120 on the first adjustable bracket 120 away from the fixed bracket 110 and adjacent to the first fixing mechanism 200. The third fixing mechanism 500 is arranged at the other end of the fourth adjustable bracket 150 and is arranged opposite to the first fixing mechanism 200; the second flexible positioning mechanism 600 is arranged at the other end of the fourth adjustable bracket 150 and is arranged opposite to the first flexible positioning mechanism 300. The fourth fixing mechanism 700 is arranged at the other end of the fourth adjustable bracket 150 and adjacent to the third fixing mechanism 500, and the fourth fixing mechanism 700 is arranged opposite to the second fixing mechanism 400. Among them, the fourth fixing mechanism 700, for example, has the same structure as the second fixing mechanism 400. The third fixing mechanism 500 has the same structure as the first fixing mechanism 200. The second flexible positioning mechanism 600 has the same structure as the first flexible positioning mechanism 300.

[0051] Furthermore, if Figure 1 and Figure 7 As shown, the support body 100 also includes: a first adjustment mechanism 160, a second adjustment mechanism 170 and a third adjustment mechanism 180. Among them, the first adjustment mechanism 160 is connected between the fixed support 110 and the second adjustable support 130, and the first adjustment mechanism 160 is used to adjust the displacement of the second adjustable support 130 relative to the fixed support 110 in the first direction. The second adjustment mechanism 170 is connected between the second adjustable support 130 and the third adjustable support 140, and the second adjustment mechanism 170 is used to adjust the displacement of the third adjustable support 140 relative to the second adjustable support 130 in the second direction. The third adjustment mechanism 180 is connected between the third adjustable support 140 and the fourth adjustable support 150, and the third adjustment mechanism 180 is used to adjust the displacement of the fourth adjustable support 150 relative to the third adjustable support 140 in the third direction. The first adjustment mechanism 160, the second adjustment mechanism 170 and the third adjustment mechanism 180 are also electrically connected to the main controller 800 respectively. Under the control of the main controller 800, the first adjustment mechanism 160, the second adjustment mechanism 170 and the third adjustment mechanism 180 can adjust the positions of the third fixing mechanism 500, the second flexible positioning mechanism 600 and the fourth fixing mechanism 700 in the first direction such as the X direction, the second direction such as the Y direction and the third direction such as the Z direction to adapt to the actual situation of the parts to be clamped, such as the size of the parts to be clamped, the position of the plane to be clamped, etc. In this way, by setting the first adjustment mechanism 160, the second adjustment mechanism 170 and the third adjustment mechanism 180, it is possible to effectively adapt to the parts to be clamped of different shapes and sizes, expand the scope of application of the clamping device 10, improve the versatility of the clamping device 10, meet the disassembly needs of retired power batteries of different models, and bring significant economic and social benefits to the enterprise. In addition, the types of clamping devices of different specifications are reduced, the cost is reduced, and the long replacement time caused by the use of clamping devices of different specifications and models can be greatly reduced.

[0052] Specifically, Fig. 9 , Fig.10 and Fig.11As shown, the fixing bracket 110 includes, for example, a first connector 111, a second connector 112, a third connector 113 and a fourth connector 114. Among them, the connection interface 101 is arranged at one end of the first connector 111. One end of the second connector 112 is connected to the first connector 111, and the length direction of the second connector 112 (consistent with the Y direction) is perpendicular to the length direction of the first connector 111 (consistent with the Z direction); one end of the third connector 113 is connected to the other end of the second connector 112, and the length direction of the third connector 113 (consistent with the X direction) is perpendicular to the plane formed by the length direction of the first connector 111 (consistent with the Z direction) and the length direction of the second connector 112 (consistent with the Y direction); one end of the fourth connector 114 is connected to the other end of the third connector 113, and the length direction of the fourth connector 114 (consistent with the Z direction) is perpendicular to the plane formed by the length direction of the second connector 112 (consistent with the Y direction) and the length direction of the third connector (consistent with the X direction). In addition, the first connecting member 111, the second connecting member 112, the third connecting member 113 and the fourth connecting member 114 are, for example, elongated cylindrical or tubular parts. One end of the first connecting member 111 is connected to a flange, and the flange is provided with a connection interface 101. Fig.10 As shown, a storage cavity 1121 and a first opening 1122 are provided in the second connecting member 112, and the first opening 1122 is connected to the storage cavity 1121. The main controller 800, the first magnetic control member 220, the pneumatic control unit 420 and the second magnetic control member 440 are respectively provided in the storage cavity 1121. In this way, space occupation is saved and the structure is simplified.

[0053] Furthermore, if Fig. 9 and Fig.11 As shown, a first groove 1141 is provided on an end surface of the fourth connecting member 114 away from the third connecting member 113 , and a first adjustment hole 1142 is provided on a side wall of the fourth connecting member 114 , and the first adjustment hole 1142 is connected to the first groove 1141 .

