Equipment for automatically grabbing battery of electric vehicle

Abstract

The utility model discloses equipment for automatically grabbing an electric vehicle battery, which comprises an X-direction driving module and a Y-direction driving module, and further comprises a first fixing frame, a first driving module, a pair of scissor fork modules, a second fixing frame, a third fixing frame, a steering module, a plurality of grabbing modules and a plurality of visual cameras, the pair of scissor fork modules are arranged on the two sides of the first fixing frame; the driving module can drive the first fixing frame and the second fixing frame to relatively move in the Z direction. The middle of the second fixing frame is hinged to the middle of the third fixing frame. The steering module can drive the third fixing frame to rotate at the hinged position relative to the second fixing frame. The plurality of grabbing modules are used for grabbing batteries; the visual cameras are used for detecting the position of the battery. According to the utility model, the visual camera is used for guiding, so that the device has better flexibility, programmability, higher speed, low noise and long service life; the gripper is high in compatibility, the mechanism is high in reliability and precision, repeated investment of equipment is reduced, and the use cost is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of electric vehicle battery grabbing equipment, in particular to a device for automatically grabbing electric vehicle batteries. Background Art

[0002] In the prior art, the grasping method of electric vehicle batteries mostly adopts mechanical guidance for position guidance, which has low flexibility, high noise and low programmability; in terms of movement, most of them only have X, Y and Z movements, and no rotation around the Z direction, which is difficult to adapt to more complex scenarios; in addition, the existing grasping mechanism is generally only suitable for grasping a single model of batteries and cannot adapt to multi-model scenarios. Summary of the invention

[0003] According to an embodiment of the utility model, a device for automatically grasping an electric vehicle battery is provided, comprising an X-direction drive module and a Y-direction drive module, and further comprising: a first fixing frame, a first drive module, a pair of scissor fork modules, a second fixing frame, a third fixing frame, a steering module, a plurality of grasping modules and a plurality of visual cameras;

[0004] A pair of scissor fork modules are arranged on both sides of the first fixing frame, the upper ends of which are movably connected to the first fixing frame respectively, and the lower ends of which are movably connected to the second fixing frame respectively;

[0005] The driving module is connected to the first fixing frame and the second fixing frame respectively, and can drive the first fixing frame and the second fixing frame to generate relative movement in the Z direction;

[0006] The middle portion of the second fixing frame is hinged to the middle portion of the third fixing frame;

[0007] The steering module is connected to the second fixing frame and the third fixing frame respectively, and can drive the third fixing frame to rotate relative to the second fixing frame at the hinge;

[0008] A plurality of grabbing modules are respectively arranged on both sides of the third fixing frame for grabbing batteries;

[0009] A plurality of visual cameras are respectively arranged on both sides of the third fixing frame for detecting the position of the battery.

[0010] Further, the first driving module comprises: a first driving motor, a first driving shaft and a pair of belt retracting and releasing assemblies;

[0011] The output end of the first driving motor is connected to the first driving shaft, and can drive the first driving shaft to rotate;

[0012] A pair of belt retracting and releasing components are respectively arranged at two ends of the first driving shaft, and the first driving shaft can drive the pair of belt retracting and releasing components to move;

[0013] The output ends of a pair of belt retracting and releasing components are connected to the second fixing frame.

[0014] Furthermore, the belt retracting and releasing assembly comprises: a belt reel, a pair of first belts and a pair of reversing shafts;

[0015] The belt reel is sleeved on one end of the first driving shaft;

[0016] A pair of first belts are arranged on both sides of the belt reel, one end of the first belts is connected to the belt reel, and the other end is connected to the second fixing frame;

[0017] A pair of reversing shafts and a pair of first belts are in one-to-one correspondence and slidably connected to play a reversing role.

[0018] Furthermore, the scissor fork module comprises: a first rod body, a second rod body and a pair of first fixing blocks;

[0019] A pair of first fixing blocks are respectively arranged on the first fixing frame and the second fixing frame, and a first sliding groove is arranged on one side of the fixing block;

[0020] The first rod body and the second rod body are hinged in the middle part, one end of the first rod body is hinged to the first fixed frame, and the other end is provided with a first rolling bearing, and the first rolling bearing is arranged in the first sliding groove on the second fixed frame; one end of the second rod body is connected to the second fixed frame, and the other end is provided with a second rolling bearing, and the second rolling bearing is arranged in the first sliding groove on the first fixed frame.

