A new energy battery grabbing and releasing kit and method

Abstract

This invention relates to the field of battery production equipment and discloses a new energy battery gripping and releasing kit and method. The gripping and releasing kit includes a clamping module for gripping and releasing batteries. The clamping module includes two interchangeable blocks that can open and close relative to each other. The top of each interchangeable block is provided with a mounting block that protrudes laterally from its outer side wall. The outer side wall of each interchangeable block is slidably connected to a gripper that can float vertically relative to the mounting block. The gripper is located below the mounting block, and a first displacement sensor for detecting the vertical displacement of the gripper is mounted on the mounting block. The amount of gripper displacement can directly determine whether the gripper is over-voltageing the battery. The gripping and releasing method achieves coordinated operation of variable pitch adjustment and over-voltage protection through a series of steps including variable pitch adaptation, clamping, over-voltage protection, under-voltage clamping, and release reset, taking into account both multi-specification battery adaptation and gripping safety.

Description

Technical Field

[0001] This invention relates to the field of battery production equipment, and in particular to a new energy battery gripping and releasing kit and method. Background Technology

[0002] With the rapid rise of the new energy industry, the production and manufacturing of new energy batteries such as power batteries and energy storage batteries are developing rapidly towards automation, high precision, and high reliability. Battery gripping, handling, and transfer are among the main processes in battery production lines, directly affecting battery production efficiency, product qualification rate, and production safety. In automated new energy battery production lines, the gripping kit (kit) serves as the end effector of the robotic arm, undertaking the precise transfer of batteries from the material box and conveyor line to the processing station, inspection station, and finally, packaging. Its performance directly determines the stability and safety of the battery production process.

[0003] Existing gripper kits have significant technical shortcomings: in terms of pitch adjustment, either the gripper spacing is fixed, resulting in poor product compatibility, or the pitch adjustment accuracy is low and the response speed is slow, making it difficult to meet the demands of high-speed, high-precision production; in terms of overvoltage protection, there is a lack of a real-time force feedback mechanism, and improper gripping pressure control can easily cause battery scratches, casing deformation, and even safety hazards. Furthermore, the low integration and insufficient versatility of overvoltage protection and pitch adjustment functions lead to high equipment investment and maintenance costs.

[0004] Among them, the current mainstream overpressure prevention solutions all have shortcomings: First, adding a pressure sensor to the end of the gripper will reduce the rigidity of the end structure, require high installation accuracy, have signal feedback delay, increase the volume of the gripping unit and easily cause structural interference, and the dust, oil and static electricity of the production line can easily cause sensor reading distortion, requiring frequent calibration and maintenance; Second, adding an overpressure telescopic spring assembly to the root of the gripper will result in the overpressure point being far away from the gripping contact surface, resulting in delayed feedback, low pressure control accuracy, and occupying axial space, making the overall structure bulky.

[0005] Therefore, developing a gripping and releasing kit that combines precise pitch control, reliable overvoltage protection, and high integration is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a new energy battery gripping and releasing kit and method. Even if the grippers on both sides are subjected to angular overpressure, the grippers will still move, and the displacement will trigger the sensor alarm, thus solving the problems of delayed response and low pressure control accuracy.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, a new energy battery gripping and releasing kit is provided, including a clamping module for gripping and releasing the battery. The clamping module includes two adapter blocks that can open and close relative to each other. The top of the adapter block is provided with a mounting block that protrudes laterally from its outer side wall. The outer side wall of the adapter block is slidably connected to a gripper that can float vertically relative to the mounting block. The gripper is located below the mounting block, and a first displacement sensor for detecting the vertical displacement of the gripper is provided on the mounting block.

[0008] Optionally, a vertically extending overpressure slide rail is fixedly installed on the inner side of the gripper, and an overpressure slider is fixedly installed at the end of the adapter block, with the overpressure slider slidably connected to the overpressure slide rail.

[0009] Optionally, an overpressure spring extending vertically is provided between the mounting block and the gripper, and the upper and lower ends of the overpressure spring abut against the bottom surface of the mounting block and the top surface of the gripper, respectively.

