Lightweight variable-pitch gripper for automobile battery production line module offline

Abstract

The invention provides a light-weight variable-pitch gripper for module offline of an automobile battery production line, and relates to the technical field of automobile battery production devices.The light-weight variable-pitch gripper is characterized in that a steel pipe on one side of a steel structure frame extends outwards and is connected with a 3D visual camera through a support, and the 3D visual camera faces the position of a battery module in a material opening; the bottom of the side, away from the 3D vision camera, of the steel structure frame is connected with a transverse moving assembly. A single-side clamping jaw assembly is fixedly connected to the bottom of the transverse moving assembly, an opposite-side clamping jaw assembly opposite to the single-side clamping jaw assembly is arranged at the bottom of the side, close to the 3D visual camera, of the steel structure frame, and the single-side clamping jaw assembly and the opposite-side clamping jaw assembly are used for clamping the two ends of the battery module; and two sets of locking assemblies are further arranged on the steel structure frame, the locking assemblies are used for limiting the stroke of the transverse moving assembly when the battery modules of different sizes are grabbed, the technical problem that the grabber is provided with two sets of independent drive, and the dead weight is huge is solved, and the technical effect that stroke compatibility and variable distance are achieved through limiting is achieved.

Description

Technical Field

[0001] This invention relates to the field of automotive battery production equipment technology, and in particular to a lightweight variable pitch gripper for automotive battery production line modules. Background Technology

[0002] With the rapid development of the new energy vehicle industry, battery modules, as core power components, have made the automation and efficiency of their production a key focus. In the battery production line module assembly process, robotic grippers are crucial for precise grasping and stable handling of modules. They must meet the compatibility and handling requirements of battery modules of different specifications, while also being compatible with the load capacity of existing robots on the production line to ensure the continuity and safety of the production process.

[0003] The module robot grippers currently used in new energy vehicle battery production lines generally adopt a dual-sided synchronous variable pitch structure design. This structure focuses on pursuing functional symmetry and ease of control, and is equipped with two complete drive units (the drive source is usually a module or a variable pitch cylinder), corresponding slide rail guide mechanisms, and support frames. By adjusting the spacing on both sides synchronously, it can adapt to battery modules of different widths and ensure balance and stability during the gripping process.

[0004] However, existing grippers with dual-sided synchronous variable pitch structures require two independent sets of drive, guide, and support components, resulting in a complex overall structure, redundant parts, and consequently, enormous weight. This problem is particularly pronounced when dealing with reused robots in production lines with limited rated loads. For example, for a reused robot with a rated load of 700kg, the actual load capacity needs to be controlled within 600kg after reserving a safety margin. However, the battery module itself weighs 370kg, leaving only 230kg for the gripper. The existing dual-sided variable pitch solution far exceeds this allowance, directly causing the robot to be unable to operate stably, limiting the effective utilization of reused equipment, and triggering additional costs for robot upgrades or new additions. Summary of the Invention

[0005] The purpose of this invention is to provide a lightweight variable pitch gripper for automotive battery production line modules, so as to alleviate the technical problem of existing grippers having two independent drives and huge weight.

[0006] The lightweight variable pitch gripper for automotive battery production line modules provided by the present invention includes: a steel frame, a 3D vision camera, a lateral movement assembly, a single-sided gripper assembly, and a locking assembly. A steel pipe extends outward from one side of the steel frame and is connected to a 3D vision camera via a bracket. The 3D vision camera faces the position of the battery module in the material inlet. A transverse component is connected to the bottom of the steel frame on the side away from the 3D vision camera. A single-sided gripper assembly is fixed to the bottom of the transverse component. A opposite gripper assembly is provided on the bottom of the steel frame near the 3D vision camera. The single-sided gripper assembly and the opposite gripper assembly are used to grip both ends of the battery module. Two sets of locking components are also installed on the steel frame. The locking components are used to limit the travel of the lateral moving components when gripping battery modules of different sizes.