[0021] Further, the steering module comprises: a second drive motor, a steering gear and a steering rack;

[0022] The second driving motor is connected to the second fixing frame;

[0023] The steering gear sleeve is arranged at the output end of the second driving motor;

[0024] The steering rack is arc-shaped, connected to the third fixing frame, and meshed with the steering gear.

[0025] Further, the grabbing module comprises: a fixing seat, a pitch changing mechanism, a grabbing mechanism and a pin cylinder;

[0026] The pitch-changing mechanism is connected to the third fixing frame and the fixing seat respectively, and can drive the fixing seat to move horizontally;

[0027] The grabbing mechanism is connected to the fixing seat and is used for grabbing the battery;

[0028] The pin cylinder is connected to the fixing seat and is used for positioning the battery.

[0029] Further, the pitch-changing mechanism comprises: a pitch-changing slide rail and a first driving cylinder;

[0030] The variable pitch slide rail is connected to the third fixed frame;

[0031] The first driving cylinder is arranged on the fixed frame and is slidably connected with the variable distance slide rail and can slide along the variable distance slide rail.

[0032] Further, the gripping mechanism comprises: a second driving cylinder, a T-shaped connecting rod and a gripping finger;

[0033] A pair of second slide grooves are provided on one side of the fixing seat;

[0034] The output end of the second driving cylinder is hinged to the T-shaped connecting rod;

[0035] Two end points of the T-shaped connecting rod are respectively arranged in a pair of second sliding grooves, and the third end point is hinged to the clamping finger;

[0036] The clamping finger is L-shaped, the upper end is hinged to the fixing seat, and the lower end is also provided with a positioning protrusion.

[0037] Furthermore, the grabbing mechanism also includes: a pair of position sensors, which are respectively arranged at the upper and lower ends of the second sliding groove and are used to detect the position of the T-shaped connecting rod.

[0038] Furthermore, a rubber pad is provided on the inner side of the clamping finger.

[0039] Furthermore, it also includes: a plurality of fixing plates, both ends of which are fixedly connected to the fixing seats on both sides of the third fixing frame.

[0040] According to the equipment for automatically grabbing electric vehicle batteries in the embodiment of the utility model, the visual camera is used for guidance to complete the automatic position recognition of the gripper at the material picking position and the material placing position. Compared with the existing position guidance through mechanical guidance, it has better flexibility, programmability and faster speed, less noise and low wear, which greatly improves the life of the equipment and reduces the frequency of maintenance. The product switching between 8-mode, 10-mode and 12-mode is completed by the variable pitch mechanism, and the PHEV battery is grasped by designing an independent scissor fork telescopic mechanism. The gripper has strong compatibility, the mechanism is reliable and accurate, which reduces the repeated investment in equipment and saves the cost of use.

[0041] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A top view of an embodiment of the utility model installed on a production line;

[0043] Figure 2 A schematic diagram of a front view according to an embodiment of the utility model;

[0044] Figure 3 is a schematic diagram of a top view according to an embodiment of the utility model;

[0045] Figure 4 It is a schematic diagram of a left view according to an embodiment of the utility model;

[0046] Figure 5 is a schematic diagram of a first stereogram according to an embodiment of the utility model;

[0047] Figure 6 for Figure 5 A magnified image of point A;

[0048] Figure 7 It is a schematic diagram of the internal structure according to an embodiment of the utility model;

[0049] Figure 8 is a schematic diagram of a second stereogram according to an embodiment of the utility model;

[0050] Fig. 9 for Figure 8 The enlarged view of point B;

[0051] Fig.10 It is a schematic diagram of a three-dimensional view of a scissor fork module according to an embodiment of the utility model. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0053] First, combine Figures 1 to 10 The invention discloses a device for automatically grasping an electric vehicle battery according to an embodiment of the present invention, which is used in the technical field of electric vehicle battery grasping equipment and has a wide range of application scenarios.

