Crown block clamping jaw manipulator

Abstract

The utility model discloses a crown block clamping jaw mechanical arm which comprises an installation plate, at least two sets of clamping jaw mechanisms, a lifting mechanism and a clamping jaw pitch changing assembly, the lifting mechanism is connected with the clamping jaw pitch changing assembly, and the clamping jaw pitch changing assembly is connected with the clamping jaw mechanisms. The lifting mechanism is used for driving the clamping jaw variable-pitch assembly and the clamping jaw mechanisms to move up and down, the clamping jaw variable-pitch assembly is used for adjusting the distance between the clamping jaw mechanisms, and the clamping jaw mechanisms are used for clamping soft package power batteries; and the walking assembly is used for driving the crown block clamping jaw manipulator to move. According to the clamping jaw mechanism, the distance is adjustable, the adjusting range is wide, and the crown block clamping jaw mechanical arm can be suitable for products of more specifications.

Description

Technical Field

[0001] The utility model relates to the technical field of production and transportation of power batteries, in particular to an overhead crane jaw manipulator. Background Art

[0002] Lithium-ion batteries have the advantages of high discharge specific capacity, high discharge voltage, high power and environmental friendliness, so they are considered to be the most promising energy storage devices. With the continuous development of new energy power battery technology in China, the application scope is becoming wider and wider, and large-size and large-capacity soft-pack power batteries are being developed and produced by rechargeable battery manufacturers. As the main material transfer mechanism in the production process of soft-pack power batteries, the overhead crane jaw manipulator has been widely studied and applied, and the technology has been constantly innovated. Currently, the overhead crane jaw manipulator often only applies to soft-pack power batteries with a single width, and the versatility is poor.

[0003] In view of this, the purpose of the utility model is to provide a new technical solution to solve the existing technical problems. Content of the Utility Model

[0004] In order to overcome the deficiencies of the prior art, the utility model provides an overhead crane jaw manipulator, which solves the problem that the existing overhead crane jaw manipulator is only applicable to the clamping of soft-pack power batteries with a single width and has poor versatility.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] An overhead crane jaw manipulator includes a mounting plate, at least two groups of jaw mechanisms, a lifting mechanism and a jaw pitch-changing component. The lifting mechanism is connected to the jaw pitch-changing component, the jaw pitch-changing component is connected to the jaw mechanisms, the lifting mechanism is used to drive the jaw pitch-changing component and the jaw mechanisms to move up and down, the jaw pitch-changing component is used to adjust the distance between the jaw mechanisms, and the jaw mechanisms are used to clamp soft-pack power batteries;

[0007] A traveling component is used to drive the overhead crane jaw manipulator to move.

[0008] In the above structure, the traveling component includes a traveling motor, a traveling transmission shaft and traveling gears. The traveling motor is fixedly arranged on the mounting plate, the output shaft of the traveling motor is fixedly connected with a driving gear, a driving gear meshing with the driving gear is sleeved on the traveling transmission shaft, traveling steering gears are connected to both ends of the traveling transmission shaft, and the traveling gears are connected to the output ends of the traveling steering gears.

[0009] In the above structure, the lifting mechanism includes a lifting component and a lifting movable plate. The two lifting movable plates are symmetrically arranged below the mounting plate. The jaw pitch-changing component and the jaw mechanism are connected to the lifting movable plate. The lifting component is arranged on the mounting plate to drive the lifting movable plate to approach or move away from the mounting plate in the vertical direction.

[0010] In the above structure, the lifting component includes a lifting motor, a lifting transmission shaft, and a lifting lead screw. The lifting motor is fixedly arranged on the mounting plate. The output shaft of the lifting motor is fixedly connected with a rotating gear. A lifting gear meshing with the rotating gear is sleeved on the lifting transmission shaft. The two ends of the lifting transmission shaft are connected with lifting steering gears. The two lifting lead screws are respectively connected to the lifting steering gears at both ends. Two lifting fixing frames are symmetrically fixed on one side of the mounting plate facing the lifting movable plate. The end of the lifting lead screw away from the lifting steering gear is rotatably connected to the corresponding lifting fixing frame. A lead screw nut is rotatably connected to the lifting lead screw. The lead screw nut is fixedly connected to the lifting movable plate. The lifting movable plate is rotatably connected to the lifting lead screw through the lead screw nut.

[0011] A guide shaft is fixedly connected to the lifting fixing frame. The end of the guide shaft away from the lifting fixing frame is fixedly connected to the mounting plate. A linear bearing is fixedly connected to the lifting movable plate. The guide shaft passes through the linear bearing.

[0012] In the above structure, the jaw pitch-changing component includes a top pitch-changing plate, a pitch-changing motor, a bidirectional lead screw, and a pitch-changing transmission shaft. The two bidirectional lead screws are symmetrically arranged on the two lifting movable plates on both sides. One end of the bidirectional lead screw is connected with a pitch-changing steering gear. The output shaft of the pitch-changing motor is connected to one end of the bidirectional lead screw away from the pitch-changing steering gear on one side. The pitch-changing transmission shaft is connected to the pitch-changing steering gears on both sides. Two pitch-changing nuts that can approach or move away from each other are sleeved on the bidirectional lead screw. The two top pitch-changing plates are arranged between the two bidirectional lead screws. The two ends of the top pitch-changing plate are respectively connected to the pitch-changing nuts on the two bidirectional lead screws on both sides. The pitch-changing motor drives the two top pitch-changing plates to slide on the lifting movable plate in a direction of approaching or moving away from each other.