[0054] like Fig.12As shown, the first adjustable bracket 120 includes: a fifth connecting member 121, a sixth connecting member 122 and a seventh connecting member 123. Among them, one end of the fifth connecting member 121 is connected to one end of the sixth connecting member 122, and one end of the seventh connecting member 123 is connected to the other end of the sixth connecting member 122. The first accommodating cavity 102 is arranged at an end of the seventh connecting member 123 away from the sixth connecting member 122. Typically, the length direction of the fifth connecting member 121 is perpendicular to the length direction of the sixth connecting member 122, and the length direction of the seventh connecting member 123 is parallel to the length direction of the fifth connecting member 121. A plurality of connecting holes 1211 are arranged on the fifth connecting member 121, and the plurality of connecting holes 1211 are arranged in sequence along the length direction of the fifth connecting member 121 and are spaced from each other. The plurality of connecting holes 1211 are, for example, threaded holes. The end of the fifth connecting member 121 away from the sixth connecting member 122 can be inserted into the first groove 1141 of the fourth connecting member 114, and one of the multiple connecting holes 1211 is aligned with the first adjustment hole 1142. At this time, the fifth connecting member 121 and the fourth connecting member 114 can be movably connected by a threaded connecting member passing through the first adjustment hole 1142 and the aligned connecting hole 1211. When the length of the fifth connecting member 121 inserted into the fourth connecting member 114 in the Z direction needs to be adjusted, it can be achieved by replacing the connecting hole 1211.

[0055] like Fig.10 and Fig.11 As shown, a second groove 1131 is provided on the end surface of the third connecting member 113 away from the fourth connecting member 114 , and a second adjustment hole 1133 is provided on the side wall of the third connecting member 113 , and the second adjustment hole 1133 is connected to the second groove 1131 .

[0056] Furthermore, if Fig.13 As shown, the second adjustable bracket 130 includes an eighth connecting member 131 and a ninth connecting member 132. One end of the eighth connecting member 131 is connected to one end of the ninth connecting member 132, and the length direction of the eighth connecting member 131 is perpendicular to the length direction of the ninth connecting member 132. A plurality of first gear teeth 1311 are arranged on the side wall of the eighth connecting member 131. The eighth connecting member 131 can be inserted into the second groove 1131 of the third connecting member 113, and at least part of the plurality of first gear teeth 1311 is exposed from the second adjustment hole 1133.

[0057] like Figure 7 and Figure 8As shown, the first adjustment mechanism 160 includes, for example, a first fixing member 161, a first drive motor 162 and a first gear 163. The first fixing member 161 is connected to the third connecting member 113 of the fixing bracket 110 to provide support for the first drive motor 162. The first drive motor 162 is mounted on the first fixing member 161, and the first gear 163 is disposed on the output shaft of the first drive motor 162 and can rotate with the output shaft. The first drive motor 162 is also electrically connected to the main controller 800. The first gear 163 passes through the second adjustment hole 1133 and meshes with at least part of the first gear teeth of the plurality of first gear teeth 1311 to form a transmission connection. In this way, when it is necessary to adjust the positions of the third fixing mechanism 500, the second flexible positioning mechanism 600, and the fourth fixing mechanism 700 in the X direction, under the control of the main controller 800, the first drive motor 162 drives the first gear 163, drives the second adjustable bracket 130, the third adjustable bracket 140, and the fourth adjustable bracket 150 to move along the X direction, and the positions of the third fixing mechanism 500, the second flexible positioning mechanism 600, and the fourth fixing mechanism 700 in the X direction change accordingly.

[0058] In addition, if Fig.13 As shown, a third groove 1321 is provided on the end surface of the ninth connecting member 132 away from the eighth connecting member 131 , and a third adjustment hole 1322 is provided on the side wall of the ninth connecting member 132 , and the third adjustment hole 1322 is connected to the third groove 1321 .

[0059] like Fig.14 As shown, the third adjustable bracket 140 includes a tenth connecting member 141 and an eleventh connecting member 142. One end of the tenth connecting member 141 is connected to one end of the eleventh connecting member 142, and the length direction of the tenth connecting member 141 is perpendicular to the length direction of the eleventh connecting member 142. A plurality of second gear teeth 1411 are arranged on the side wall of the tenth connecting member 141. The tenth connecting member 141 can be inserted into the third groove 1321 of the ninth connecting member 132, and at least part of the plurality of second gear teeth 1411 is exposed in the third adjustment hole 1322.