[0054] like Figures 1 to 10 As shown, the device for automatically grabbing electric vehicle batteries according to the embodiment of the utility model comprises an X-direction drive module 1 and a Y-direction drive module 2, which belongs to the prior art. The X-direction drive module 1 drives the entire device to reciprocate along the X-direction; the Y-direction drive module 2 drives the entire device to reciprocate along the Y-direction; it also comprises: a first fixing frame 3, a first drive module 4, a pair of scissor fork modules 5, a second fixing frame 6, a third fixing frame 7, a steering module 8, a plurality of grabbing modules 9 and a plurality of visual cameras (not shown);

[0055] A pair of scissor fork modules 5 are arranged on both sides of the first fixing frame 3, with the upper ends movably connected to the first fixing frame 3 and the lower ends movably connected to the second fixing frame 6;

[0056] The driving module is connected to the first fixing frame 3 and the second fixing frame 6 respectively, and can drive the first fixing frame 3 and the second fixing frame 6 to generate relative movement in the Z direction;

[0057] The middle part of the second fixing frame 6 is hinged to the middle part of the third fixing frame 7;

[0058] The steering module 8 is connected to the second fixing frame 6 and the third fixing frame 7 respectively, and can drive the third fixing frame 7 to rotate relative to the second fixing frame 6 at the hinge;

[0059] A plurality of grabbing modules 9 are respectively arranged on both sides of the third fixing frame 7 for grabbing batteries;

[0060] A plurality of visual cameras are respectively arranged on both sides of the third fixing frame 7, and the visual cameras are communicatively connected with the control system for detecting the position of the battery.

[0061] Further, if Figure 2~3 , 5-6, in this embodiment, the first driving module 4 includes: a first driving motor 41, a first driving shaft 42 and a pair of belt retracting and releasing components 43;

[0062] The output end of the first driving motor 41 is connected to the first driving shaft 42, and can drive the first driving shaft 42 to rotate;

[0063] A pair of belt retracting and releasing components 43 are respectively disposed at both ends of the first driving shaft 42, and the first driving shaft 42 can drive the pair of belt retracting and releasing components 43 to move;

[0064] The output ends of a pair of belt retracting and releasing components 43 are connected to the second fixing frame for retracting and releasing the third fixing frame 7 .

[0065] Further, if Figures 5 and 6 As shown, in this embodiment, the belt retracting assembly 43 comprises: a belt reel 431, a pair of first belts 432 and a pair of reversing shafts 433;

[0066] The belt reel 431 is sleeved on one end of the first driving shaft 42;

[0067] A pair of first belts 432 are arranged on both sides of the belt reel 431, one end of which is connected to the belt reel 431, and the other end of which is connected to the second fixing frame 6;

[0068] The pair of reversing shafts 433 and the pair of first belts 432 correspond to each other and are slidably connected to each other, so as to play a reversing role.

[0069] Further, if Figure 4 , 10 As shown, in this embodiment, the scissor fork module 5 includes: a first rod body 51, a second rod body 52 and a pair of first fixing blocks 53;

[0070] A pair of first fixing blocks are respectively arranged on the first fixing frame 3 and the second fixing frame 6, and a first sliding groove 531 is arranged on one side of the fixing block;

[0071] The first rod body 51 and the second rod body 52 are hinged in the middle part, one end of the first rod body 51 is hinged to the first fixed frame 3, and the other end is provided with a first rolling bearing, and the first rolling bearing is slidably set in the first slide groove 531 on the second fixed frame 6; one end of the second rod body 52 is connected to the second fixed frame 6, and the other end is provided with a second rolling bearing, and the second rolling bearing is slidably set in the first slide groove 531 on the first fixed frame 3.

[0072] Further, if Figure 7 As shown, in this embodiment, the steering module 8 includes: a second drive motor 81, a steering gear 82 and a steering rack 83;

[0073] The second driving motor 81 is connected to the second fixing frame 6;

[0074] The steering gear 82 is sleeved on the output end of the second driving motor 81;

[0075] The steering rack 83 is arc-shaped, connected to the third fixing frame 7 , and meshed with the steering gear 82 . The third fixing frame 7 moves synchronously with the steering rack 83 .

[0076] Further, if Figures 8 and 9 As shown, in this embodiment, the grabbing module 9 includes: a fixing seat 91, a pitch changing mechanism 92, a grabbing mechanism 93 and a pin cylinder 94;

[0077] The pitch-changing mechanism 92 is connected to the third fixing frame 7 and the fixing seat 91 respectively, and can drive the fixing seat 91 to move horizontally;

[0078] The grabbing mechanism 93 is connected to the fixing seat 91 and is used to grab the battery;

[0079] The pin cylinder 94 is connected to the fixing seat 91 and is used to position the battery and further prevent the battery from falling off.

[0080] Further, if Fig. 9 As shown, in this embodiment, the pitch-changing mechanism 92 comprises: a pitch-changing slide rail 921 and a first driving cylinder 922;

[0081] The variable pitch slide rail 921 is connected to the third fixing frame 7;

[0082] The first driving cylinder 922 is disposed on a fixed frame and is slidably connected to the variable pitch slide rail 921 , and can slide along the variable pitch slide rail 921 .