[0013] A pitch-changing slide rail extending along the length direction of the lifting movable plate is fixedly connected to the lifting movable plate. Pitch-changing sliders are fixedly connected to both ends of the top pitch-changing plate. The pitch-changing sliders are slidably connected to the pitch-changing slide rail. A connecting plate is fixedly connected to the pitch-changing nut. The top pitch-changing plate is fixedly connected to the connecting plate.

[0014] In the above structure, the jaw mechanism includes an opening and closing drive assembly and a jaw assembly. A plurality of the jaw assemblies are arranged on the top variable pitch plate. The jaw assembly includes a jaw shaft, a first upper hinge and a second upper hinge hinged to the bottom end of the jaw shaft. One end of the first upper hinge away from the jaw shaft is hinged to a first lower hinge, and one end of the second upper hinge away from the jaw shaft is hinged to a second lower hinge. The middle parts of the first lower hinge and the second lower hinge are hinged to each other. Claw plates are fixedly connected to the lower ends of the first lower hinge and the second lower hinge. The opening and closing drive assembly is used to drive the opening and closing action of the jaw assembly.

[0015] In the above structure, the opening and closing drive assembly includes an opening and closing motor, a movable part and a fixed U-shaped plate. The opening and closing motor is fixedly arranged on the top variable pitch plate. A plurality of the jaw assemblies are arranged on the fixed movable part. The opening and closing motor is connected with an opening and closing lead screw. One end of the opening and closing lead screw is rotatably connected to the top variable pitch plate, and the other end is rotatably connected to the fixed U-shaped plate. An opening and closing nut is rotatably connected to the opening and closing lead screw. The opening and closing nut is fixedly installed on the movable part. One end of the jaw shaft is fixedly connected to the movable part, and the side of the jaw shaft away from the fixed part is slidably connected to the fixed U-shaped plate. A hinge shaft is arranged in the middle parts of the first lower hinge and the second lower hinge. Both ends of the hinge shaft are connected to the fixed U-shaped plate. A compression spring is sleeved on the jaw shaft, and a locking nut is fixedly connected to one end of the jaw shaft close to the movable part. One end of the compression spring abuts against the locking nut, and the other end abuts against the fixed U-shaped plate.

[0016] In the above structure, an opening and closing gear is fixedly connected to the output shaft of the opening and closing motor. A bearing seat is installed on the top variable pitch plate. A rotating bearing is installed in the bearing seat. The opening and closing lead screw is rotatably connected to the top variable pitch plate through the rotating bearing. A lead screw gear meshing with the opening and closing gear is fixedly sleeved on the top end of the opening and closing lead screw.

[0017] In the above structure, a PCB docking mechanism is further included and arranged on both sides of the overhead crane jaw manipulator. The PCB docking mechanism includes a rotating motor, a laser ranging part, a restraint head and a linear module. The rotating motor is installed on the linear module and can move close to or away from the mounting plate in the vertical direction. The restraint head is fixedly connected to the output shaft of the rotating motor. The laser ranging part is used to detect the distance between the restraint head and the battery fixture.

[0018] The beneficial effects of the present utility model are as follows: The optimization of the relevant structure of the overhead crane jaw manipulator better meets the usage requirements for transporting soft-pack power batteries, and its stability and compatibility are enhanced, improving the working efficiency of the overhead crane jaw manipulator, which can better assist in unmanned automated production and has a wider application range; moreover, a jaw variable-spacing component is provided to adjust the spacing of the jaw mechanism, enabling the overhead crane jaw manipulator to be applicable to soft-pack power batteries with different widths. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0020] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0021] Figure 2 is a schematic top view structure diagram of the present utility model;

[0022] Figure 3 is a schematic diagram of the lifting mechanism structure of the present utility model;

[0023] Figure 4 is a schematic diagram of the jaw mechanism of the present utility model;

[0024] Figure 5 is a schematic diagram of the jaw variable-spacing component structure of the present utility model;

[0025] Figure 6 is a schematic diagram of the jaw component structure of the present utility model;

[0026] Figure 7 is a schematic cross-sectional view of the opening and closing drive component of the present utility model;

[0027] Figure 8 is a schematic diagram of the fixed U-shaped plate structure of the present utility model;

[0028] Figure 9 is a schematic side view structure diagram of the present intelligent type.

