Battery module expansion pin positioning gripper

Abstract

The utility model relates to a battery module expansion pin positioning gripper which is characterized in that a tray gripping mechanism is fixed on one side of a base, a plurality of expansion pin mechanisms are arranged below the base and correspond to battery holes in the front surface of a battery module, and a visual system is fixed on one side of the base. The gripper has the beneficial effects that the gripper is integrated with the visual system, the visual system positions a battery module to achieve incoming material deviation correction and accurately grasp a single module, and due to the fact that the front face of the battery module is provided with the multiple battery holes, the battery module is grabbed in the mode that the expansion pin mechanism stretches into the battery holes in the front face of the battery module; the technical problem that in the prior art, due to the fact that the distance between the two sides of a module is very small, clamping cannot be achieved in a rocker arm holding mode for welding is solved, after one layer of battery module is grabbed, the battery module is switched to the tray grabbing mechanism, the tray grabbing mechanism grabs and releases an incoming tray so that the battery module of the next layer can be grabbed, and the clamping efficiency is improved. And the battery module and the tray are grabbed by sharing one set of grabber.

Description

Technical Field

[0001] The utility model relates to the field of battery production, in particular to a battery module expansion pin positioning gripper. Background Art

[0002] With the continued explosive growth of the new energy vehicle market, the development of the new energy vehicle industry has reached a critical transformation period. The power battery industry has also jointly proposed an expectation: the automated productivity of power battery modules will reach more than 80%. Against this background, the demand for automated production of power batteries is becoming increasingly urgent. As a vital part of the new energy vehicle industry, the battery modules on and off the battery PACK automated production line are particularly important. Since the battery modules are rectangular as a whole and are evenly arranged in the material frame, the distance between the two sides of the battery modules in the production line is very small, so it is impossible to clamp them like a rocker arm for welding. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a battery module expansion pin positioning gripper to overcome the deficiencies in the above-mentioned prior art.

[0004] The utility model solves the above-mentioned technical problems with the following technical solutions: a battery module expansion pin positioning gripper, comprising: a base, a tray gripping mechanism fixed on one side of the base, a plurality of expansion pin mechanisms arranged below the base at the battery holes on the front side of the battery module, and a visual system fixed on one side of the base.

[0005] On the basis of the above technical solution, the present invention can also be improved as follows.

[0006] Furthermore, the expansion pin mechanism includes: a fixed seat, a cylinder is fixed on the upper end of the fixed seat, the fixed seat has a hollow cavity, a grabbing tube connected to the cavity is fixed on the lower end of the fixed seat, the lower end of the grabbing tube has an expansion petal, an expansion pin core is arranged in the cavity of the fixed seat, the upper end of the expansion pin core is fixed to the rod end of the cylinder, the lower end of the expansion pin core extends into the grabbing tube and extends from the expansion petal; the end of the lower end of the expansion pin core is a structure that is small at the top and bottom and large in the middle; the cylinder moves the expansion pin core up and down through a telescopic action, so that the expansion petal expands and contracts and resets under the action of the expansion pin core, and generates pressure with the inner wall of the battery hole when expanding and separates from the inner wall of the battery hole when contracting and resetting.

[0007] Furthermore, a return spring sleeved on the expansion pin core is arranged in the cavity of the fixing seat, and the expansion pin core is provided with an annular shoulder above the return spring.

[0008] Furthermore, a servo displacement mechanism is fixed below the base, and the expansion pin mechanism is divided into two groups along the length direction of the battery module, one group is fixed to the base, and the other group is fixed to the servo displacement mechanism.

[0009] Furthermore, the number of expansion pin mechanisms is four, and the four expansion pin mechanisms are divided into two groups along the length direction of the battery module, with two in each group, one group being fixed to the base, and the other group being fixed to the servo displacement mechanism.

[0010] Furthermore, two driving mechanisms are arranged between the expansion pin mechanisms below the base, and a clamping claw is installed on each of the two driving mechanisms. The two driving mechanisms are used to drive the two clamping claws to move to clamp the battery module.

[0011] Furthermore, the driving mechanism is a servo electric cylinder, which is fixed below the base, the upper end of the clamp is rotatably connected to the base, and the middle part of the clamp is rotatably connected to the rod end of the servo electric cylinder.

[0012] Further, the lower end of the clamping jaw has an inward step.

[0013] Furthermore, a position sensor is fixed below the base.

[0014] Furthermore, the tray grabbing mechanism is a vacuum suction cup group.