[0010] Optionally, a second displacement sensor is vertically mounted on the adapter block, the second displacement sensor being used to detect the top position of the battery.

[0011] Optionally, the clamping module further includes a clamping actuator for driving the two adapter blocks to open and close laterally relative to each other, and the ends of the two adapter blocks away from the gripper are connected to the output end of the clamping actuator.

[0012] Optionally, a PU pad is fixedly installed on the inner side of the end of the gripper away from the mounting block, and the inner side of the PU pad has a groove adapted to the outline of the battery.

[0013] Optionally, an anti-breakage clamping spring is connected between the two adapter blocks. The driving force of the clamping actuator is greater than the elastic force of the anti-breakage clamping spring. The anti-breakage clamping spring can provide a horizontal clamping positive pressure when the clamping actuator fails. The static friction force generated by the horizontal clamping positive pressure on the contact surface between the PU pad and the battery is not less than the weight of the battery.

[0014] Optionally, the clamping module is provided in multiple ways, and the gripping and releasing kit further includes a variable distance module connected to the multiple clamping modules, and the variable distance module is used to adjust the longitudinal distance between the multiple clamping modules.

[0015] Optionally, the variable pitch module includes a bracket, the clamping actuator is slidably mounted on the bottom of the bracket via a support, the bracket has a guide hole extending longitudinally, a continuously variable pitch shaft is rotatably mounted above the guide hole, the continuously variable pitch shaft has a curved groove extending helically in the axial direction, a cam follower is rotatably mounted on the top of the support, and the cam follower passes through the guide hole and is embedded in the curved groove.

[0016] Secondly, a method for gripping and releasing new energy batteries is provided, employing the new energy battery gripping and releasing kit described in the first aspect. The gripping and releasing method includes the following steps: S1. Based on the battery spacing between upstream and downstream workstations, the stepless pitch shaft rotates and cooperates with the cam follower through the curved slide, driving each clamping module to move linearly along the guide hole, adjusting the longitudinal spacing of multiple sets of grippers. S2. The gripping and releasing kit moves down to the gripping position, and the clamping actuator drives the two adapter blocks to close relative to each other, causing the grippers to clamp the battery sidewall through the PU pad. S3. During the downward movement of the gripping and releasing kit, if the battery is eccentric, tilted, or the gripping and releasing kit moves too far downward, the gripper will be compressed by the reverse force, causing the overpressure spring to compress and float up along the overpressure slide rail; the first displacement sensor will detect the vertical displacement of the gripper in real time, and trigger an alarm when the threshold is reached. S4. After clamping, transport the battery to the target station. If the gas or power is interrupted midway, the anti-breakage clamping spring provides clamping force to keep the jaws closed and prevent the battery from falling off. S5. After reaching the target workstation, the gripper opens to release the battery, and the gripping and releasing kit moves upward to reset, completing a single gripping and releasing operation.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) In this invention, the adapter block drives the gripper to open and close to grip and release the battery. At the same time, the gripper can float vertically relative to the adapter block. That is, by contacting the end of the gripper with the battery, the slight overpressure of the gripper on the battery is converted into a vertical linear motion of the gripper. The displacement of the gripper is measured by the first displacement sensor. Thus, the amount of gripper displacement can be used to directly determine whether the gripper is over-pressured on the battery. This solves the problems of slow response and low pressure control accuracy in the prior art. It is not only compact in structure, but also achieves the purpose of precise force control to prevent overpressure, avoids the battery from being squeezed and deformed or damaged, and significantly improves the yield. (2) In this invention, the sliding cooperation between the overpressure slide rail and the overpressure slider provides precise guidance for the vertical floating of the gripper, ensuring that the gripper floats without wobbling, and improving the accuracy and reliability of displacement detection; and it can withstand lateral eccentric force, and can still ensure smooth floating action under battery eccentricity and tilting conditions, adapting to complex incoming material scenarios. (3) In this invention, the overpressure spring provides elastic restoring force for the gripper, maintains the initial position of the gripper during normal gripping, and achieves soft contact gripping by compressing and buffering the impact force during overpressure, thereby reducing the rigid impact on the battery. (4) In this invention, the anti-breakage clamping spring does not affect the opening and closing of the gripper when the gripping kit is in normal operation, and automatically maintains the gripper closed state when the power and gas are cut off, which can effectively prevent the battery from falling off and improve production safety under abnormal working conditions; and the spring is set between the two adapter blocks, without occupying additional axial space, and has a high degree of integration. (5) In this invention, the continuous process of variable pitch adaptation, clamping, overpressure protection, pressure loss clamping and material release reset is used to achieve the coordinated operation of variable pitch adjustment and overpressure protection, taking into account the adaptation of multiple battery specifications and the safety of gripping; the multi-level overpressure detection and pressure loss clamping function work together to ensure the safety of battery gripping throughout the process under normal operation, abnormal overpressure or even power outage and gas outage conditions, and improve the stability of production line operation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the new energy battery gripping and releasing kit in Embodiment 1 of the present invention; Figure 2 This is an isometric structural diagram of the new energy battery gripping and releasing kit in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the clamping module in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the main structure of the clamping module in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the position structure of the clamping module and the battery when the battery posture is skewed in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the structure of the gripping and releasing kit, the battery, and the first material box in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the gripping and releasing kit, battery, and second material box in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the principle of the transverse structure in Embodiment 3 of the present invention; The components include: 1. Clamping actuator; 2. Adapter block; 201. Mounting block; 3. Gripper; 4. PU pad; 5. First displacement sensor; 6. Second displacement sensor; 7. Overpressure slide rail; 8. Overpressure spring; 9. Anti-breakage clamping spring; 10. Support; 11. Bracket; 12. Guide hole; 13. Auxiliary slide rail; 14. Auxiliary slider; 15. Cam follower; 16. Stepless pitch shaft; 17. Servo power unit; 18. Synchronous belt drive unit; 19. Fiber optic meter module; 20. First material box; 21. Second material box; 22. Slide rail; 23. Slider; 24. Crossbeam. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention and therefore only show the components relevant to the present invention.