[0029] Reference numerals:

[0030] 1. mounting plate; 12. traveling fixing plate; 121. traveling protective cover; 13. lifting fixing plate; 131. lifting protective cover; 14. lifting fixing frame; 141. guiding shaft; 15. traveling wheel assembly

[0031] 2. Jaw mechanism; 21. Jaw assembly; 211. Jaw shaft; 2111. Locking nut; 212. First upper hinge; 213. Second upper hinge; 214. First lower hinge; 215. Second lower hinge; 216. Hinge shaft; 217. Jaw plate; 218. Compression spring; 22. Opening and closing drive assembly; 221. Opening and closing motor; 2211. Opening and closing gear; 222. Movable part; 223. Fixed U-shaped plate; 224. Opening and closing lead screw; 2241. Lead screw gear; 225. Positioning shaft; 226. Limiting part;

[0032] 3. Lifting mechanism; 31. Lifting assembly; 311. Lifting motor; 312. Lifting transmission shaft; 313. Lifting lead screw; 3131. Lead screw nut; 314. Rotating gear; 315. Lifting gear; 32. Lifting movable plate; 321. Variable pitch slide rail; 322. Support seat; 323. Variable pitch slider; 33. Lifting steering gear;

[0033] 4. Jaw variable pitch assembly; 41. Top variable pitch plate; 411. Connecting plate; 412. Bearing seat; 413. Rotating bearing; 42. Variable pitch motor; 43. Bi-directional lead screw; 44. Variable pitch transmission shaft; 45. Variable pitch steering gear;

[0034] 5. Traveling assembly; 51. Traveling motor; 511. Driving gear; 52. Traveling transmission shaft; 521. Driving gear; 53. Traveling gear; 54. Traveling steering gear;

[0035] 6. PCB docking mechanism; 61. Linear module; 62. Rotary motor; 63. Restraint head; 64. Laser ranging component. Detailed implementation manners

[0036] The following will further illustrate the present utility model in conjunction with the attached Figures 1-9 figures.

[0037] The following will clearly and completely describe the concept, specific structure and technical effects generated by the present utility model in conjunction with the embodiments and the drawings, so as to fully understand the purpose, features and effects of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of the present utility model. In addition, all the connection / connection relationships involved in the patent do not simply refer to the direct connection of components, but refer to the more optimal connection structure that can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the present utility model can be combined with each other without conflict.

[0038] The utility model provides a crane gripper manipulator, which can carry multiple soft-pack power batteries at one time, and the soft-pack batteries will not fall during the handling process, realizing efficient and safe handling of soft-pack batteries.

[0039] Referring to Figures 1 to 9 , a crane gripper manipulator includes a mounting plate 1, a gripper mechanism 2, a lifting mechanism 3, a gripper variable-spacing component 4 and a traveling component 5. Among them, the mounting plate 1 is the mounting base of the whole device, used to carry and install each component; at least two groups of gripper mechanisms 2 are connected to the mounting plate 1, and the gripper mechanism 2 is the main working mechanism of the crane gripper manipulator, used to grip soft-pack power batteries; the lifting mechanism 3 is the Y-axis lifting unit of the crane gripper manipulator, used to drive the gripper mechanism 2 to move vertically towards or away from the mounting plate 1 to realize the overall lifting of the gripper mechanism 2; the gripper variable-spacing component 4 is the Z-axis variable-spacing unit of the crane gripper manipulator, used to adjust the distance between the gripper mechanisms 2; the traveling component 5 is connected to the track for the crane gripper manipulator to move, used to drive the crane gripper manipulator to move, and thus realize the handling of soft-pack power batteries.

[0040] Referring to Figure 1 and Figure 2 , the traveling component 5 is used to drive the crane gripper manipulator to move. Specifically, the traveling component 5 includes a traveling motor 51, a traveling transmission shaft 52 and a traveling gear. The traveling motor 51 is fixedly arranged on the mounting plate 1, and the output shaft of the traveling motor 51 is fixedly connected with a driving gear 511. A driving gear 521 is sleeved on the traveling transmission shaft 52, and the driving gear 521 meshes with the driving gear 511. The traveling transmission shaft 52 is arranged along the length direction of the mounting plate 1, and traveling steering gears 54 are arranged at both ends of the traveling transmission shaft 52. The traveling gears 53 are connected to the output ends of the traveling steering gears 54, and the traveling gears 53 mesh with the traveling racks on the track for the crane gripper manipulator to move. The track for the crane manipulator to move refers to the prior art, and the connection structure and working principle of the track will not be elaborated here. The traveling steering gear 54 is set to steer the mechanical energy output by the traveling motor 51, convert the rotation around the axial direction of the traveling transmission shaft 52 output by the traveling motor 51 into the rotation around the direction perpendicular to the axial direction of the transmission shaft, so as to drive the traveling gears 53 arranged on both sides of the mounting plate 1 in the length direction to walk along the tracks arranged on both sides of the mounting plate 1 in the length direction. A current collector assembly and a sliding contact wire and other conventional structures are also installed on the mounting plate 1 to cooperate to supply power to the machine platform.

[0041] In this embodiment, a walking fixed plate 12 is fixedly connected to the mounting plate 1, a walking motor 51 is fixedly mounted on the walking fixed plate 12, an output shaft of the walking motor 51 passes through the walking fixed plate 12, and a walking transmission shaft 52 is rotatably connected to the walking fixed plate 12. The walking fixed plate 12 supports the installation of the walking motor 51 and the walking transmission shaft 52, effectively ensuring the reliability of their connection. The driving gear 511 is fixedly connected to the output shaft of the walking motor 51, and the driving gear 521 is sleeved on the position of the walking transmission shaft 52 close to the walking fixed plate 12. A walking protective cover 121 is fixedly connected to the walking fixed plate 12, and both the driving gear 521 and the driving gear 511 are located in the walking protective cover 121. The walking protective cover 121 protects the driving gear 521 and the driving gear 511, effectively reducing the possibility of foreign matter being involved in the driving gear 511 or the driving gear 521.