[0007] Furthermore, the lateral movement assembly includes a lateral movement bracket, a slide rail, a lateral movement cylinder, a first limiting member, a connecting block, and a second limiting member; The top of the transverse support has slide rails distributed along its horizontal and vertical directions. The slide rails are slidably connected to the steel frame through sliders. The bottom of the transverse support is fixed with a single-sided gripper assembly. The top surface of the transverse support is also provided with a first limiting member, a connecting block and a second limiting member in sequence; the first limiting member is connected to a locking component, the second limiting member is connected to another locking component, the connecting block is used to connect to the transverse cylinder, and the transverse cylinder is located at the bottom of the transverse support.

[0008] Furthermore, both the single-sided gripper assembly and the opposite-sided gripper assembly include three gripping and positioning claws and one supporting claw; The gripping and positioning claw is equipped with a positioning pin, and the single-sided gap between the positioning pin and the positioning hole of the battery module is 1.5mm to 2mm; the supporting claw is used to support the bottom of the battery module.

[0009] Furthermore, each locking assembly includes a cylinder, a connecting seat, a guide sleeve, a locating pin, and a floating joint; The connecting seat is welded and fixed to the steel frame. The cylinder is fixed to the connecting seat by bolts. One end of the positioning pin is connected to the piston rod of the cylinder through a floating joint. The bottom of the positioning pin passes through the guide sleeve.

[0010] Furthermore, the first limiting member is an elongated hole, and the second limiting member is a notch. The positioning pin of one locking component extends out and inserts into the first limiting member for locking engagement, while the positioning pin of the other locking component engages with the notch of the second limiting member for limiting.

[0011] Furthermore, the connecting seat on the locking assembly is also equipped with an equalizing screw, the end face of which corresponds to the end of the stroke of the positioning pin, and is used to cooperate with the sensor to detect the positioning pin's position.

[0012] Furthermore, buffers are provided on the three sliding rails of the transverse component on the steel frame, and L-shaped hard limits are provided at the end of the two edge sliding rails. The buffers and L-shaped hard limits work together to limit the maximum retraction stroke of the transverse component.

[0013] Furthermore, multiple sensors are installed on the steel frame, each connected to the PLC control system via wires to detect the position of the traverse component and the presence or absence of the product.

[0014] Furthermore, the load-bearing positions on both sides of the steel frame use steel pipes with specifications of 60mm×60mm×3mm, while the remaining positions use steel pipes with specifications of 60mm×40mm×3mm; a connecting steel plate is provided at the connection position between the steel frame and the seven-axis robot.

[0015] Beneficial effects: The lightweight variable-pitch gripper for automotive battery production line modules provided by this invention, through its asymmetrical single-sided lateral movement design, significantly reduces the number of drive units, slide rails, and support frames compared to traditional dual-sided synchronous variable-pitch solutions. Combined with a steel frame optimized through finite element analysis, the gripper's weight is successfully controlled within the load capacity of compatible robots, avoiding robot upgrade costs and achieving efficient reuse of existing equipment. Simultaneously, the 3D vision camera is independently mounted via a steel frame extension bracket, facing the material inlet, thus avoiding interference from the gripper's grasping action.

[0016] By combining two sets of locking components and a lateral movement component, the lateral movement stroke can be flexibly limited for two different sizes of battery modules. This eliminates the need to replace the dedicated gripper, achieving compatibility with multiple product specifications, significantly reducing production line changeover time and costs, and enhancing flexible production capabilities. Furthermore, the locking components lock the lateral movement structure once the stroke is complete, enhancing adaptability and practicality. By changing the cylinder's limiting structure during the gripping process, stroke compatibility and variable distance are achieved even with a cylinder as the drive source, greatly saving on module replacement costs and achieving weight reduction. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the lightweight variable pitch gripper for automotive battery production line modules provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the lateral movement component in the lightweight variable pitch gripper provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the locking assembly in the lightweight variable pitch gripper provided in an embodiment of the present invention; Figure 4This is a schematic diagram of the steel frame structure of the lightweight variable pitch gripper provided in an embodiment of the present invention; Figure 5 This is a bottom schematic diagram of the lightweight variable pitch gripper provided in an embodiment of the present invention.