[0020] Example 1, as Figures 1-7As shown, a new energy battery gripping and releasing kit includes multiple clamping modules and a variable-pitch module that is hygienically connected to each clamping module. The clamping modules are used to perform the gripping and releasing actions of the batteries, and the variable-pitch module is used to adjust the spacing between the multiple clamping modules to adapt to different battery arrangement spacings at upstream and downstream workstations. For ease of description, the vertical lifting direction of the clamping modules is set as vertical, the opening and closing direction of the grippers 3 of the clamping modules is set as horizontal, and the multiple clamping modules are arranged longitudinally, i.e., the variable-pitch module is used to adjust the longitudinal spacing of the multiple clamping modules.

[0021] The clamping module includes a clamping actuator 1 and two symmetrically arranged adapter blocks 2. The two adapter blocks 2 are respectively connected to the output end of the clamping actuator 1. The clamping actuator 1 preferably adopts a clamping cylinder, which can drive the two adapter blocks 2 to open and close laterally relative to each other. The end of the adapter block 2 is provided with an inwardly protruding mounting block 201. The end of the adapter block 2 is also slidably connected to a gripper 3, which is located below the mounting block 201 and can float vertically relative to the adapter block 2. A first displacement sensor 5 is vertically inserted through the mounting block 201. The detection end of the first displacement sensor 5 faces the top surface of the gripper 3 and is used to detect the vertical displacement of the gripper 3 relative to the adapter block 2 in real time.

[0022] Traditional overpressure prevention methods simply involve adding pressure sensors to the ends of the grippers or overpressure extension spring assemblies to the base of the grippers. Adding pressure sensors to the ends has several drawbacks, such as reduced rigidity after embedding, uneven stress leading to easy damage, and high installation accuracy requirements—even slight misalignment affects detection accuracy. Signal acquisition and processing are delayed, resulting in untimely pressure feedback during high-speed gripping and releasing, hindering real-time precise force control and reducing production line efficiency. Adding pressure sensors increases the thickness and volume of the gripping unit, increasing the risk of interference with batteries and fixtures, reducing fitment space, and impacting compact layouts. Dust, oil, and static interference in battery production lines can cause sensor zero-point drift and reading distortion, requiring frequent calibration and maintenance. Similarly, adding overpressure extension spring assemblies to the base of the grippers also presents several drawbacks, such as the overpressure point being far from the product, leading to untimely overpressure feedback, difficulty in detecting multiple overpressure points and minor overpressure, lag in response, and low pressure control accuracy. Furthermore, it occupies axial space, resulting in a bulky structure.