[0042] In addition, since the transmission stroke of the travel transmission shaft 52 is relatively long, in the present embodiment, a seat bearing is provided in the transmission stroke of the travel transmission shaft 52, the seat bearing is fixedly connected to the mounting plate 1, the travel transmission shaft 52 is rotatably connected to the seat bearing, and the seat bearing supports the travel transmission shaft 52 to ensure the transmission stability of the travel transmission shaft 52.

[0043] Furthermore, in order to ensure the stability of the travel assembly 5 in track motion, travel wheel assemblies 15 and guide wheel assemblies are installed at the four corners of the mounting plate 1. The travel wheel assemblies 15 and the guide wheel assemblies roll on the track for the movement of the overhead crane gripper manipulator, supporting and guiding the overhead crane gripper manipulator to ensure the stability of the movement of the overhead crane gripper manipulator.

[0044] Furthermore, obstacle detection elements are installed on both sides of the front and rear of the traveling direction below the mounting plate 1 to detect whether there are obstacles in front of the traveling route of the overhead crane gripper manipulator to ensure the safety of the traveling of the overhead crane gripper manipulator. In addition, a barcode scanning device for precise positioning and a travel switch device for travel limit are installed on one side of the mounting plate 1.

[0045] During operation, the busbar is energized, and the collector assembly contacts the busbar to supply power to the entire machine. After the travel motor 51 is energized, it drives the travel gear 53 to rotate and cooperate with the travel rack on the track. At the same time, the travel wheel assembly 15 and the guide wheel assembly also move to the corresponding positions of the track, driving the entire overhead crane gripper manipulator to move in the X-axis direction.

[0046] Reference Figures 1 to 3,, The lifting mechanism 3 is the Y-axis lifting unit of the overhead crane jaw manipulator, including a lifting assembly 31 and a lifting movable plate 32. Two lifting movable plates 32 are arranged below the mounting plate 1 in a liftable manner, and the two lifting movable plates 32 are symmetrically arranged at opposite ends of the mounting plate 1 in the length direction. The jaw variable pitch assembly 4 and the jaw mechanism 2 are connected to the lifting movable plate 32. The lifting assembly 31 is arranged on the mounting plate 1 to drive the two lifting movable plates 32 on both sides to approach or move away from the mounting plate 1 in the vertical direction, thereby realizing the lifting of the jaw variable pitch assembly 4 and the jaw mechanism 2.

[0047] Further, the lifting assembly 31 includes a lifting motor 311, a lifting transmission shaft 312, and a lifting lead screw 313. The lifting motor 311 is fixedly arranged on the mounting plate 1. A rotating gear 314 is fixedly connected to the output shaft of the lifting motor 311. A lifting gear 315 is sleeved on the lifting transmission shaft 312. The lifting gear 315 meshes with the rotating gear 314. Both ends of the lifting transmission shaft 312 are connected to a lifting steering gear 33. Two lifting lead screws 313 are respectively connected to the output shafts of the lifting steering gears 33 at both ends, and the two lifting lead screws 313 extend in the vertical direction. On one side of the mounting plate 1 facing the lifting movable plate 32, two lifting fixed frames 14 are fixedly connected. The two lifting fixed frames 14 are symmetrically arranged and correspond to the two lifting lead screws 313 one by one. The ends of the two lifting lead screws 313 away from the lifting steering gear 33 are respectively rotatably connected to the corresponding lifting fixed frames 14. The lifting movable plate 32 is rotatably connected to the lifting lead screw 313. Specifically, a lead screw nut 3131 is rotatably connected to the lifting lead screw 313. The lead screw nut 3131 is fixedly installed with the lifting movable plate 32. The lifting movable plate 32 is rotatably connected to the lifting lead screw 313 through the lead screw nut 3131. When the lifting lead screw 313 rotates, the lifting movable plate 32 moves up and down on the lifting lead screw 313.

[0048] In this embodiment, a lifting fixed plate 13 is fixedly connected to the mounting plate 1. The lifting motor 311 is fixedly installed on the lifting fixed plate 13. The output shaft of the lifting motor 311 passes through the lifting fixed plate 13. The lifting transmission shaft 312 is rotatably connected to the lifting fixed plate 13. The lifting fixed plate 13 supports the installation of the lifting motor 311 and the lifting transmission shaft 312, effectively ensuring the reliability of their connection. The rotating gear 314 is fixedly connected to the output shaft of the lifting motor 311. The lifting gear 315 is sleeved on the lifting transmission shaft 312 near the lifting fixed plate 13. A lifting protective cover 131 is fixedly connected to the lifting fixed plate 13, and both the rotating gear 314 and the lifting gear 315 are located inside the lifting protective cover 131. The lifting protective cover 131 protects the lifting gear 315 and the rotating gear 314, effectively reducing the possibility of foreign objects being caught in the lifting gear 315 or the rotating gear 314.

[0049] In addition, since the transmission stroke of the lifting transmission shaft 312 is also relatively long, in this embodiment, a pedestal bearing is also provided in the transmission stroke of the lifting transmission shaft 312. The pedestal bearing is fixedly connected to the mounting plate 1, and the lifting transmission shaft 312 is rotatably connected to the pedestal bearing. The pedestal bearing supports the lifting transmission shaft 312 to ensure the transmission stability of the lifting transmission shaft 312.