[0019] Icons: 1-Steel frame; 2-3D vision camera; 3-Horizontal movement assembly; 301-Horizontal movement bracket; 302-Slide rail; 303-Horizontal movement cylinder; 304-First limiting component; 305-Connecting block; 306-Second limiting component; 4-Single-sided gripper assembly; 5-Locking assembly; 501-Cylinder; 502-Connecting seat; 503-Guide sleeve; 504-Positioning pin; 505-Floating joint; 506-Equal height screw; 6-Opposite-sided gripper assembly; 7-Positioning claw; 8-Supporting claw; 9-Buffer; 10-L-type hard limit; 11-Sensor; 12-Connecting steel plate. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] like Figure 1 As shown, the lightweight variable pitch gripper for automotive battery production line modules provided by the present invention includes: a steel frame 1, a 3D vision camera 2, a lateral movement assembly 3, a single-sided gripper assembly 4, and a locking assembly 5. A steel pipe extends outward from one side of the steel frame 1 and is connected to a 3D vision camera 2 via a bracket. The 3D vision camera 2 faces the position of the battery module in the material inlet. A transverse component 3 is connected to the bottom of the steel frame 1 on the side away from the 3D vision camera 2. A single-sided gripper assembly 4 is fixedly connected to the bottom of the transverse component 3. A opposite gripper assembly 6 is provided on the bottom of the steel frame 1 on the side close to the 3D vision camera 2. The single-sided gripper assembly 4 and the opposite gripper assembly 6 are used to grip the two ends of the battery module. Two sets of locking components 5 are also installed on the steel frame 1. The locking components 5 are used to limit the travel of the transverse component 3 when gripping battery modules of different sizes.

[0028] Specifically, the steel frame 1 adopts a welded structure. Specific-specification steel pipes are used at the main load-bearing locations on both sides, while corresponding-specification steel pipes are used at other non-load-bearing locations. Finite element analysis optimization ensures a balance between strength and lightweight design. One side of the steel frame 1 has a steel pipe extending outwards, with the extended end fixed to a bracket via bolts. The bracket is L-shaped, and its other end is detachably connected to the 3D vision camera 2 via fasteners, allowing the 3D vision camera 2 to face directly above the battery module in the material inlet, ensuring an unobstructed and full-coverage detection view. A horizontal movement assembly 3 is slidably connected to the bottom of the steel frame 1 on the side opposite to the 3D vision camera 2. A single-sided gripper assembly 4 is fixed to the bottom of the horizontal movement assembly 3. The opposite-sided gripper assembly 6 has the same structure as the single-sided gripper assembly 4 and is welded to the bottom of the steel frame 1 on the side closest to the 3D vision camera 2. Both are symmetrically distributed along the length of the steel frame 1, forming an opposing clamping structure. Furthermore, the asymmetrical lateral movement on one side and the fixed position on the opposite side eliminates the need for a drive unit and guide rail mechanism, greatly simplifying the structure and reducing the weight. This keeps the overall weight of the gripper within a reasonable range, accurately matching the load quota of the existing robot and avoiding the high costs of robot upgrades or new additions. Meanwhile, the 3D vision camera 2 is independently installed via an extension bracket, ensuring it is not interfered with by the gripper assembly's grasping action and can accurately collect battery module position information.

[0029] The transverse component 3 includes a linear guide rail and a transverse frame. The fixed end of the linear guide rail is tightly fitted to the pre-set mounting surface at the bottom of the steel frame 1 and locked with bolts. The transverse frame slides with the linear guide rail via a slider. A cylinder connecting block of a specific material is welded to one side of the transverse frame, which is used to connect with the output end of the drive cylinder through a floating joint to achieve smooth movement of the transverse frame. Two sets of locking components 5 are installed on the side of the steel frame 1 near the transverse component 3, and their connecting seats are fixed to the welded joint of the steel pipe of the steel frame 1 with bolts. The single-sided gripper component 4 and the opposite-sided gripper component 6 are both C-shaped seats welded with a specific material. A connecting block of a specific material is fixed to the contact end with the battery. The gripping and positioning structure is also equipped with a positioning pin of a specific material and with surface treatment. The positioning pin maintains a specific single-sided gap with the positioning hole of the battery module.

