Self-adaptive grabbing and picking-up device for new energy battery pack

Abstract

The utility model discloses a self-adaptive grabbing and picking-up device for a new energy battery pack, which is characterized in that the grabbing and picking-up device comprises a basic frame consisting of a plurality of mutually connected X-direction beams and a plurality of Y-direction beams, the bottom end surface of the basic frame is fixedly connected with a bottom plate, the center of the bottom end surface of the bottom plate is rotatably connected with a swing rod, and the swing rod is fixedly connected with the X-direction beams and the Y-direction beams. The two ends of the swing rod are hinged to the ends of connecting rods respectively, the other ends of the connecting rods are rotationally connected with the center of an X-direction linkage frame, the X-direction linkage frame is further connected with the working end of a first air cylinder, the first air cylinder is fixedly connected to the bottom plate, a plurality of X-direction clamping jaws are arranged on the X-direction linkage frame, and the X-direction clamping jaws are arranged on the X-direction linkage frame. The X-direction clamping jaws on the two X-direction linkage frames are distributed in pairs, connecting sleeves are arranged on the tops of the X-direction clamping jaws, clamping jaw sliding blocks are arranged in the connecting sleeves, and the clamping jaw sliding blocks are connected to clamping jaw sliding rails arranged on the top end face of the X-direction beam in a sliding mode.

Description

Technical Field

[0001] The utility model relates to the production and assembly field of new energy vehicles, in particular to an adaptive gripper for a new energy battery pack. Background Art

[0002] With the continuous development of new energy vehicle technology in China and the increasing number of new energy vehicles in use year by year, the production and assembly of new energy battery packs have become an essential link for enterprises in various new energy fields. During the production process of new energy battery packs, many different models of battery packs are produced and assembled on the same production line. If a separate gripper is set for each specification and model of battery pack, it will obviously increase the production and maintenance costs of the grippers, occupy the limited space near the production line, and even if multiple grippers are set, replacing different grippers will also take a certain amount of time, affecting production efficiency and production rhythm.

[0003] Therefore, there is a need for a method or device that can solve the above problems now. Summary of the Invention

[0004] The utility model is proposed to solve the above-mentioned deficiencies of the prior art, and provides a gripper with a simple structure, ingenious design, reasonable layout, and capable of adapting to new energy battery packs of various different sizes and specifications.

[0005] The technical solution of the utility model is: an adaptive gripper for a new energy battery pack, characterized in that: the gripper comprises a basic framework composed of a plurality of interconnected X-direction beams 1 and a plurality of Y-direction beams 2, a bottom plate 3 is fixedly connected to the bottom end surface of the basic framework, a swing rod 4 is rotatably connected to the center of the bottom end surface of the bottom plate 3, both ends of the swing rod 4 are respectively hinged to the end of a connecting rod 5, the other end of the connecting rod 5 is rotatably connected to the center of an X-direction linkage frame 6, the X-direction linkage frame 6 is also connected to the working end of a first cylinder 7, and the first cylinder 7 is fixedly connected to the bottom plate 3.

[0006] A plurality of X-direction grippers 8 are arranged on the X-direction linkage frame 6, and the X-direction grippers 8 on two X-direction linkage frames 6 are distributed in pairs. A connecting sleeve 9 is arranged at the top of the X-direction gripper 8, a gripper slider 10 is arranged in the connecting sleeve 9, and the gripper slider 10 is slidably connected to a gripper slide rail 11 arranged on the top end surface of the X-direction beam 1.

[0007] At one end of the base frame in the Y direction, two symmetrically distributed Y-direction fixed jaws 12 are provided, and at the other end, a calibration frame is provided. The calibration frame includes a Y-direction linkage frame 13. A pair of bent calibration frame bodies 14 and a pair of guiding tripods 15 are provided on the Y-direction linkage frame 13. A calibration slider 16 is provided on the guiding tripod 15, and the calibration slider 16 is slidably connected to a calibration slide rail 17 provided on the Y-direction beam 2. A second cylinder 18 is provided on the bottom plate 3, and the working end of the second cylinder 18 is connected to the Y-direction linkage frame 13.