[0050] Furthermore, a guide shaft 141 is fixedly connected to the lifting fixing frame 14. The two guide shafts 141 are symmetrically arranged on both sides of the lifting lead screw 313. One end of the guide shaft 141 away from the lifting fixing frame 14 is fixedly connected to the mounting plate 1. A linear bearing is fixedly installed on the lifting movable plate 32, and the guide shaft 141 passes through the linear bearing, thereby realizing the rotational connection with the lifting movable plate 32. The guide shaft 141 guides the lifting of the lifting plate, and by arranging the guide shafts 141 on both sides of the lifting lead screw 313, the lifting movable plate 32 can also be limited, so as to reduce the possibility of the lifting movable plate 32 rotating during the lifting process, effectively ensuring the lifting stability of the lifting movable plate 32.

[0051] During operation, after the lifting motor 311 is powered on, it drives the lifting lead screw 313 to rotate through the lifting steering gear 33, and then drives the lifting movable plate 32 to perform a lifting motion. The jaw mechanism 2 is connected to the lifting movable plate 32, and then drives the jaw mechanism 2 to perform a lifting motion (i.e., the motion of the jaw mechanism 2 in the Y-axis direction), thereby controlling the jaw mechanism 2 to enter and exit the battery fixture area.

[0052] Refer to Figure 1 、 Figure 4 and Figure 5, the jaw variable-spacing assembly 4 is the Z-axis variable-spacing unit of the overhead crane jaw manipulator, including a top variable-spacing plate 41, a variable-spacing motor 42, a bidirectional lead screw 43, and a variable-spacing transmission shaft 44. Among them, the bidirectional lead screw 43 is a commonly used forward and reverse bidirectional lead screw 43, that is, there are two thread portions with opposite threads on the bidirectional lead screw 43. Two bidirectional lead screws 43 are symmetrically arranged on the lifting movable plates 32 on both sides, and the length direction of the bidirectional lead screw 43 is parallel to the length direction of the lifting movable plate 32. One end of the bidirectional lead screw 43 is connected to a variable-spacing steering gear 45, and the variable-spacing steering gears 45 on the two bidirectional lead screws 43 are located on the same side. The two ends of the variable-spacing transmission shaft 44 are respectively connected to the variable-spacing steering gears 45 on both sides. Two variable-spacing nuts are sleeved on the bidirectional lead screw 43, and the two variable-spacing nuts are respectively arranged corresponding to the two thread portions on the bidirectional lead screw 43. When the bidirectional lead screw 43 rotates, the two variable-spacing nuts can move in the direction of approaching or separating from each other. Two top variable-spacing plates 41 are arranged between the two bidirectional lead screws 43, and the two ends of the top variable-spacing plate 41 are respectively connected to the corresponding variable-spacing nuts on the bidirectional lead screws 43 on both sides. When the variable-spacing motor 42 works to drive the bidirectional lead screw 43 to rotate, the mechanical energy output by the variable-spacing motor 42 is sequentially conducted through the bidirectional lead screw 43, the variable-spacing steering gear 45, the variable-spacing transmission shaft 44, and another variable-spacing steering gear 45 to the bidirectional lead screw 43 on the other side. The bidirectional lead screws 43 on both sides rotate, driving the variable-spacing nuts to approach or separate from each other, and further driving the two top variable-spacing plates 41 to move in the direction of approaching or separating from each other. The two ends of the top variable-spacing plate 41 are respectively slidably arranged on the lifting movable plates 32 on both sides. Two groups of jaw mechanisms 2 are respectively installed on the two top variable-spacing plates 41. The two top variable-spacing plates 41 approach or separate from each other to realize the spacing adjustment of the two jaw mechanisms 2, so that the overhead crane jaw manipulator can be applicable to soft-pack power batteries with different widths.

[0053] Further, the lifting movable plate 32 is fixedly connected with a variable-spacing slide rail 321. The variable-spacing slide rail 321 extends along the length direction of the lifting movable plate 32. The two ends of the top variable-spacing plate 41 are fixedly connected with variable-spacing sliders 323. The variable-spacing sliders 323 are slidably connected to the variable-spacing slide rail 321. A connecting plate 411 is fixedly connected to the variable-spacing nut, and the two ends of the top variable-spacing plate 41 are fixedly connected to the corresponding connecting plates 411 to realize the connection between the top variable-spacing plate 41 and the variable-spacing nut.

[0054] Further, in some embodiments, a photoelectric detection element for detecting the variable-spacing displacement amount is installed on the outer side edge of the lifting movable plate 32. By setting the photoelectric detection element, the variable-spacing displacement amount of the two top variable-spacing plates 41 can be detected in real time to realize the precise control of the variable-spacing.

[0055] Considering that the distance between the two lifting movable plates 32 is relatively long, that is, the transmission stroke of the variable-distance transmission shaft 44 is relatively long. To ensure the transmission reliability of the variable-distance transmission shaft 44, in some embodiments, a support seat 322 is fixedly connected to the lifting movable plate 32, a support bearing is rotatably connected to the support seat 322, and the variable-distance transmission shaft 44 is rotatably connected to the support bearings on the two support seats 322.