[0030] In embodiments of the present invention, such as Figure 2As shown, the lateral movement assembly includes a lateral movement bracket 301, a slide rail 302, a lateral movement cylinder 303, a first limiting member 304, a connecting block 305, and a second limiting member 306. The top of the lateral movement bracket 301 has a slide rail 302 distributed along its horizontal vertical direction. The slide rail 302 is slidably connected to the steel frame 1 through a slider. The bottom of the lateral movement bracket 301 is fixedly connected to a single-sided gripper assembly 4. The top surface of the lateral movement bracket 301 is also sequentially provided with a first limiting member 304, a connecting block 305, and a second limiting member 306. The first limiting member 304 is connected to a locking assembly 5, and the second limiting member 306 is connected to another locking assembly 5. The connecting block 305 is used to connect to the lateral movement cylinder 303, which is located at the bottom of the lateral movement bracket 301.

[0031] Both the single-sided gripper assembly 4 and the opposite-sided gripper assembly 6 include three gripping and positioning claws 7 and one supporting claw 8; The gripping and positioning claw 7 is equipped with a positioning pin, and the single-sided gap between the positioning pin and the positioning hole of the battery module is 1.5mm to 2mm; the supporting claw 8 is used to support the bottom of the battery module.

[0032] Specifically, the transverse support 301 has a long strip structure, with slide rails 302 evenly distributed on its top along its horizontal vertical direction. The slide rails 302 are slidably connected to the pre-set mounting surface at the bottom of the steel frame 1 via matching sliders, ensuring that the transverse support 301 can move smoothly laterally along the steel frame 1. The bottom of the transverse support 301 is fixedly connected to the single-sided gripper assembly 4 by welding, and the top surface is equipped with a first limiting member 304, a connecting block 305, and a second limiting member 306, all of which are fixed to the transverse support 301 by bolts. The single-sided gripper assembly 4 and the opposite-sided gripper assembly 6 have completely identical structures, each with three gripping and positioning claws 7 and one supporting claw 8 arranged at intervals along its length. The combination of three gripping positioning claws 7 and one supporting claw 8 not only enables precise positioning of both ends of the module through the positioning pins of the gripping positioning claws 7, with a single-sided gap range of 1.5mm to 2mm balancing positioning accuracy and installation tolerance, but also provides stable support to the bottom of the module through the supporting claw 8, preventing the module from tilting or falling off during gripping. Furthermore, the overall structure is compact, reducing redundant components and further reducing weight. The transverse movement cylinder 303 is horizontally mounted at the bottom of the transverse movement bracket 301, and its cylinder body is detachably connected to the steel frame 1 via the bracket, ensuring direct and stable transmission of driving force.

[0033] The first limiting member 304 is matched with one of the locking components 5, and the second limiting member 306 is matched with the other locking component 5. The two sets of matching structures are respectively matched with the gripping stroke of battery modules of different sizes. The gripping stroke can be flexibly adapted to battery modules of different widths by switching the limiting position. Multi-specification compatibility can be achieved without replacing the gripper components, which greatly improves the flexibility of the production line.

[0034] The positioning pin of the gripping positioning claw 7 is vertically positioned on the side of the claw body facing the battery module, precisely aligned with the positioning hole of the battery module. The top surface of the supporting claw 8 is a flat structure adapted to the bottom of the battery module, ensuring sufficient support area. The synergistic effect of the gripping positioning claw 7, positioning pin, and supporting claw 8 forms a double layer of protection for positioning and support, ensuring accurate positioning during module handling and distributing clamping forces to reduce the risk of module structural damage.

[0035] In embodiments of the present invention, such as Figure 3 As shown, each locking assembly 5 includes a cylinder 501, a connecting seat 502, a guide sleeve 503, a locating pin 504, and a floating joint 505; The connecting seat 502 is welded and fixed to the steel frame 1. The cylinder 501 is fixed to the connecting seat 502 by bolts. One end of the positioning pin 504 is connected to the piston rod of the cylinder 501 through the floating joint 505. The bottom of the positioning pin 504 passes through the guide sleeve 503.