[0008] A top plate 19 is connected to the top end surface of the base frame. A connecting column 20 is rotatably connected to the center of the top plate 19 through a rotating shaft. A connecting flange 21 is provided at the top of the connecting column 20. A positioning cylinder bracket 22 is provided on the outer wall of the connecting column 20. A first positioning cylinder 23 is provided on the positioning cylinder bracket 22. A first tapered pin is provided at the working end of the first positioning cylinder 23. A first positioning pin hole 24 matching the first tapered pin is provided on the top plate 19.

[0009] A pair of symmetrically distributed X-direction slide rails 25 are provided on the bottom end surface of the top plate 19. Two cross sliders 26 are slidably connected to each X-direction slide rail 25. A pair of symmetrically distributed Y-direction slide rails 27 are provided on the top end surface of the base frame. The Y-direction slide rails 27 are also slidably connected to the cross sliders 26, that is, the cross sliders 26 are located at the intersection of the X-direction slide rails 25 and the Y-direction slide rails 27.

[0010] A pair of second positioning cylinders 28 are symmetrically provided on the top plate 19. A second tapered pin is provided at the working end of the second positioning cylinder 28. A second positioning pin hole 29 matching the second tapered pin is provided on the bottom plate 3.

[0011] A limiting frame 30 is provided on the outer wall of the connecting column 20. The end of the limiting frame 30 is located within a limiting mechanism 31. The limiting mechanism is fixedly connected to the top plate 19. The limiting mechanism includes a U-shaped frame 32 fixedly connected to the top plate 19. The end of the limiting frame 30 is located between two limiting vertical plates 33 on the U-shaped frame 32. And a limiting bolt 34 is threadedly connected to the limiting vertical plate 33, and a nut is also connected to the limiting bolt 34.

[0012] A bull's-eye bearing 35 is also provided on the top plate 19. The lower half of the bull's-eye bearing 35 is connected to the base frame by an angular contact ball connection.

[0013] Compared with the prior art, the utility model has the following advantages:

[0014] The adaptive gripper for the new energy battery pack with this structural form has a simple structure, ingenious design and reasonable layout. Aiming at various problems existing in the traditional gripper during the working process, it designs a special structure. It realizes the flexible connection between the jaw and the robotic arm through a multi-layer structure, enabling the jaw to make fine adjustments relative to the robotic arm in the rotational direction and the X-axis and Y-axis directions. Thus, when the jaw grips battery packs of different sizes and specifications, it can automatically make adaptive movements to ensure the gripping effect. After gripping, multiple positioning cylinders on this gripper will act to fix the relative position relationship between the battery panel and the robotic arm, thereby ensuring the accuracy of transportation to the next working station. This adaptive gripping method enables this gripper to be applicable to the gripping and transportation of battery packs of various different specifications and sizes, thus achieving the purpose of cost savings. Moreover, the manufacturing process of this gripper is simple and the manufacturing cost is low. Therefore, it can be said that it has multiple advantages and is especially suitable for popularization and application in this field, and its market prospect is very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic perspective view of an embodiment of the present utility model.

[0016] Figure 2 is a schematic perspective view (removing the top plate) of an embodiment of the present utility model.

[0017] Figure 3 is a schematic perspective view (from the bottom view direction) of an embodiment of the present utility model.

[0018] Figure 4 is a schematic structural view of the limiting mechanism part in an embodiment of the present utility model.