[0060] like Figure 7 and Figure 8As shown, the second adjustment mechanism 170 includes, for example: a second fixing member 171, a second drive motor 172 and a second gear 173. The second fixing member 171 is connected to the eighth connecting member 131 to provide support for the second drive motor 172. The second drive motor 172 is mounted on the second fixing member 171, and the second gear 173 is arranged on the output shaft of the second drive motor 172 and can rotate with the output shaft. The second drive motor 172 is also electrically connected to the main controller 800. The second gear 173 passes through the third adjustment hole 1322 and meshes with at least part of the second gear teeth of the plurality of second gear teeth 1411 to form a transmission connection. In this way, when it is necessary to adjust the positions of the third fixing mechanism 500, the second flexible positioning mechanism 600, and the fourth fixing mechanism 700 in the Z direction, under the control of the main controller 800, the second drive motor 172 drives the second gear 173, driving the third adjustable bracket 140 and the fourth adjustable bracket 150 to move along the Z direction, and the positions of the third fixing mechanism 500, the second flexible positioning mechanism 600, and the fourth fixing mechanism 700 in the Z direction change accordingly.

[0061] In addition, if Fig.14 As shown, a fourth groove 1421 is provided on the end surface of the eleventh connecting member 142 away from the tenth connecting member 141 , and a fourth adjustment hole 1422 is provided on the side wall of the eleventh connecting member 142 , and the fourth adjustment hole 1422 is connected to the fourth groove 1421 .

[0062] like Fig.15 As shown, the fourth adjustable bracket 150 includes a twelfth connecting member 151 and a thirteenth connecting member 152. One end of the twelfth connecting member 151 is connected to one end of the thirteenth connecting member 152, and the length direction of the twelfth connecting member 151 is perpendicular to the length direction of the thirteenth connecting member 152. A plurality of third gear teeth 1511 are arranged on the side wall of the twelfth connecting member 151. The twelfth connecting member 151 can be inserted into the fourth groove 1421 of the eleventh connecting member 142, and at least part of the third gear teeth 1511 are exposed from the fourth adjustment hole 1422.

[0063] In addition, the first accommodating cavity is disposed on the end surface of the thirteenth connecting member 152 away from the twelfth connecting member 151, the second flexible positioning mechanism 600 is connected in the first accommodating cavity and can extend out of the first accommodating cavity or retract into the first accommodating cavity, and the third fixing mechanism 500 is disposed on the end surface of the thirteenth connecting member 152 away from the twelfth connecting member 151. The fourth fixing mechanism 700 is disposed on the outer side wall of the thirteenth connecting member 152.

[0064] like Figure 7 and Figure 8As shown, the second adjustment mechanism 180 includes, for example: a third fixing member 181, a third drive motor 182 and a third gear 183. The third fixing member 181 is connected to the eleventh connecting member 142 to provide support for the third drive motor 182. The third drive motor 182 is mounted on the third fixing member 181, and the third gear 183 is arranged on the output shaft of the third drive motor 182 and can rotate with the output shaft. The third drive motor 182 is also electrically connected to the main controller 800. The third gear 183 passes through the fourth adjustment hole 1422 and meshes with at least part of the third gear teeth of the plurality of third gear teeth 1511 to form a transmission connection. In this way, when it is necessary to adjust the positions of the third fixing mechanism 500, the second flexible positioning mechanism 600, and the fourth fixing mechanism 700 in the Y direction, under the control of the main controller 800, the third drive motor 182 drives the third gear 183 and drives the fourth adjustable bracket 150 to move along the Y direction, and the positions of the third fixing mechanism 500, the second flexible positioning mechanism 600, and the fourth fixing mechanism 700 in the Y direction change accordingly.

[0065] In this way, by setting up various adjustable brackets and adjustment mechanisms, the position movement of the third fixing mechanism 500, the second flexible positioning mechanism 600, and the fourth fixing mechanism 700 in various directions can be achieved to adapt to parts to be clamped of different shapes and specifications, thereby improving the application range of the clamping device 10.

[0066] Furthermore, if Fig.10 As shown, a key bar 1132 is disposed in the second groove 1131 of the third connecting member 113 of the fixing bracket 110. Fig.13 As shown, a key slot 1312 is provided on the outer side wall of the eighth connecting member 131 of the second adjustable bracket 130. When the eighth connecting member 131 can be inserted into the second groove 1131 of the third connecting member 113, the key bar 1132 is embedded in the key slot 1312. In this way, when the second adjustable bracket 130 moves relative to the fixed bracket 110, the second adjustable bracket 130 can be prevented from automatically rotating.

[0067] In another embodiment of the present invention, Fig.16As shown, the clamping device 10 also includes: an image acquisition unit 900. The image acquisition unit 900 is arranged on the bracket body 100. Specifically, the image acquisition unit 900 is arranged at an end of the second connecting member 112 of the fixed bracket 110 away from the first connecting member 111. The image acquisition unit 900 is also electrically connected to the main controller 800. The image acquisition unit 900 is, for example, a device that can realize the image acquisition function, such as a camera, an industrial camera, etc. The image acquisition unit 900 is used to capture images of the parts to be clamped when clamping the parts to be clamped, and send the captured image data to the main controller 800. The main controller 800 can intelligently identify and obtain the shape, size, identification, etc. of the parts to be clamped, for example, it can be used to record the information of the parts to be clamped, or to determine whether the parts to be clamped are parts that need to be clamped, etc.