[0056] During operation, after the variable-distance motor 42 is powered on, it drives the bidirectional lead screw 43 to rotate. The bidirectional lead screw 43 is connected to the top movable plate through the connecting plate 411. The jaw assembly 21 is installed on the top variable-distance plate 41. The two bidirectional lead screws 43 are connected through the variable-distance steering gear 45 and the variable-distance transmission shaft 44. The rotation of the bidirectional lead screw 43 can control the movement of the jaw mechanism 2 in the Z-axis direction, thereby achieving the purpose of fine-tuning the jaw mechanism 2 in the Z-axis direction.

[0057] Refer to Figures 4 to 6 , the jaw mechanism 2 is the main working mechanism of the overhead crane jaw manipulator, including a jaw assembly 21 and an opening and closing drive assembly 22. A number of jaw assemblies 21 are connected to the top variable-distance plate 41. The jaw assembly 21 is the main working component of the jaw mechanism 2, used to grip the soft-pack power battery so that the overhead crane jaw manipulator can carry the soft-pack power battery; the opening and closing drive assembly 22 is used to drive the opening and closing action of the jaw assembly 21. The jaw assembly 21 includes a jaw shaft 211, a first upper hinge 212, and a second upper hinge 213. The first upper hinge 212 and the second upper hinge 213 are both hinged to the bottom end of the jaw shaft 211. One end of the first upper hinge 212 away from the jaw shaft 211 is hinged to a first lower hinge 214, and one end of the second upper hinge 213 away from the jaw shaft 211 is hinged to a second lower hinge 215. The middle of the first lower hinge 214 is hinged to the middle of the second lower hinge 215, that is, the first lower hinge 214 and the second lower hinge 215 form a structure similar to a pair of pliers. Claw plates 217 are fixedly connected to the lower ends of the first lower hinge 214 and the second lower hinge 215. The claw plates 217 can be made of rubber or silica gel materials, and anti-slip patterns can be provided on the opposite sides of the two claw plates 217. By providing the claw plates 217, when the jaw assembly 21 grips the soft-pack power battery, the friction of the gripping part of the jaw assembly 21 can be increased, effectively enhancing the reliability of gripping. Moreover, the claw plates 217 are made of flexible materials such as rubber or silica gel, which can protect the soft-pack power battery during gripping and reduce the possibility of damaging the soft-pack battery when the jaw assembly 21 grips the soft-pack battery.

[0058] Refer to Figures 4 to 8, the opening and closing drive assembly 22 includes an opening and closing motor 221, a movable member 222 and a fixed U-shaped plate 223. The opening and closing motor 221 is fixedly installed on the top pitch-changing plate 41. A plurality of jaw assemblies 21 are arranged on the movable member 222. The movable member 222 is arranged between the top pitch-changing plate 41 and the fixed U-shaped plate 223. The opening and closing motor 221 is connected with an opening and closing lead screw 224. One end of the opening and closing lead screw 224 is rotatably connected to the top pitch-changing plate 41, and the other end is rotatably connected to the fixed U-shaped plate 223. An opening and closing nut is rotatably sleeved on the opening and closing lead screw 224. The opening and closing nut is fixedly installed on the movable member 222. When the opening and closing motor 221 drives the opening and closing lead screw 224 to rotate, the opening and closing nut moves up and down on the opening and closing lead screw 224, driving the movable member 222 to move up and down on the opening and closing lead screw 224. A plurality of jaw assemblies 21 are sequentially installed on the movable member 222. Specifically, one end of the jaw shaft 211 away from the first upper hinge 212 is fixedly connected to the movable member 222, and one end of the jaw shaft 211 away from the movable member 222 is slidably connected to the fixed U-shaped plate 223. The fixed U-shaped plate 223 has a U-shaped structure, and an installation space for the jaw assembly 21 is formed inside the U-shaped opening thereof. The middle parts of the first lower hinge 214 and the second lower hinge 215 are connected by a hinge shaft 216. The first lower hinge 214 and the second lower hinge 215 are hinged by the hinge shaft 216. Both ends of the hinge shaft 216 are connected to the opposite sides of the opening of the fixed U-shaped plate 223. A compression spring 218 is sleeved on the jaw shaft 211, and a locking nut 2111 is fixedly connected to one end of the jaw shaft 211 close to the movable member 222. One end of the compression spring 218 abuts against the locking nut 2111, and the other end abuts against the fixed U-shaped plate 223. In the initial state, the fixed U-shaped plate 223 and the jaw shaft 211 are subjected to the elastic force of the compression spring 218. The compression spring 218 pushes the jaw shaft 211 to move upward away from the fixed U-shaped plate 223. Since the hinge shaft 216 is connected to the fixed U-shaped plate 223, the jaw assembly 21 is in a closed and clamped state. In actual setting, a compression spring 218 with a relatively large elastic coefficient can be selected, so that the jaw assembly 21 has a relatively large clamping force and the clamping force will not be unstable. When the opening and closing motor 221 drives the opening and closing lead screw 224 to rotate and drives the movable member 222 to move downward, at this time, the jaw shaft 211 slides downward on the fixed U-shaped plate 223, and the compression spring 218 is in an elastically compressed state. At this time, the lower ends of the first upper hinge 212 and the second upper hinge 213 rotate away from each other on the jaw shaft 211, driving the first lower jaw and the second lower jaw to rotate around the hinge shaft 216 to make the jaw assembly 21 in an open state.