[0019] X-direction beam 1, Y-direction beam 2, bottom plate 3, swing rod 4, connecting rod 5, X-direction linkage frame 6, first cylinder 7, X-direction jaw 8, connecting sleeve 9, jaw slider 10, jaw slide rail 11, Y-direction fixed jaw 12, Y-direction linkage frame 13, bent calibration frame body 14, guiding tripod 15, calibration slider 16, calibration slide rail 17, second cylinder 18, top plate 19, connecting column 20, connecting flange 21, positioning cylinder bracket 22, first positioning cylinder 23, first positioning pin hole 24, X-direction slide rail 25, cross slider 26, Y-direction slide rail 27, second positioning cylinder 28, second positioning pin hole 29, limiting frame 30, limiting mechanism 31, U-shaped frame 32, limiting vertical plate 33, limiting bolt 34. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following will describe the specific embodiments of the present utility model in conjunction with the accompanying drawings. As Figures 1 to 4As shown in the figure: An adaptive gripper for a new energy battery pack, which includes a basic frame composed of multiple interconnected X-direction beams 1 and multiple Y-direction beams 2. A bottom plate 3 is fixedly connected to the bottom end surface of the basic frame. A swing rod 4 is rotatably connected to the center of the bottom end surface of the bottom plate 3. The two ends of the swing rod 4 are respectively hinged to the ends of a connecting rod 5. The other end of the connecting rod 5 is rotatably connected to the center of the X-direction linkage frame 6. The X-direction linkage frame 6 is also connected to the working end of the first cylinder 7. The first cylinder 7 is fixedly connected to the bottom plate 3.

[0021] A plurality of X-direction grippers 8 are arranged on the X-direction linkage frame 6, and the X-direction grippers 8 on the two X-direction linkage frames 6 are distributed in pairs. A connecting sleeve 9 is arranged at the top of the X-direction gripper 8. A gripper slider 10 is arranged in the connecting sleeve 9. The gripper slider 10 is slidably connected to a gripper slide rail 11 arranged on the top end surface of the X-direction beam 1.

[0022] At one end of the basic frame in the Y direction, two symmetrically distributed Y-direction fixed grippers 12 are arranged. At the other end, a calibration frame is arranged. The calibration frame includes a Y-direction linkage frame 13. A pair of bent calibration frame bodies 14 and a pair of guiding tripod frames 15 are arranged on the Y-direction linkage frame 13. A calibration slider 16 is arranged on the guiding tripod frame 15. The calibration slider 16 is slidably connected to a calibration slide rail 17 arranged on the Y-direction beam 2. A second cylinder 18 is arranged on the bottom plate 3. The working end of the second cylinder 18 is connected to the Y-direction linkage frame 13.

[0023] A top plate 19 is connected to the top end surface of the basic frame. A connecting column 20 is rotatably connected to the center of the top plate 19 through a rotating shaft and is rotatably connected between the top of the connecting column 20 and the basic frame through a bearing. A connecting column 20 is arranged on the top plate 19. A connecting flange 21 is arranged at the top of the connecting column 20. A positioning cylinder bracket 22 is arranged on the outer wall of the connecting column 20. A first positioning cylinder 23 is arranged on the positioning cylinder bracket 22. A first tapered pin is arranged at the working end of the first positioning cylinder 23. A first positioning pin hole 24 matching the first tapered pin is arranged on the top plate 19.

[0024] A pair of symmetrically distributed X-direction slide rails 25 are arranged on the bottom end surface of the top plate 19. Two cross sliders 26 are slidably connected to each X-direction slide rail 25. A pair of symmetrically distributed Y-direction slide rails 27 are arranged on the top end surface of the basic frame. The Y-direction slide rails 27 are also slidably connected to the cross sliders 26, that is, the cross sliders 26 are located at the intersection of the X-direction slide rails 25 and the Y-direction slide rails 27.

[0025] A pair of second positioning cylinders 28 are symmetrically arranged on the top plate 19. A second tapered pin is arranged at the working end of the second positioning cylinder 28, and a second positioning pin hole 29 matching the second tapered pin is arranged on the bottom plate 3.

[0026] A limit frame 30 is arranged on the outer wall of the connecting column 20. The end of the limit frame 30 is located inside a limit mechanism 31. The limit mechanism is fixedly connected to the top plate 19. The limit mechanism includes a U-shaped frame 32 fixedly connected to the top plate 19. The end of the limit frame 30 is located between two limit vertical plates 33 on the U-shaped frame 32. A limit bolt 34 is threadedly connected to the limit vertical plate 33, and a nut is also connected to the limit bolt 34.

[0027] A bull's-eye bearing 35 is also arranged on the top plate 19. The lower half of the bull's-eye bearing 35 is connected to the basic frame by angular contact ball connection.