[0023] Compared to existing traditional overpressure prevention methods, the above structure allows the overpressure generated by the gripper 3 during battery gripping to be directly converted into its own vertical floating displacement. The first displacement sensor 5 directly collects the displacement signal to realize overpressure determination. The detection path is short and the response is lag-free, which can accurately identify slight overpressure conditions and solve the problems of low pressure control accuracy and untimely feedback in traditional solutions. At the same time, the detection element is integrated at the mounting block 201 and does not need to be embedded at the end of the gripper 3. This ensures the structural rigidity of the end of the gripper 3 and avoids structural interference between the detection element and the battery or surrounding workstations. The overall structure is compact and adaptable to the compact layout of the production line.

[0024] Furthermore, a vertically extending overpressure slide rail 7 is fixedly installed on the inner side of the gripper 3, and an overpressure slider is fixedly installed at the end of the adapter block 2. The overpressure slider slides in cooperation with the overpressure slide rail 7 to provide precise guidance for the vertical floating of the gripper 3. An overpressure spring 8 extending vertically is provided between the mounting block 201 and the gripper 3. The upper and lower ends of the overpressure spring 8 abut against the bottom surface of the mounting block 201 and the top surface of the gripper 3, respectively.

[0025] The cooperation between the overpressure slide rail 7 and the overpressure slider can constrain the floating direction of the gripper 3, ensuring the accuracy of displacement detection. At the same time, the clearance between the slide rail and the slider allows the gripper 3 to adaptively deflect under conditions such as battery angular misalignment or eccentricity. Combined with the lever arm amplification effect, slight overpressure is converted into detectable vertical displacement, realizing semi-flexible overpressure detection. This can adapt to complex incoming material scenarios such as battery skew and local protrusions, avoiding detection failure or battery damage caused by rigid jamming. The overpressure spring 8 can provide a reset force for the gripper 3 to maintain the initial position during normal gripping, and can also act as a buffer during overpressure, realizing soft contact gripping and reducing the risk of rigid impact on the battery. In addition, the mounting block 201 is also equipped with fasteners for adjusting the initial elasticity of the overpressure spring 8, thereby adjusting the pre-starting force of the gripper 3's floating.

[0026] A second displacement sensor 6 is also vertically mounted on the adapter block 2. The detection end of the second displacement sensor 6 faces downward and is used to detect the top position of the battery. The second displacement sensor 6 can help determine whether the kit has descended to the correct position. Together with the first displacement sensor 5, it forms a dual detection system, which verifies the position from two dimensions: the floating displacement of the gripper 3 and the position of the top surface of the battery. This enables overpressure alarms for multiple scenarios such as clamping deviation and over-positioning, further improving the safety of the gripping operation.

[0027] The first displacement sensor 5 and the second displacement sensor 6 can be infrared sensors or optical fibers. Optical fibers are preferred here, and a matching optical fiber meter module 19 is provided, including an ECC module, a terminal block and an optical fiber amplifier.

[0028] The overvoltage protection structure proposed in this invention uses multiple independent optical fibers on both sides of the gripper 3. The optical fibers are symmetrically distributed on both sides of the clamping module. The gripper 3 contacts the battery at its lower end, converting the slight overpressure (a few grams of overpressure) of the overvoltage battery into linear motion of the gripper 3 under the constraint of the overvoltage slide rail 7. The linear change is fed back in real time to the numerical change on the amplifier through the optical fiber amplifier.