[0083] Further, if Fig. 9 As shown, in this embodiment, the gripping mechanism 93 comprises: a second driving cylinder 931, a T-shaped connecting rod 932 and a gripping finger 933;

[0084] A pair of second slide grooves 911 are provided on one side of the fixing seat 91;

[0085] The output end of the second driving cylinder 931 is hinged to the T-shaped connecting rod 932;

[0086] Two end points of the T-shaped connecting rod 932 are respectively disposed in a pair of second sliding grooves 911 , and the third end point is hinged to the clamping finger 933 ;

[0087] The clamping finger 933 is L-shaped, with the upper end hinged to the fixing seat 91 , and the lower end is further provided with a positioning protrusion 9331 , which is used to prevent the battery from escaping from the clamping finger 933 .

[0088] Further, if Fig. 9 As shown, in this embodiment, the grabbing mechanism 93 further includes: a pair of position sensors 934, which are respectively arranged at the upper and lower ends of one of the second slide grooves 911, and are used to detect the position of the T-shaped connecting rod 932.

[0089] Further, if Fig. 9 As shown, in this embodiment, a rubber pad is further provided on the inner side of the clamping finger 933 to prevent the clamping finger 933 from scratching the battery.

[0090] Further, if Figure 2 , 9 As shown, in this embodiment, it also includes: a plurality of fixing plates 10, both ends of the fixing plates 10 are fixedly connected to the fixing seats 91 on both sides of the third fixing frame 7, so as to further improve the stability between the relative fixing plates 10.

[0091] Working principle: Several visual cameras detect the position of the battery, the X-direction drive module 1 drives the entire device to move in the X direction, and the Y-direction drive module 2 drives the entire device to move in the Y direction, so that the entire device reaches the specified position in the horizontal direction; the first drive motor 41 is activated to make the belt reel 431 release the first belt 432 (at the same time, the first rod 51 and the second rod 52 rotate relative to each other), and the second fixing frame 6 and the third fixing frame 7 are lowered above the battery; the second drive motor 81 drives the steering rack 83 to rotate, and fine-tunes the third fixing frame 7 so that the grabbing module 9 is close to the battery. The variable pitch mechanism 92 adjusts the position of the clamping finger 933 according to the size of the battery, the second driving cylinder 931 drives the clamping finger 933 to open, the third fixing frame 7 continues to descend to make the clamping finger 933 reach the specified position, the clamping finger 933 closes and clamps the battery, the positioning protrusion 9331 is inserted into the corresponding positioning hole on the battery, and the pin cylinder 94 is actuated to further fix the battery; the first driving motor 41 is actuated to drive the battery to rise, the X-direction driving module 1 drives the entire device to move along the X-direction, and the Y-direction driving module 2 drives the entire device to move along the Y-direction, so that the battery reaches the specified position.

[0092] Above, refer to Figures 1 to 10The present invention describes an apparatus for automatically grasping electric vehicle batteries according to an embodiment of the utility model. It utilizes visual camera guidance to complete automatic position recognition of the gripper at the material picking position and the material placing position. Compared with the existing position guidance through mechanical guidance, it has better flexibility, programmability, and faster speed, less noise, and low wear, which greatly improves the life of the equipment and reduces the frequency of maintenance. It completes the product switching between 8-mode, 10-mode, and 12-mode through the variable pitch mechanism, and completes the PHEV battery grasping through the design of an independent scissor fork telescopic mechanism. The gripper has strong compatibility, the mechanism is reliable and accurate, reduces repeated investment in equipment, and saves the cost of use.

[0093] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0094] Although the content of the utility model has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the utility model. After reading the above content, various modifications and substitutions of the utility model will be obvious to those skilled in the art. Therefore, the protection scope of the utility model should be limited by the attached claims.

Claims

1. A device for automatically grabbing electric vehicle batteries, comprising an X-direction drive module and a Y-direction drive module, characterized in that: It also includes: a first fixing frame, a first driving module, a pair of scissor fork modules, a second fixing frame, a third fixing frame, a steering module, a plurality of grasping modules and a plurality of visual cameras; The pair of scissor fork modules are arranged on both sides of the first fixing frame, and the upper ends are movably connected to the first fixing frame respectively, and the lower ends are movably connected to the second fixing frame respectively; The driving module is connected to the first fixing frame and the second fixing frame respectively, and can drive the first fixing frame and the second fixing frame to generate relative movement in the Z direction; The middle portion of the second fixing frame is hinged to the middle portion of the third fixing frame; The steering module is connected to the second fixing frame and the third fixing frame respectively, and can drive the third fixing frame to rotate relative to the second fixing frame at the hinge; The plurality of grabbing modules are respectively arranged on both sides of the third fixing frame for grabbing batteries; The plurality of visual cameras are respectively arranged on both sides of the third fixing frame for detecting the position of the battery.