[0015] The beneficial effects of the utility model are:

[0016] 1) The gripper integrates a visual system, which locates the battery module to correct the incoming material deviation and accurately grasp a single module. Since the front of the battery module has multiple battery holes, the expansion pin mechanism is inserted into the battery hole on the front of the battery module to grasp the battery module, so as to solve the technical problem in the prior art that the distance between the two sides of the module is very small and cannot be clamped in the form of a rocker arm for welding. After one layer of battery module is grasped, it is switched to the tray grasping mechanism, which grasps and places the incoming material tray so as to grasp the next layer of battery modules. The battery module and tray are grasped by sharing one set of grippers. Under the guidance of the visual system, the robot can automatically grasp the battery module and place it into the battery housing;

[0017] 2) For battery modules of different lengths, the spacing of the battery holes on the front of the battery module in the length direction will change. Therefore, the spacing of the two sets of expansion pin mechanisms in the length direction of the battery module can be adjusted through the servo displacement mechanism to adapt to the grasping of battery modules of different lengths, so that multiple modules can share one set of grippers;

[0018] 3) The servo electric cylinder drives the clamping jaws to rotate, so that the opening distance between the two clamping jaws can be adjusted to adapt to the clamping of different battery modules;

[0019] 4) The lower end of the clamp has an inward step. According to the structural characteristics of the battery module, the clamp can maintain the clamping position unchanged during normal grasping, abnormal power outage, gas outage or equipment alarm, and the battery module will not fall accidentally;

[0020] 5) The in-situ sensor can realize the in-situ detection of the battery module. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional diagram of the battery module expansion pin positioning gripper in the utility model;

[0022] Figure 2 A top view of the battery module expansion pin positioning gripper in the utility model;

[0023] Figure 3 It is a side view of the battery module expansion pin positioning gripper in the utility model;

[0024] Figure 4 It is a structural diagram of the expansion pin mechanism in the utility model;

[0025] Figure 5 It is a cross-sectional view of the expansion pin mechanism in the utility model.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 1. Base, 2. Pallet grabbing mechanism, 3. Servo displacement mechanism, 4. Expansion pin mechanism, 410, fixed seat, 420, cylinder, 430, grabbing tube, 431, expansion flap, 440, expansion pin core, 441, shoulder, 450, reset spring, 5. Vision system, 6. In-position sensor, 7. Driving mechanism, 8. Gripper. DETAILED DESCRIPTION

[0028] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0029] Example 1

[0030] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, a battery module expansion pin positioning gripper comprises: a base 1, a tray grabbing mechanism 2 is fixed on one side of the base 1, a plurality of expansion pin mechanisms 4 are arranged below the base 1 at the battery holes on the front of the battery module, and a visual system 5 is fixed on one side of the base 1;

[0031] The base 1 in the battery module expansion pin positioning gripper is fixed to the robot's mechanical arm, and the visual system 5 positions the battery module to realize incoming material correction. Since the battery module has multiple battery holes on the front, the expansion pin mechanism 4 is inserted into the battery holes on the front of the battery module to realize the grasping of the battery module, so as to solve the technical problem in the prior art that the distance between the two sides of the module is very small and it is impossible to achieve clamping like the rocker arm for welding. After one layer of battery module is grasped, it is switched to the pallet grasping mechanism 2. The pallet grasping mechanism 2 realizes the grasping and placing of the incoming material pallet so as to grasp the next layer of battery modules. The grasping of the battery module and the pallet is completed by sharing a set of grippers. Under the guidance of the visual system 5, the robot can complete the work of automatically grasping the battery module and placing it into the battery casing.

[0032] Example 2

[0033] like Figure 4 , Figure 5 As shown, this embodiment is a further improvement on the basis of embodiment 1, and the details are as follows:

[0034] The expansion pin mechanism 4 includes: a fixed seat 410, a cylinder 420 is fixed at the upper end of the fixed seat 410, the fixed seat 410 has a hollow cavity, a grabbing tube 430 connected to the cavity is fixed at the lower end of the fixed seat 410, and the lower end of the grabbing tube 430 has an expansion flap 431, and an expansion pin core 440 is arranged in the cavity of the fixed seat 410, the upper end of the expansion pin core 440 is fixed to the rod end of the cylinder 420, and the lower end of the expansion pin core 440 extends into the grabbing tube 430 and extends from the expansion flap 431; the end of the lower end of the expansion pin core 440 is a structure with small upper and lower parts and large middle parts;

[0035] The maximum dimension of the lower end of the expansion pin core 440 is larger than the inner diameter of the expansion flap 431, and the maximum dimension of the lower end of the expansion pin core 440 is smaller than the inner diameter of the battery hole. For example, the maximum dimension of the lower end of the expansion pin core 440 is 10.5 mm, while the inner diameter of the battery hole is 11.5 mm; the dimension of the expansion flap 431 in the non-expanded state is smaller than the inner diameter of the battery hole, and the maximum dimension of the expansion flap 431 in the expanded state is larger than the inner diameter of the battery hole;