[0059] In some embodiments, a position detection component is installed on the movable member 222 for positioning detection of the lifting movement of the lifting mechanism 3 to ensure that the lifting movement of the lifting mechanism 3 is in place. Symmetrically fixed positioning shafts 225 are provided on the fixed U-shaped plate 223. One end of the positioning shaft 225 away from the fixed U-shaped plate 223 is fixedly connected to the top variable pitch plate 41, and the positioning shaft 225 is slidably connected to the movable member 222. The positioning shaft 225 is used to position the fixed U-shaped plate 223 and guide the lifting movement of the movable member 222. A limiting member 226 is also fixedly provided on the fixed U-shaped plate 223. The limiting member 226 is arranged on the side of the fixed U-shaped plate 223 facing the movable member 222. The limiting member 226 is used for hard limiting the movement of the movable member 222 to reduce the possibility that the descending height of the movable member 222 is too low.

[0060] A opening and closing motor 221 has an output shaft fixedly connected with an opening and closing gear 2211. A bearing seat 412 is installed on the top variable pitch plate 41. A rotating bearing 413 is installed in the bearing seat 412. An opening and closing lead screw 224 is rotatably connected to the top variable pitch plate 41 through the rotating bearing 413. A lead screw gear 2241 is fixedly sleeved on the top of the opening and closing lead screw 224, and the lead screw gear 2241 meshes with the opening and closing gear 2211. The opening and closing motor 221 drives the opening and closing gear 2211 to drive the lead screw gear 2241 to rotate, and then drives the opening and closing lead screw 224 to rotate.

[0061] During operation, after the opening and closing motor 221 is powered on, it drives the opening and closing lead screw 224 to rotate through the cooperation of the opening and closing gear 2211 and the lead screw gear 2241, and then drives the movable member 222 to perform a lifting movement while the fixed U-shaped plate 223 remains stationary. The compression spring 218 on the jaw shaft 211 between the two is stressed (unstressed), thereby controlling the opening (closing) of the jaw assembly 21 to achieve the effect of the jaw assembly 21 releasing (clamping) the soft-pack power battery.

[0062] Refer to Figure 1 and Figure 9, the overhead crane gripper manipulator further includes PCB docking mechanisms 6 arranged on both sides of the overhead crane gripper manipulator. The PCB docking mechanisms 6 are used to dock with a battery fixture (not shown in the figure) to achieve one-key cell type change in the fixture, so that the overhead crane gripper manipulator can pick up the battery in the battery fixture. The PCB docking mechanism 6 includes a linear module 61, a rotary motor 62, a laser ranging component 64, and a restraint head 63. Among them, the linear module 61 is used to drive the rotary motor 62 to move up and down relative to the mounting plate 1 in a direction approaching or away from the mounting plate 1. In this embodiment, the linear module 61 is a linear slide structure, and the linear slide structure is fixedly installed on one side of the lifting fixed frame 14. The rotary motor 62 is installed on the slide block of the linear slide structure and can rotate and move in a direction approaching or away from the mounting plate 1 (i.e., moving away from or approaching the battery fixture) under the drive of the linear slide structure. The restraint head 63 is fixedly installed on the output shaft of the rotary motor 62, and the rotary motor 62 can drive the restraint head 63 to rotate to clamp the battery fixture, realizing the docking with the battery fixture.

[0063] The above is a specific description of the preferred embodiment of the present invention. However, the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A crane gripper manipulator, characterized in that: It includes a mounting plate, at least two sets of jaw mechanisms, a lifting mechanism and a jaw pitch-changing component. The lifting mechanism is connected to the jaw pitch-changing component, and the jaw pitch-changing component is connected to the jaw mechanism. The lifting mechanism is used to drive the jaw pitch-changing component and the jaw mechanism to move up and down. The jaw pitch-changing component is used to adjust the distance between the jaw mechanisms. The jaw mechanism is used to grip soft-pack power batteries; A traveling component, which is used to drive the overhead crane jaw manipulator to move.

2. The overhead crane jaw manipulator according to claim 1, wherein: The traveling component includes a traveling motor, a traveling transmission shaft and traveling gears. The traveling motor is fixedly arranged on the mounting plate. The output shaft of the traveling motor is fixedly connected with a driving gear. A driven gear meshing with the driving gear is sleeved on the traveling transmission shaft. Both ends of the traveling transmission shaft are connected with traveling steering gears. The traveling gears are connected to the output ends of the traveling steering gears.

3. The overhead crane gripper manipulator according to claim 1, wherein: The lifting mechanism includes a lifting component and a lifting movable plate. The two lifting movable plates are symmetrically arranged below the mounting plate. The jaw pitch-changing component and the jaw mechanism are connected to the lifting movable plate. The lifting component is arranged on the mounting plate to drive the lifting movable plate to approach or move away from the mounting plate in the vertical direction.