[0029] In addition, a PU pad 4 is fixedly installed on the lower inner side of the gripper 3. The inner side of the PU pad 4 has a groove that matches the contour of the battery sidewall. An anti-breakage clamping spring 9 is connected between the two adapter blocks 2, and the two ends of the anti-breakage clamping spring 9 are fixedly connected to the two adapter blocks 2 respectively. When the gripper 3 clamps the battery and lifts it to a suspended state, there is a risk of sudden power failure or gas failure. This device is equipped with an anti-breakage clamping spring 9. The parameters of the anti-breakage clamping spring 9 are selected based on the force conditions: Under normal working conditions, the clamping force output by the clamping cylinder is greater than the spring force, ensuring that the gripper 3 can complete the opening and closing and clamping actions normally; when power failure or gas failure occurs, the clamping cylinder fails and its force disappears. The anti-breakage clamping spring 9 provides horizontal clamping positive pressure. This positive pressure will generate vertical static friction force on the contact surface between the battery and the PU pad 4. The design ensures that the maximum static friction force is not less than the weight of the battery itself. The battery is supported by friction, effectively preventing the battery from falling.

[0030] Specifically, when the clamping module descends to grasp the battery, many uncertainties can occur during the upstream material feeding process, such as battery tilt, abnormal corner defects, or protrusions, all of which can affect the safe grasping of the battery. Therefore, this invention proposes a clamping module with overpressure protection and real-time amplified feedback. Its structural principle is as follows: When the battery is eccentric on one side, the clamping module's jaws 3 and PU pads 4 will first contact the battery as it descends. As the clamping module continues to descend, the jaws 3 will compress the overpressure spring 8, and the upper surface of the jaws 3 will gradually approach the first displacement sensor 5 (overpressure protection fiber optic cable). Millimeter-level overpressure is sensed by the fiber optic cable and fed back in real-time through a fiber optic amplifier until the alarm threshold is reached, at which point the device will trigger a clamping misalignment alarm. Simultaneously, this clamping module not only prevents clamping misalignment but also overcomes a certain amount of product tilt. Even with a certain amount of product tilt, testing shows that the gap between the overpressure slide rail 7 and the overpressure slider is sufficient to allow the jaws 3 to displace when a certain amount of product tilt occurs, thus achieving the alarm effect. Similarly, to prevent the kit from descending excessively during normal clamping, an overpressure-proof fiber optic cable (i.e., the second displacement sensor 6) was designed to prevent overpressure alarms in various situations.

[0031] like Figure 1 and Figure 2As shown, the variable pitch module includes a bracket 11. An auxiliary slide rail 13 is laterally arranged at the bottom of the bracket 11. Each clamping module is slidably mounted on the auxiliary slide rail 13 via a support 10. An auxiliary slider 14, which mates with the auxiliary slide rail 13, is fixed on the support 10. A guide hole 12 extending longitudinally is provided on the bracket 11, located above the auxiliary slide rail 13. A continuously variable pitch shaft 16 is rotatably mounted on the upper part of the bracket 11. The axis of the continuously variable pitch shaft 16 is parallel to the auxiliary slide rail 13, and a curved groove extending spirally along the axial direction is provided on the continuously variable pitch shaft 16. A cam follower 15 is rotatably mounted on the top of the support 10, passing upward through the guide hole 12 and embedding into the curved groove. A servo power unit 17 is provided at one end of the bracket 11, and the servo power unit 17 is connected to the continuously variable pitch shaft 16 via a synchronous belt drive unit 18. The bracket 11 is also equipped with a fiber optic meter module 19, which is connected to the signals of each displacement sensor to collect detection signals and output alarm commands.

[0032] The servo power unit 17 drives the continuously variable pitch shaft 16 to rotate via the synchronous belt transmission unit 18. Utilizing the cooperation of the curved slide groove and the cam follower 15, the rotational motion of the continuously variable pitch shaft 16 is converted into the linear motion of the support 10 along the auxiliary slide rail 13. This allows for synchronous adjustment of the spacing between multiple clamping modules, achieving high-precision continuously variable pitch. It adapts to different battery spacings at upstream and downstream workstations, eliminating the need to change fixtures and accommodating various production scenarios, thus improving production line versatility and reducing equipment changeover costs. The guide hole 12 and the auxiliary slide rail 13 form a dual guide, ensuring smooth operation during the pitch change process. The curved slide groove is integrated inside the pitch shaft, resulting in a compact overall structure, fast transmission response, and adaptability to high-speed automated production cycles.