[0036] The first limiting member 304 is an elongated hole, and the second limiting member 306 is a notch. The positioning pin 504 of one locking component 5 extends out and inserts into the first limiting member 304 for locking engagement, and the positioning pin 504 of the other locking component 5 is engaged in the notch of the second limiting member 306 for limiting.

[0037] The connecting seat 502 on the locking assembly 5 is also provided with an equalizing screw 506. The end face of the equalizing screw 506 corresponds to the end of the stroke of the positioning pin 504, and is used to cooperate with the sensor to detect the positioning pin 504 in position.

[0038] Specifically, the connecting seat 502 is fixedly connected to the steel frame 1, and the cylinder 501 is fixedly attached to the connecting seat 502 by multiple bolts to ensure stable transmission of driving force. One end of the positioning pin 504 is fixedly connected to the floating joint 505, and the other end of the floating joint 505 is coaxially connected to the piston rod of the cylinder 501. The guide sleeve 503 is fixed in the preset mounting hole of the connecting seat 502, and the bottom of the positioning pin 504 slides along the axial direction of the guide sleeve 503. The side of the connecting seat 502 is also screwed with an equalizing screw 506, and the end face of the equalizing screw 506 is precisely aligned with the end of the stroke of the positioning pin 504. Two sets of locking components 5 are distributed on the side of the steel frame 1 near the transverse component 3, and are respectively in the same vertical plane as the first limiting member 304 and the second limiting member 306 on the transverse support 301. The guide sleeve 503 provides precise guidance for the positioning pin 504, preventing misalignment that could lead to locking failure; the floating joint 505 can buffer the axial impact force when the cylinder 501 is driven, reducing the collision and wear between the positioning pin 504 and the limiting component; the equalizing screw 506, in conjunction with the sensor, can detect the extension and retraction status of the positioning pin 504 in real time, ensuring accurate feedback of the stroke signal.

[0039] The first limiting member 304 is an elongated hole structure, located on the top surface of the transverse support 301 near one end. The second limiting member 306 is a C-shaped notch structure, located on the top surface of the transverse support 301 near the other end. When the positioning pin 504 of one set of locking components 5 extends, it can be inserted axially into the elongated hole of the first limiting member 304 to achieve a locking engagement. When the positioning pin 504 of the other set of locking components 5 extends, it can be engaged into the notch of the second limiting member 306 to complete the limiting and fixing. When dealing with larger products, the elongated hole of the first limiting member 304, when engaged with the positioning pin 504, simultaneously restricts its lateral displacement. When dealing with smaller products, the notch-shaped second limiting member 306 facilitates the quick engagement of the positioning pin 504. The two sets of locking structures correspond to the gripping stroke of battery modules of different sizes. With the drive of the transverse cylinder 303, multi-specification product compatibility can be achieved without changing the gripper assembly.

[0040] In embodiments of the present invention, such as Figure 4 , Figure 5 As shown, buffers 9 are provided on the steel frame 1 at the moving positions of the three slide rails 302 corresponding to the transverse component 3, and L-shaped hard limiters 10 are provided at the end limits of the two edge slide rails 302. The buffers 9 and L-shaped hard limiters 10 cooperate to limit the maximum retraction stroke of the transverse component 3.

[0041] Multiple sensors 11 are installed on the steel frame 1. Each sensor 11 is connected to the PLC control system via wires to detect the travel position of the transverse component 3 and the presence or absence of the product.

[0042] The load-bearing positions on both sides of the steel frame 1 are made of steel pipes with a specification of 60mm×60mm×3mm, and the remaining positions are made of steel pipes with a specification of 60mm×40mm×3mm; a connecting steel plate 12 is provided at the connection position between the steel frame 1 and the seven-axis robot.