[0068] In addition, it can be understood that the aforementioned embodiments are only exemplary illustrations of the present invention. Under the premise that the technical features do not conflict, are not contradictory, and do not violate the purpose of the present invention, the technical solutions of the various embodiments can be arbitrarily combined and used in combination.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping device, characterized in that: include: The bracket body has a first end and a second end that are arranged opposite to each other, the first end is provided with a connection interface, and the second end is provided with a first accommodating cavity; A first fixing mechanism disposed on the second end; and The first flexible positioning mechanism is connected to the first accommodating cavity of the second end, and the first flexible positioning mechanism can extend out of the first accommodating cavity or retract into the first accommodating cavity.

2. The clamping device according to claim 1, characterized in that A first opening is provided at the bottom of the first accommodating cavity; The first flexible positioning mechanism comprises: An elastic connecting member, one end of which is inserted into the first opening; A positioning head connected to the other end of the elastic connecting member, wherein the positioning head and the elastic connecting member can move relative to the bracket body; A first force sensor is attached to the first fixing mechanism; and A reset member is arranged between the positioning head and the bracket body.

3. The clamping device according to claim 2, characterized in that The first flexible positioning mechanism also includes: A second force sensor is attached to the elastic connecting member; and A displacement sensor, arranged on the elastic connecting member; Wherein, the clamping device further includes a main controller, which is disposed on the bracket body and is electrically connected to the second force sensor, the first force sensor, the displacement sensor and the first fixing mechanism.

4. The clamping device according to claim 1, characterized in that The first fixing mechanism includes a first magnetic member and a first magnetic control member, the first magnetic member is electrically connected to the first magnetic control member; the first magnetic member is arranged on the second end of the bracket body, and the first magnetic control member is arranged on the first end of the bracket body.

5. The clamping device according to claim 1, characterized in that The clamping device further comprises a second fixing mechanism, wherein the second fixing mechanism comprises: A first vacuum suction cup, disposed at the second end of the bracket body; A pneumatic control unit, disposed on the first end of the bracket body and connected to the first vacuum suction cup; A second magnetic suction member is sleeved outside the first vacuum suction cup; The second magnetic control component is arranged on the bracket body and is electrically connected to the second magnetic control component. The second magnetic control component is arranged adjacent to the first magnetic control component.

6. The clamping device according to claim 5, characterized in that The second fixing mechanism also includes: a telescopic mechanism connected between the first vacuum suction cup and the support body; and The second force sensor is arranged between the telescopic mechanism and the first vacuum suction cup, or between the telescopic mechanism and the bracket body.

7. The clamping device according to claim 1, characterized in that The support body comprises: A fixed bracket, wherein the connection interface is arranged at one end of the fixed bracket; One end of the first adjustable bracket is movably connected to the other end of the fixed bracket, and the first flexible positioning mechanism and the first fixing mechanism are arranged on an end of the first adjustable bracket away from the fixed bracket.

8. The clamping device according to claim 7, characterized in that The support body also includes: A second adjustable bracket, one end of which is connected to the fixed bracket and is arranged opposite to the first adjustable bracket; a third adjustable bracket, one end of which is connected to the other end of the second adjustable bracket; and a fourth adjustable bracket, one end of which is connected to the other end of the third adjustable bracket; Wherein, the clamping device also includes: A second fixing mechanism is provided at an end of the first adjustable bracket away from the fixing bracket on the first adjustable bracket and adjacent to the first fixing mechanism; A third fixing mechanism is arranged at the other end of the fourth adjustable bracket and is arranged opposite to the first fixing mechanism; A second flexible positioning mechanism is disposed at the other end of the fourth adjustable bracket and is disposed opposite to the first flexible positioning mechanism; and The fourth fixing mechanism is arranged at the other end of the fourth adjustable bracket and is adjacent to the third fixing mechanism. The fourth fixing mechanism is arranged opposite to the second fixing mechanism.

9. The clamping device according to claim 8, characterized in that The support body also includes: a first adjustment mechanism connected between the fixed bracket and the second adjustable bracket; a second adjustment mechanism connected between the second adjustable bracket and the third adjustable bracket; and The third adjusting mechanism is connected between the third adjustable bracket and the fourth adjustable bracket.

10. The clamping device according to claim 1, characterized in that The clamping device also includes: An image acquisition unit, disposed on the support body; and A main controller is arranged in the bracket body, and the main controller is electrically connected to the image acquisition unit, the first fixing mechanism and the first flexible positioning mechanism.

Images