[0033] In practical applications, the gripping and releasing kit can transfer batteries between the first material box 20 and the second material box 21. By adjusting the spacing of the clamping modules through the variable pitch module, it can adapt to the different battery arrangement spacing of the two material boxes and achieve precise transfer across workstations.

[0034] In Example 2, the present invention also proposes a new energy battery gripping and releasing method, which adopts the new energy battery gripping and releasing kit disclosed in Example 1, including the following steps: adaptive spacing adjustment, downward clamping operation, multi-level overpressure linkage detection, pressure loss clamping and handling, and material release and reset.

[0035] S1. Adaptive Spacing Adjustment: Based on the battery arrangement spacing between the upstream and downstream workstations, the servo power unit 17 drives the continuously variable shaft 16 to rotate via the synchronous belt transmission unit 18. Through the transmission cooperation between the curved slide groove and the cam follower 15, it drives each support 10 to move linearly along the auxiliary slide rail 13, synchronously adjusting the spacing between each set of clamping modules to achieve spacing adaptation with the target workstation. The continuously variable pitch adjustment can flexibly adapt to the spacing differences of different workstations, enabling multi-specification, multi-workstation gripping and placing operations without changing fixtures, thus improving production line adaptability and changeover efficiency.

[0036] S2. Downward Clamping Operation: The entire gripping and releasing kit descends to the gripping station. The clamping actuator 1 drives the two adapter blocks 2 to close relative to each other, causing the gripper 3 to adhere to and clamp the battery sidewall via the inner PU pad 4. The flexible contact and groove limit of the PU pad 4 ensures stable clamping while avoiding damage to the battery surface, thus improving product yield.

[0037] S3. Multi-level overvoltage linkage detection: During the downward gripping process of the kit, if the battery is eccentric, tilted, or the kit goes too far downward, the gripper 3 will compress the overvoltage spring 8 after being subjected to the reverse force of the battery, and float upward relative to the adapter block 2 along the overvoltage slide rail 7; the first displacement sensor 5 collects the vertical floating displacement of the gripper 3 in real time. When the displacement reaches the preset alarm threshold, the fiber optic meter module 19 triggers an alarm and stops the downward movement of the kit; at the same time, the second displacement sensor 6 synchronously detects the top position of the battery to assist in verifying the downward position status, realizing multi-level overvoltage protection against clamping deviation and over-positioning.

[0038] This method utilizes the clearance fit between the slide rail and the slider, along with the lever arm amplification effect, to convert slight overpressure into a detectable displacement. It features rapid detection response, high pressure control accuracy, and adaptability to complex incoming material conditions such as battery tilting and eccentricity. The dual-sensor linkage detection covers various overpressure scenarios, forming comprehensive overpressure protection, effectively preventing battery deformation and damage due to overpressure, and significantly improving production yield.

[0039] S4. Pressure Loss Protection and Handling: After clamping, the gripping and releasing kit moves upward and transports the battery to the target station. If a power outage, gas outage, or other abnormal condition occurs during transport, the driving force of the clamping actuator 1 disappears, and the anti-breakage clamping spring 9 provides elasticity to maintain the closed state of the grippers 3, preventing the battery from falling off. This pressure loss protection function covers sudden abnormal conditions, avoiding product damage and safety accidents caused by battery drops, and improving the stability and safety of the production line operation.

[0040] S5, Unloading and Reset: After reaching the target station, the gripping and unloading kit moves downward, the clamping actuator 1 drives the adapter block 2 to open, the gripper 3 releases the battery, and then the kit moves upward to reset, completing a single gripping and unloading cycle.

[0041] This method can be fully automated, with each functional module working together to achieve variable pitch adaptation, precise clamping, overpressure protection, and abnormal clamping protection. It can be adapted to the operating rhythm of high-speed automated production lines, effectively improving production efficiency.

[0042] Example 3: This example provides a detailed explanation of the overpressure protection mechanical principle and adaptive correction of the gripper 3 of the clamping module of the present invention. By utilizing the structural mechanical characteristics, passive overpressure early warning protection is achieved, solving the technical problems of lag response and poor pressure control accuracy in existing protective structures.