[0043] Specifically, the steel frame 1 is constructed using differentiated steel pipes. 60mm×60mm×3mm steel pipes are used at the load-bearing locations on both sides, while 60mm×40mm×3mm steel pipes are used at the non-load-bearing locations. Finite element analysis optimization achieves a balance between strength and lightweight. A connecting steel plate 12 is fixed at the connection point between the steel frame 1 and the seven-axis robot. The connecting steel plate 12 is firmly welded to the steel frame 1, providing a stable support surface for the connection between the gripper and the robot. Buffers 9 are installed at the movement paths of the three slide rails 302 corresponding to the transverse component 3 on the steel frame 1. The buffers 9 are fixed to the steel frame 1 with bolts. L-shaped hard limiters 10 are also provided at the ends of the two edge slide rails 302 for limiting movement. The L-shaped hard limiters 10 are vertically welded to the preset installation positions on the steel frame 1, corresponding to the buffers 9 along the length of the slide rails 302. The selection of specific specification steel pipes minimizes self-weight while meeting load-bearing requirements. Combined with the reinforced connection of connecting steel plate 12, it ensures the overall structural stability of the gripper and meets the goal of lightweighting. The buffer 9 can absorb the impact force when the transverse component 3 retracts, avoiding component wear caused by hard contact. The L-shaped hard limit 10 serves as the final stroke. The two work together to precisely limit the maximum retraction stroke of the transverse component 3.

[0044] Multiple sensors 11 are installed on the steel frame 1. The sensors 11 are respectively arranged at the stroke end detection point of the transverse component 3 and the position of the product gripping area. Each sensor 11 is connected to the PLC control system through wires to form a complete signal transmission link. The linkage between multiple sensors 11 and the PLC control system, together with the limit locking function of the buffer 9, L-shaped hard limit 10 and locking component 5, effectively prevents the operational risks caused by mechanical failure or signal interruption. The overall device not only continues the lightweight design of single-sided variable pitch, but also enhances the operational reliability and control accuracy of the gripper, ensuring that it is perfectly compatible with the reuse robot with a rated load of 700kg. It can stably complete the gripping and unloading of multi-specification battery modules without additional equipment upgrades.

[0045] Based on the above embodiments, the specific working process of the lightweight variable pitch gripper for automotive battery production line modules provided by the present invention is as follows: Guided by the 3D vision camera 2, the position of the product in the feed inlet is determined. Then, the seven-axis robot carries this device and moves laterally to above the product to be gripped. At this time, the lateral movement cylinder 303 is in the fully open state. When it moves laterally above the product, the seven-axis robot adjusts the center of the gripper to above the center of the product to prepare for gripping. Then, the entire gripper moves down to the position where the product can be gripped, and the lateral movement cylinder 303 begins to retract, driving the entire lateral movement assembly 3 to retract to the position to grip the product. The position detection switch indicator light is on. At this time, the gripper moves up as a whole, so that the pin on the positioning claw 7 enters the positioning air of the product, and then the entire product is lifted up.

[0046] When gripping two different products, the only difference is the travel distance and the limiting position of the transverse cylinder 303. When gripping the first product with a smaller width, the cylinder 501 in the locking assembly 5 is in a fully extended state. Then, the transverse cylinder 303 in the transverse assembly 3 begins to retract until the groove of the second limiting member 306 is precisely engaged with the positioning pin 504 of the locking assembly 5, thus limiting the entire transverse assembly 3. When grasping the second type of product with a slightly larger width, the limiting mechanism relies on the buffer 9 and the L-shaped hard limit 10. After the buffer 9 and the L-shaped hard limit 10 block the entire lateral movement assembly 3, the positioning sensor sends a signal, causing the cylinder 501 in the locking assembly 5 to extend, i.e., the positioning pin 504 extends, inserting the lateral movement assembly 3 into the circular hole of the first limiting member 304, locking it in the lateral movement direction. This provides protection and prevents the cylinder from opening and causing danger if power is cut off. Sensor 11 is used to detect the presence or absence of a product. During operation, after each stroke reaches its destination, a detection sensor is connected to the PLC to ensure smooth communication.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lightweight variable distance gripper for end-of-line automotive battery module, characterized in that, The utility model relates to a light weight variable distance gripper, including: Steel structure frame (1), 3D vision camera (2), horizontal moving assembly (3), one -sided jaw assembly (4) and locking assembly (5); One side steel pipe of steel structure frame (1) extends outward and is connected with 3D vision camera (2) through support, 3D vision camera (2) faces the position of battery module in material port, the bottom of the side of steel structure frame (1) away from 3D vision camera (2) is connected with horizontal moving assembly (3); The bottom of horizontal moving assembly (3) is fixed with one -sided jaw assembly (4), the bottom of the side of steel structure frame (1) near 3D vision camera (2) is provided with opposite jaw assembly (6) opposite one -sided jaw assembly (4), one -sided jaw assembly (4) and opposite jaw assembly (6) are used for clamping the both ends of battery module, Two locking assemblies (5) are further provided on steel structure frame (1), and locking assembly (5) is used to limit the stroke of horizontal moving assembly (3) when grabbing battery modules of different sizes.