[0036] The cylinder 420 moves the expansion pin core 440 up and down through telescopic action, so that the expansion petal 431 expands and contracts alternately under the action of the expansion pin core 440, and generates pressure with the inner wall of the battery hole when expanding and separates from the inner wall of the battery hole when contracting and resetting;

[0037] The working principle is as follows:

[0038] The rod end of the cylinder 420 extends outward, and the expansion pin core 440 moves downward under the action of the cylinder 420 and extends out from the expansion petal 431. The expansion petal 431 shrinks and becomes smaller. At this time, the expansion pin core 440 can enter the battery hole, and the robotic arm moves to allow the expansion pin core 440 to enter the hole. Then the rod end of the cylinder 420 retracts, and the expansion pin core 440 moves upward. The expansion pin core 440 expands the expansion petal 431. The expansion petal 431 generates pressure on the inner wall of the battery module hole, thereby generating an upward friction force, and then cooperates with the robotic arm to grasp the battery module. After the grasping is completed, the expansion pin core 440 moves downward under the action of the cylinder 420 and extends out from the expansion petal 431. The expansion petal 431 shrinks and becomes smaller, and then the robotic arm moves to allow the expansion pin mechanism 4 to detach from the battery module.

[0039] Example 3

[0040] like Figure 5 As shown, this embodiment is a further improvement on the basis of embodiment 2, and the details are as follows:

[0041] A return spring 450 is arranged in the cavity of the fixing seat 410 and is sleeved on the expansion pin core 440. The expansion pin core 440 has a shoulder 441 above the return spring 450. The rod end of the cylinder 420 extends outward, and the expansion pin core 440 moves downward under the force of the cylinder 420 and extends out from the expansion petal 431. The expansion pin core 440 compresses the return spring 450 downward, and the expansion petal 431 shrinks and becomes smaller. At this time, the expansion pin core 440 can enter the battery hole, and the mechanical arm moves to make the expansion pin core 440 enter the hole, and then the cylinder 4 20 The rod end retracts and the expansion pin core 440 moves upward under the elastic force of the return spring 450, and the expansion pin core 440 expands the expansion petal 431. The expansion petal 431 generates pressure on the inner wall of the battery module hole, thereby generating an upward friction force, and then cooperates with the robot arm to grasp the battery module. After the grasping is completed, the expansion pin core 440 moves downward under the force of the cylinder 420 and extends out from the expansion petal 431. The expansion petal 431 shrinks and becomes smaller, and then the robot arm moves to make the expansion pin mechanism 4 detach from the battery module.

[0042] Example 4

[0043] like Figure 1 , Figure 2 , Figure 3 As shown, this embodiment is a further improvement on the basis of Embodiment 1, 2 or 3, and the details are as follows:

[0044] The servo displacement mechanism 3 is fixed below the base 1, and the expansion pin mechanism 4 is divided into two groups along the length direction of the battery module, one group is fixed to the base 1, and the other group is fixed to the servo displacement mechanism 3. For battery modules of different lengths, the spacing of the battery holes on the front of the battery module in the length direction will change. Therefore, the spacing of the two groups of expansion pin mechanisms 4 in the length direction of the battery module can be adjusted through the servo displacement mechanism 3 to adapt to the grasping of battery modules of different lengths.

[0045] Furthermore: the number of expansion pin mechanisms 4 is four, and the four expansion pin mechanisms 4 are divided into two groups along the length direction of the battery module, with two in each group, one group is fixed to the base 1, and the other group is fixed to the servo displacement mechanism 3; for battery modules with different numbers of holes, a corresponding number of expansion pin mechanisms 4 can be selected for grouping. Here, only four expansion pin mechanisms 4 are described as an example for a certain product.

[0046] Example 5

[0047] like Figure 1 , Figure 2 , Figure 3 As shown, this embodiment is a further improvement on any one of Embodiments 1 to 4, and the details are as follows:

[0048] Two driving mechanisms 7 are arranged between the expansion pin mechanisms 4 below the base 1, and a clamping claw 8 is installed on each of the two driving mechanisms 7. The two driving mechanisms 7 are used to drive the two clamping claws 8 to move to clamp the battery module. Figure 1 The two clamping jaws 8 are in the retracted state, and Figure 2 and Figure 3 The two clamping jaws 8 are in an open state.