[0043] like Figure 8 As shown, the motion structure composed of the adapter block 2 and the gripper 3 of the clamping module of the present invention is equivalent to a gantry truss cross-span structure. The sliders 23 at both ends of the structure are slidably mounted on the slide rails 22 on both sides of the truss. When the overall crossbeam 24 moves in translation, if there is frictional resistance, uneven load, or force deviation on any side of the slide rail 22 of the truss, the crossbeam 24 will produce a slight attitude deviation under the action of unilateral resistance force, forming a parallelogram-like deformation trend. Figure 8 In the diagram, the left arrow corresponds to the direction of the slider's hysteresis displacement, the right arrow corresponds to the direction of the slide rail's sliding resistance, and the middle arrow corresponds to the overall feed direction of the crossbeam.

[0044] Regarding the mechanical motion characteristics of the aforementioned simply supported beam-type transverse structure, this application clarifies its slight offset law through structural mechanics analysis: When the width of the sliders 23 at both ends is much smaller than the length of the crossbeam 24, forming a narrow block long beam I-beam support structure, even if interference fit is used at each assembly position, under the assembly conditions of using conventional standard slide rails and non-ultra-precision preloaded slide rail sliders, a slight offset will still occur in the motion fit clearance between the slide rail 22 and the slider 23. The offset displacement of the crossbeam 24 in this structure has a fixed amplification ratio relationship with the assembly clearance, specifically satisfying the formula: Δ≈(L / b)·δ.

[0045] Where: Δ is the actual offset displacement of the crossbeam 24, δ is the assembly clearance between the slide rail 22 and the slider 23, L is the effective support length of the crossbeam 24, and b is the effective fit width of the slider 23. From the above mechanical relationship, it can be seen that the crossbeam 24 will amplify the minute assembly clearance between the slide rail 22 and the slider 23, transforming the minute clearance into a detectable macroscopic displacement.

[0046] This invention utilizes the inherent mechanical properties to design an adaptive deformation-resistant overpressure clamping module structure resembling a mechanical spider leg. When the gripper 3 is subjected to tilting, lateral, or forward overload pressure during clamping operations, the overall module structure will generate a controllable micro-displacement displacement based on the aforementioned gap amplification structure, rather than the rigid pressure bearing of traditional rigid structures. This deformation displacement can accurately trigger the detection sensor to achieve overload alarm and shutdown protection. By utilizing the structure's own mechanical properties, a passive and highly sensitive overpressure protection is achieved, avoiding the shortcomings of existing protection structures such as response lag, low pressure threshold accuracy, and untimely overload feedback.

[0047] In summary, this invention proposes a new energy battery gripping and releasing kit and method. It utilizes the fit gap between the overpressure slide rail 7 and the slider, combined with the lever arm amplification effect, to achieve semi-flexible overpressure detection. This solves the problems of slow response and inability to adapt to battery tilting and eccentricity conditions in existing technologies, accurately capturing slight overpressure and offset overpressure at the gram level. It also avoids the inherent defects of insufficient rigidity of end pressure sensors, susceptibility to production line environment interference, and slow feedback and low pressure control accuracy of root spring solutions. Combined with a servo-driven stepless pitch structure, it achieves sub-millimeter-level pitch adjustment, adapting to differences in battery spacing between upstream and downstream workstations, improving production line versatility and changeover efficiency. Simultaneously, the pressure loss protection design of the anti-breakage clamping spring 9 and the multi-level overpressure detection of dual displacement sensors achieve full-condition safety protection. This solution has high overall integration and a compact structure, effectively improving the accuracy, efficiency, and operational stability of new energy battery gripping and releasing operations, while reducing equipment investment and maintenance costs.

[0048] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many improvements and modifications under the guidance of the present invention without departing from the spirit and scope of the claims. These improvements and modifications should also be considered within the scope of protection of the present invention.