[0028] The working process of the adaptive gripper of the new energy battery pack in the embodiment of the present utility model is as follows: First, the end of the robotic arm is fixedly connected to the connection flange 21 arranged at the top of the connecting column 20, that is, the robotic arm can drive the gripper to move in space. In the initial state, all the positioning cylinders in the gripper are in the retracted state. At this time, there is a degree of freedom between the basic frame and the top plate 19, and they can move relative to each other in a certain direction and within a certain range.

[0029] The robotic arm drives the gripper to move above the battery pack to be grabbed and drives the gripper to move downward. After moving in place, the control system will first control the second cylinder 18 to retract. The second cylinder 18 will drive the Y-direction linkage frame 13 to move. In this way, the bent calibration frame bodies 14 arranged at both ends of the Y-direction linkage frame 13 will push one side of the battery pack along the Y direction and make the opposite side lean against the Y-direction fixed jaw 12, so as to realize the calibration of the relative position between the battery pack and each jaw inside the gripper. At the same time, the bent calibration frame bodies 14 and the Y-direction fixed jaw 12 will also position the battery pack in the Y direction. During the above process, the calibration slider 16 slides on the calibration slide rail 17, so as to guide the actions of the guiding tripod 15 and the Y-direction linkage frame 13.

[0030] Then the control system will control the two first cylinders 7 to act simultaneously, drive the two X-direction linkage frames 6 to move towards each other. The X-direction linkage frame 6 will drive the connecting rod 5 to act, and the connecting rod 5 will push the swing rod 4 to act. This structure can ensure the consistency of the movement of the two X-direction linkage frames 6. Similarly, during the movement of the X-direction linkage frame 6, all the jaw sliders 10 will slide on the jaw slide rails 11, so as to guide the movement of the X-direction linkage frame 6.

[0031] When the gripper makes a Y-direction position calibration and an X-direction clamping action, under the reaction force of the battery pack, the base frame and the bottom plate 3 will automatically make adaptive floating actions according to factors such as the placement position, size, and specifications of the battery pack, and this floating action is relative to the top plate 19;

[0032] When the base frame makes a floating action relative to the top plate 19, since the top plate 19 and the bottom plate 3 are connected by a planar floating mechanism (composed of two X-direction slide rails 25, two Y-direction slide rails 27, and a cross slider 26 that is slidably connected to them at the same time), they can be adjusted in the horizontal direction (in the X-axis direction and the Y-axis direction). And because there is also a bull's-eye bearing 35 provided between the top plate 19 and the bottom plate 3, the bull's-eye bearing 35 can limit the adjustment range between the two; at the same time, it can prevent the cross slider 26 from disengaging from the X-direction slide rail 25 or the Y-direction slide rail 27;

[0033] At the same time, since the connecting column 20 directly connected to the robotic arm is rotatably connected to the top plate 19 through a bearing, it is equivalent to that there is a degree of freedom in the rotation direction between all the jaws and the robotic arm, and automatic floating in the rotation direction can be carried out; and the rotation angle is limited by the limiting mechanism 31. The end of the limiting frame 30 connected to the outer wall of the connecting column 20 is located inside the U-shaped frame 32 in the limiting mechanism 31. When the end of the limiting frame 30 contacts the limiting bolt 34 provided on the U-shaped frame 32, it rotates to the limit angle in this direction. In this way, the maximum rotation angle between the jaws and the robotic arm can be limited, and at the same time, the operator can rotate the limiting bolt 34 as needed to adjust the above maximum rotation angle;

[0034] Since the device can achieve the above-mentioned adaptive adjustment actions, when there is a certain deviation in the placement position of the battery pack, or for battery packs of different specifications and sizes, the device can grasp them;

[0035] After the battery pack is grabbed, the control system of the device will control the first positioning cylinder 23 and the second positioning cylinder 28 to work. They drive the first tapered pin and the second tapered pin to move respectively. The first tapered pin is inserted into the first positioning pin hole 24, and the second tapered pin is inserted into the second positioning pin hole 29. Since the front ends of the above two kinds of positioning pins are conical and can play a guiding role during the insertion into the positioning pin holes, when all the tapered pins are inserted into the corresponding positioning pin holes, the relative position relationship between the bottom plate 3 and the robotic arm returns to the preset standard relative position relationship. At this time, the robotic arm drives this gripper and the battery pack grabbed below the gripper to transport the battery pack to the next working station. Since the relative position relationship between the battery pack and the robotic arm is determined, the accuracy of the placement position can be guaranteed.