4. The overhead crane jaw manipulator according to claim 3, characterized in that: The lifting component includes a lifting motor, a lifting transmission shaft and a lifting lead screw. The lifting motor is fixedly arranged on the mounting plate. The output shaft of the lifting motor is fixedly connected with a rotating gear. A lifting gear meshing with the rotating gear is sleeved on the lifting transmission shaft. Both ends of the lifting transmission shaft are connected with lifting steering gears. The two lifting lead screws are respectively connected to the lifting steering gears at both ends. Two lifting fixed frames are symmetrically fixed on one side of the mounting plate facing the lifting movable plate. The end of the lifting lead screw far away from the lifting steering gear is rotatably connected to the corresponding lifting fixed frame. A lead screw nut is rotatably connected to the lifting lead screw. The lead screw nut is fixedly connected to the lifting movable plate. The lifting movable plate is rotatably connected to the lifting lead screw through the lead screw nut; A guide shaft is fixedly connected to the lifting fixed frame. The end of the guide shaft far away from the lifting fixed frame is fixedly connected to the mounting plate. A linear bearing is fixedly connected to the lifting movable plate. The guide shaft passes through the linear bearing.

5. The overhead crane jaw manipulator according to claim 3, characterized in that: The jaw pitch-changing component includes a top pitch-changing plate, a pitch-changing motor, a bidirectional lead screw and a pitch-changing transmission shaft. The two bidirectional lead screws are symmetrically arranged on the two lifting movable plates on both sides. One end of the bidirectional lead screw is connected with a pitch-changing steering gear. The output shaft of the pitch-changing motor is connected to one end of the bidirectional lead screw far away from the pitch-changing steering gear on one side. The pitch-changing transmission shaft is connected to the pitch-changing steering gears on both sides. Two pitch-changing nuts that can approach or move away from each other are sleeved on the bidirectional lead screw. The two top pitch-changing plates are arranged between the two bidirectional lead screws. Both ends of the top pitch-changing plate are respectively connected to the pitch-changing nuts on the two bidirectional lead screws on both sides. The pitch-changing motor drives the two top pitch-changing plates to slide on the lifting movable plate in the direction of approaching or moving away from each other.

6. The overhead crane jaw manipulator according to claim 5, characterized in that: A variable pitch slide rail extending along the length direction of the lifting movable plate is fixedly connected to the lifting movable plate. Variable pitch sliders are fixedly connected to both ends of the top variable pitch plate. The variable pitch sliders are slidably connected to the variable pitch slide rail. A connecting plate is fixedly connected to the variable pitch nut, and the top variable pitch plate is fixedly connected to the connecting plate.

7. The overhead crane jaw manipulator according to claim 6, characterized in that: The jaw mechanism includes an opening and closing driving component and a jaw component. A plurality of the jaw components are arranged on the top variable pitch plate. The jaw component includes a jaw shaft, a first upper hinge and a second upper hinge hinged to the bottom end of the jaw shaft. A first lower hinge is hinged to one end of the first upper hinge away from the jaw shaft. A second lower hinge is hinged to one end of the second upper hinge away from the jaw shaft. The middle parts of the first lower hinge and the second lower hinge are hinged to each other. Claw plates are fixedly connected to the lower ends of the first lower hinge and the second lower hinge. The opening and closing driving component is used to drive the opening and closing action of the jaw component.

8. The overhead crane jaw manipulator according to claim 7, characterized in that: The opening and closing driving component includes an opening and closing motor, a movable part and a fixed U-shaped plate. The opening and closing motor is fixedly arranged on the top variable pitch plate. A plurality of the jaw components are arranged on the fixed movable part. The opening and closing motor is connected with an opening and closing lead screw. One end of the opening and closing lead screw is rotatably connected to the top variable pitch plate, and the other end is rotatably connected to the fixed U-shaped plate. An opening and closing nut is rotatably connected to the opening and closing lead screw. The opening and closing nut is fixedly installed on the movable part. One end of the jaw shaft is fixedly connected to the movable part, and the side of the jaw shaft away from the fixed part is slidably connected to the fixed U-shaped plate. A hinge shaft is arranged in the middle parts of the first lower hinge and the second lower hinge. Both ends of the hinge shaft are connected to the fixed U-shaped plate. A compression spring is sleeved on the jaw shaft, and a locking nut is fixedly connected to one end of the jaw shaft close to the movable part. One end of the compression spring abuts against the locking nut, and the other end abuts against the fixed U-shaped plate.

9. The overhead crane jaw manipulator according to claim 8, wherein: An opening and closing gear is fixedly connected to the output shaft of the opening and closing motor. A bearing seat is installed on the top variable pitch plate. A rotating bearing is installed in the bearing seat. The opening and closing lead screw is rotatably connected to the top variable pitch plate through the rotating bearing. A lead screw gear meshing with the opening and closing gear is fixedly sleeved on the top end of the opening and closing lead screw.

10. The overhead crane jaw manipulator according to claim 1, characterized in that: It further includes a PCB docking mechanism arranged on both sides of the overhead crane jaw manipulator. The PCB docking mechanism includes a rotating motor, a laser ranging component, a restraint head and a linear module. The rotating motor is installed on the linear module and can move close to or away from the mounting plate in the vertical direction. The restraint head is fixedly connected to the output shaft of the rotating motor. The laser ranging component is used to detect the distance between the restraint head and the battery fixture.

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