[0049] Furthermore, the driving mechanism 7 is a servo electric cylinder, which is fixed below the base 1. The upper end of the clamping jaw 8 is rotatably connected to the base 1, and the middle part of the clamping jaw 8 is rotatably connected to the rod end of the servo electric cylinder. The servo electric cylinder drives the clamping jaw 8 to rotate, so that the opening distance of the two clamping jaws 8 is adjustable to adapt to the clamping of different battery modules. Figure 1 and Figure 2 The middle clamping jaw 8 has two states, namely, an open state and a contracted state.

[0050] Furthermore: the lower end of the clamping jaw 8 has an inward step, which, according to the structural characteristics of the battery module, ensures that the clamping jaw 8 can maintain the clamping position unchanged during normal grasping, abnormal power outage, gas outage or equipment alarm, and the battery module will not fall accidentally.

[0051] Example 6

[0052] like Figure 1 , Figure 3As shown, this embodiment is a further improvement on any one of Embodiments 1 to 5, and the details are as follows:

[0053] An in-position sensor 6 is fixed below the base 1 , and the in-position sensor 6 is used to detect the in-position of the battery module.

[0054] Example 7

[0055] like Figure 1 , Figure 2 , Figure 3 As shown, this embodiment is a further improvement on any one of Embodiments 1 to 6, and the details are as follows:

[0056] The pallet grabbing mechanism 2 is a vacuum suction cup group with mature technology, which can effectively grab the pallet and has good stability.

[0057] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A battery module expansion pin positioning gripper, characterized in that: include: A base (1), a tray grabbing mechanism (2) is fixed on one side of the base (1), a plurality of expansion pin mechanisms (4) are arranged below the base (1) at battery holes corresponding to the front side of the battery module, and a visual system (5) is fixed on one side of the base (1).

2. A battery module expansion pin positioning gripper according to claim 1, characterized in that: The expansion pin mechanism (4) comprises: a fixed seat (410), a cylinder (420) is fixed at the upper end of the fixed seat (410), the fixed seat (410) has a hollow cavity, a grabbing tube (430) connected to the cavity is fixed at the lower end of the fixed seat (410), the lower end of the grabbing tube (430) has an expansion flap (431), an expansion pin core (440) is arranged in the cavity of the fixed seat (410), the upper end of the expansion pin core (440) is connected to the rod of the cylinder (420), and the expansion pin core (440) is connected to the rod of the cylinder (420). The ends are fixed, the lower end of the expansion pin core (440) extends into the grabbing tube (430) and extends from the expansion flap (431); the end of the lower end of the expansion pin core (440) is a structure that is small at the top and bottom and large in the middle; the cylinder (420) moves the expansion pin core (440) up and down through a telescopic action, so that the expansion flap (431) can expand and contract and reset under the action of the expansion pin core (440), and generate pressure with the inner wall of the battery hole when expanding and detach from the inner wall of the battery hole when contracting and resetting.

3. A battery module expansion pin positioning gripper according to claim 2, characterized in that: A return spring (450) sleeved on an expansion pin core (440) is arranged in the cavity of the fixing seat (410), and a shoulder (441) is provided on the expansion pin core (440) above the return spring (450).

4. A battery module expansion pin positioning gripper according to any one of claims 1 to 3, characterized in that: A servo displacement mechanism (3) is fixed below the base (1), and the expansion pin mechanism (4) is divided into two groups along the length direction of the battery module, one group is fixed to the base (1), and the other group is fixed to the servo displacement mechanism (3).

5. A battery module expansion pin positioning gripper according to claim 4, characterized in that: The number of the expansion pin mechanisms (4) is four, and the four expansion pin mechanisms (4) are divided into two groups along the length direction of the battery module, with two in each group, one group being fixed to the base (1) and the other group being fixed to the servo displacement mechanism (3).

6. A battery module expansion pin positioning gripper according to claim 1, characterized in that: Two driving mechanisms (7) are arranged between the expansion pin mechanisms (4) below the base (1), and a clamping claw (8) is installed on each of the two driving mechanisms (7). The two driving mechanisms (7) are used to drive the two clamping claws (8) to move so as to clamp the battery module.

7. A battery module expansion pin positioning gripper according to claim 6, characterized in that: The driving mechanism (7) is a servo electric cylinder, which is fixed below the base (1). The upper end of the clamping jaw (8) is rotatably connected to the base (1), and the middle part of the clamping jaw (8) is rotatably connected to the rod end of the servo electric cylinder.

8. A battery module expansion pin positioning gripper according to claim 6 or 7, characterized in that: The lower end of the clamping jaw (8) has an inward step.

9. A battery module expansion pin positioning gripper according to claim 1, characterized in that: An on-site sensor (6) is fixed below the base (1).

10. A battery module expansion pin positioning gripper according to claim 1, characterized in that: The tray grabbing mechanism (2) is a vacuum suction cup group.

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