2. The device for automatically grabbing electric vehicle batteries as claimed in claim 1, characterized in that: The first driving module comprises: a first driving motor, a first driving shaft and a pair of belt retracting and releasing components; The output end of the first driving motor is connected to the first driving shaft, and can drive the first driving shaft to rotate; The pair of belt retracting and releasing assemblies are respectively arranged at two ends of the first driving shaft, and the first driving shaft can drive the pair of belt retracting and releasing assemblies to move; The output ends of the pair of belt retracting and releasing components are connected to the second fixing frame.

3. The device for automatically grabbing electric vehicle batteries as claimed in claim 2, characterized in that: The belt retracting and releasing assembly comprises: a belt reel, a pair of first belts and a pair of reversing shafts; The belt reel is sleeved on one end of the first driving shaft; The pair of first belts are arranged on both sides of the belt reel, one end of the first belts is connected to the belt reel, and the other end is connected to the second fixing frame; The pair of reversing shafts and the pair of first belts correspond to each other one by one and are slidably connected to play a reversing role.

4. The device for automatically grabbing electric vehicle batteries as claimed in claim 1, characterized in that: The scissor fork module comprises: a first rod body, a second rod body and a pair of first fixing blocks; The pair of first fixing blocks are respectively arranged on the first fixing frame and the second fixing frame, and a first sliding groove is arranged on one side of the fixing block; The first rod body and the second rod body are hinged in the middle part; one end of the first rod body is hinged to the first fixed frame, and the other end is provided with a first rolling bearing, and the first rolling bearing is arranged in a first slide groove on the second fixed frame; one end of the second rod body is connected to the second fixed frame, and the other end is provided with a second rolling bearing, and the second rolling bearing is arranged in the first slide groove on the first fixed frame.

5. The device for automatically grabbing electric vehicle batteries as claimed in claim 1, characterized in that: The steering module comprises: a second drive motor, a steering gear and a steering rack; The second driving motor is connected to the second fixing frame; The steering gear is sleeved on the output end of the second driving motor; The steering rack is arc-shaped, connected to the third fixing frame, and meshed with the steering gear.

6. The device for automatically grabbing electric vehicle batteries as claimed in claim 1, characterized in that: The grabbing module comprises: a fixing seat, a pitch changing mechanism, a grabbing mechanism and a pin cylinder; The pitch-changing mechanism is connected to the third fixing frame and the fixing seat respectively, and can drive the fixing seat to move horizontally; The grabbing mechanism is connected to the fixing seat and is used to grab the battery; The pin cylinder is connected to the fixing seat and is used for positioning the battery.

7. The device for automatically grabbing electric vehicle batteries as claimed in claim 6, characterized in that: The pitch-changing mechanism comprises: a pitch-changing slide rail and a first driving cylinder; The variable pitch slide rail is connected to the third fixed frame; The first driving cylinder is arranged on the fixing frame and is slidably connected with the variable pitch slide rail and can slide along the variable pitch slide rail.

8. The device for automatically grabbing electric vehicle batteries as claimed in claim 6, characterized in that: The gripping mechanism comprises: a second driving cylinder, a T-shaped connecting rod and a gripping finger; A pair of second slide grooves are provided on one side of the fixing seat; The output end of the second driving cylinder is hinged to the T-shaped connecting rod; Two end points of the T-shaped connecting rod are respectively arranged in the pair of second sliding grooves, and the third end point is hinged to the clamping finger; The clamping finger is L-shaped, the upper end is hinged to the fixing seat, and the lower end is also provided with a positioning protrusion.

9. The device for automatically grabbing electric vehicle batteries as claimed in claim 8, characterized in that: The grabbing mechanism further includes: a pair of position sensors, which are respectively arranged at the upper and lower ends of the second sliding groove and are used to detect the position of the T-shaped connecting rod.

10. The device for automatically grabbing electric vehicle batteries as claimed in claim 6, characterized in that: It also comprises: a plurality of fixing plates, both ends of which are fixedly connected to the fixing seats on both sides of the third fixing frame.

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