Claims

1. An adaptive gripper for a new energy battery pack, characterized in that: The described gripper includes a basic frame composed of multiple interconnected X-direction beams (1) and multiple Y-direction beams (2). A bottom plate (3) is fixedly connected to the bottom end surface of the basic frame. A swing rod (4) is rotatably connected to the center of the bottom end surface of the bottom plate (3). The two ends of the swing rod (4) are respectively hinged to the ends of a connecting rod (5). The other end of the connecting rod (5) is rotatably connected to the center of an X-direction linkage frame (6). The X-direction linkage frame (6) is also connected to the working end of a first cylinder (7). The first cylinder (7) is fixedly connected to the bottom plate (3). A plurality of X-direction grippers (8) are provided on the X-direction linkage frame (6), and the X-direction grippers (8) on the two X-direction linkage frames (6) are distributed in pairs. A connecting sleeve (9) is provided at the top of the X-direction gripper (8). A gripper slider (10) is provided inside the connecting sleeve (9). The gripper slider (10) is slidably connected to a gripper slide rail (11) provided on the top end surface of the X-direction beam (1). At one end of the basic frame in the Y direction, two symmetrically distributed Y-direction fixed grippers (12) are provided, and at the other end, a calibration frame is provided. The calibration frame includes a Y-direction linkage frame (13). A pair of bent calibration frame bodies (14) and a pair of guiding tripods (15) are provided on the Y-direction linkage frame (13). A calibration slider (16) is provided on the guiding tripod (15). The calibration slider (16) is slidably connected to a calibration slide rail (17) provided on the Y-direction beam (2). A second cylinder (18) is provided on the bottom plate (3). The working end of the second cylinder (18) is connected to the Y-direction linkage frame (13). A top plate (19) is connected to the top end surface of the basic frame. A connecting column (20) is rotatably connected to the center of the top plate (19) through a rotating shaft. A connecting flange (21) is provided at the top of the connecting column (20). A positioning cylinder bracket (22) is provided on the outer wall of the connecting column (20). A first positioning cylinder (23) is provided on the positioning cylinder bracket (22). A first tapered pin is provided at the working end of the first positioning cylinder (23). A first positioning pin hole (24) matching the first tapered pin is provided on the top plate (19). A pair of symmetrically distributed X-direction slide rails (25) are provided on the bottom end surface of the top plate (19). Two cross sliders (26) are slidably connected to each X-direction slide rail (25). A pair of symmetrically distributed Y-direction slide rails (27) are provided on the top end surface of the basic frame. The Y-direction slide rails (27) are also slidably connected to the cross sliders (26), that is, the cross sliders (26) are located at the intersection of the X-direction slide rails (25) and the Y-direction slide rails (27). A pair of second positioning cylinders (28) are symmetrically provided on the top plate (19). A second tapered pin is provided at the working end of the second positioning cylinder (28). A second positioning pin hole (29) matching the second tapered pin is provided on the bottom plate (3).

2. The adaptive gripper for a new energy battery pack according to claim 1, characterized in that: A limiting frame (30) is provided on the outer wall of the connecting column (20). The end of the limiting frame (30) is located within a limiting mechanism (31). The limiting mechanism is fixedly connected to the top plate (19). The limiting mechanism includes a U-shaped frame (32) fixedly connected to the top plate (19). The end of the limiting frame (30) is located between two limiting vertical plates (33) on the U-shaped frame (32). A limiting bolt (34) is threadedly connected to the limiting vertical plate (33), and a nut is further connected to the limiting bolt (34).

3. The adaptive gripper for a new energy battery pack according to claim 1, characterized in that: A bull's-eye bearing (35) is further provided on the top plate (19). The lower half of the bull's-eye bearing (35) is connected to the basic frame by angular contact ball connection.

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