[0049] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they should not be construed as limitations on this invention.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

Claims

1. A new energy battery gripping and releasing kit, characterized in that, The device includes a clamping module for gripping and releasing batteries. The clamping module includes two interchangeable blocks that can open and close relative to each other. The top of each interchangeable block is provided with a mounting block that protrudes laterally from its outer side wall. The outer side wall of each interchangeable block is slidably connected to a gripper that can float vertically relative to the mounting block. The gripper is located below the mounting block, and a first displacement sensor for detecting the vertical displacement of the gripper is mounted on the mounting block.

2. The new energy battery gripping and releasing kit according to claim 1, characterized in that, A vertically extending overpressure slide rail is fixedly installed on the inner side of the gripper, and an overpressure slider is fixedly installed at the end of the adapter block, and the overpressure slider is slidably connected to the overpressure slide rail.

3. The new energy battery gripping and releasing kit according to claim 2, characterized in that, An overpressure spring extending vertically is provided between the mounting block and the gripper, with the upper and lower ends of the overpressure spring abutting against the bottom surface of the mounting block and the top surface of the gripper, respectively.

4. The new energy battery gripping and releasing kit according to claim 1, characterized in that, A second displacement sensor is vertically mounted on the adapter block, and the second displacement sensor is used to detect the top position of the battery.

5. The new energy battery gripping and releasing kit according to claim 1, characterized in that, The clamping module further includes a clamping actuator for driving the two adapter blocks to open and close laterally relative to each other, and the ends of the two adapter blocks away from the gripper are connected to the output end of the clamping actuator.

6. The new energy battery gripping and releasing kit according to claim 5, characterized in that, A PU pad is fixedly installed on the inner side of the end of the gripper away from the mounting block, and the inner side of the PU pad has a groove that conforms to the outline of the battery.

7. The new energy battery gripping and releasing kit according to claim 6, characterized in that, An anti-breakage clamping spring is connected between the two adapter blocks. The driving force of the clamping actuator is greater than the elastic force of the anti-breakage clamping spring. The anti-breakage clamping spring can provide a horizontal clamping positive pressure when the clamping actuator fails. The static friction force generated by the horizontal clamping positive pressure on the contact surface between the PU pad and the battery is not less than the weight of the battery.

8. The new energy battery gripping and releasing kit according to claim 5, characterized in that, The clamping module is provided in multiple ways, and the gripping and releasing kit also includes a variable distance module connected to the multiple clamping modules, and the variable distance module is used to adjust the longitudinal distance between the multiple clamping modules.

9. The new energy battery gripping and releasing kit according to claim 8, characterized in that, The variable pitch module includes a bracket, and the clamping actuator is slidably mounted on the bottom of the bracket via a support. The bracket has a guide hole extending longitudinally, and a continuously variable pitch shaft is rotatably mounted above the guide hole. The continuously variable pitch shaft has a curved groove extending helically along the axial direction. A cam follower is rotatably mounted on the top of the support, and the cam follower passes through the guide hole and is embedded in the curved groove.

10. A method for gripping and releasing new energy batteries, using the new energy battery gripping and releasing kit as described in any one of claims 1-9, characterized in that, The grasping and releasing method includes the following steps: S1. Based on the battery spacing between upstream and downstream workstations, the stepless pitch shaft rotates and cooperates with the cam follower through the curved slide, driving each clamping module to move linearly along the guide hole, adjusting the longitudinal spacing of multiple sets of grippers. S2. The gripping and releasing kit moves down to the gripping position, and the clamping actuator drives the two adapter blocks to close relative to each other, causing the grippers to clamp the battery sidewall through the PU pad. S3. During the downward movement of the gripping and releasing kit, if the battery is eccentric, tilted, or the gripping and releasing kit moves too far downward, the gripper will be compressed by the reverse force, causing the overpressure spring to compress and float up along the overpressure slide rail; the first displacement sensor will detect the vertical displacement of the gripper in real time, and trigger an alarm when the threshold is reached. S4. After clamping, transport the battery to the target station. If the gas or power is interrupted midway, the anti-breakage clamping spring provides clamping force to keep the jaws closed and prevent the battery from falling off. S5. After reaching the target workstation, the gripper opens to release the battery, and the gripping and releasing kit moves upward to reset, completing a single gripping and releasing operation.

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