2. The light weight variable distance gripper according to claim 1, wherein, the horizontal moving assembly (3) comprises a horizontal moving support (301), a slide rail (302), a horizontal moving cylinder (303), a first limiting piece (304), a connecting block (305), and a second limiting piece (306); the slide rail (302) is distributed on the top of the horizontal moving support (301) along the transverse direction thereof, and is slidably connected with the steel structure frame (1) through a sliding block; the first limiting piece (304), the connecting block (305), and the second limiting piece (306) are sequentially arranged on the top surface of the horizontal moving support (301); the first limiting piece (304) is connected with one of the locking assemblies (5), the second limiting piece (306) is connected with another one of the locking assemblies (5), the connecting block (305) is used for connecting with the horizontal moving cylinder (303), and the horizontal moving cylinder (303) is arranged at the bottom of the horizontal moving support (301).

3. The light weight variable distance gripper according to claim 2, wherein, each of the one -sided jaw assembly (4) and the opposite jaw assembly (6) comprises three grabbing positioning claws (7) and a supporting claw (8); the grabbing positioning claws (7) are provided with positioning pins, the single -sided gap between the positioning pins and the battery module positioning hole is 1.5mm-2mm; and the supporting claw (8) is used for supporting the bottom of the battery module.

4. The light weight variable distance gripper according to claim 2, wherein, each of the locking assemblies (5) comprises a cylinder (501), a connecting seat (502), a guide sleeve (503), a positioning pin (504), and a floating joint (505). The connecting seat (502) is welded and fixed with the steel structure frame (1), the cylinder (501) is fixed with the connecting seat (502) through bolts, one end of the positioning pin (504) is connected with the piston rod of the cylinder (501) through the floating joint (505), and the bottom of the positioning pin (504) is arranged in the guide sleeve (503).

5. The lightweight variable distance gripper according to claim 4, wherein, The first limiting piece (304) is a long circular hole, and the second limiting piece (306) is a notch. The positioning pin (504) of one of the locking assemblies (5) is inserted into the first limiting piece (304) for locking and cooperation, and the positioning pin (504) of the other locking assembly (5) is clamped into the notch of the second limiting piece (306) for limiting.

6. The lightweight variable distance gripper according to claim 4, wherein, The connecting seat (502) of the locking assembly (5) is further provided with an equal-height screw (506), the end face of the equal-height screw (506) corresponds to the end of stroke of the positioning pin (504), and is used for cooperating with a sensor to detect the in-place state of the positioning pin (504).

7. The lightweight variable distance gripper according to claim 2, wherein, The steel structure frame (1) is provided with a buffer (9) corresponding to the moving position of the three slide rails (302) of the horizontal moving assembly (3), and the end of the edge two slide rails (302) is provided with an L-shaped hard limit (10), the buffer (9) and the L-shaped hard limit (10) are matched, and are used for limiting the maximum retraction stroke of the horizontal moving assembly (3).

8. The lightweight variable distance gripper according to claim 1, wherein, The steel structure frame (1) is provided with a plurality of sensors (11), each sensor (11) is connected with a PLC control system through a wire, and is used for detecting whether the horizontal moving assembly (3) is in stroke and whether there is a product.

9. The lightweight variable distance gripper according to claim 1, wherein, The load-bearing positions on both sides of the steel structure frame (1) adopt steel pipes with a specification of 60mm*60mm*3mm, and the remaining positions adopt steel pipes with a specification of 60mm*40mm*3mm; and the connecting position of the steel structure frame (1) and the seven-axis robot is provided with a connecting steel plate (12).

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