Flexible variable-pitch module gripper
By designing a flexible variable pitch module gripper and adopting a module hook assembly and bottom-holding mechanism, the problem of existing module grippers being incompatible with different sizes has been solved, realizing efficient handling of battery modules and flexible production line manufacturing.
Patent Information
- Application Number
- CN202423303080.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2034-12-31
AI Technical Summary
The existing module grippers do not have adjustment functions and cannot be compatible with battery modules of different sizes, resulting in high production costs and the inability to achieve flexible production on the production line.
A flexible variable-pitch module gripper was designed, which adopts a module hook assembly and a bottom-holding mechanism. The hook distance is adjusted by a servo motor driving a positive and negative threaded screw. Combined with a bottom-holding lifting cylinder and a flipping cylinder, it can grasp the four corners of the battery module and hold the bottom of the side, adapting to the gripping of modules of different sizes.
It enables compatible gripping of battery modules of different sizes, reduces production costs, and improves handling efficiency through robot assistance, thus achieving flexible production on the production line.
Smart Images
Figure CN223673753U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to battery production carrying technical field, concretely is a flexible variable distance module gripper. BACKGROUND
[0002] Battery module is by a plurality of battery monomer through series connection, parallel or series parallel mode combination together's battery assembly, from structure, it usually includes battery monomer, busbar, sampling line, protective housing etc.
[0003] Battery module plays a key role in many fields, in the electric vehicle field, it is the core source of vehicle power, provides electric power drive vehicle for motor, in energy storage system, battery module can store electric energy, balance the peak valley electricity of power grid, for example, stores electric energy when night electricity low, releases electric energy in the daytime electricity peak, and its performance advantage and shortcoming directly influence the overall performance of equipment, including endurance, service life, safety and many important aspects.
[0004] The existing new energy battery technology updates and upgrades relatively fast, battery module is often used module gripper to carry battery module in the production process, but the existing module gripper does not have adjusting function, leading to its only adaptation to the grabbing of fixed size battery module, cannot be compatible with different size module grabbing, cannot reduce the production cost of enterprise, and cannot realize the flexible production of production line, and the practicality is poor. SUMMARY
[0005] The utility model solves the technical problem that a flexible variable distance module gripper can effectively solve the problems in the prior art.
[0006] The utility model adopts the technical scheme: a flexible variable distance module gripper, including gripper module, the lower part of gripper module front and rear two sides is provided with module hook hand subassembly, the inside fixed mounting of gripper module has main connecting plate, the top of main connecting plate is fixedly installed with robot installation flange, the lower part of main connecting plate is fixedly installed with connecting frame, the both sides of connecting frame lower part are provided with module pouch base, the lower part of module pouch base is provided with pouch mechanism, the just below of gripper module is provided with battery module body, the outside of battery module body is provided with battery module hook plate, the side of battery module body is provided with battery module fixed bolt hole.
[0007] Preferably, the module hook hand assembly is provided with four identical ones, and the four module hook hand assemblies are symmetrically distributed at the four corners of the lower part of the gripper module.
[0008] Through the above technical scheme, through the design of four identical module hook hand assemblies and two identical pocket bottom mechanisms, the battery module body can be clamped and transported.
[0009] Preferably, the gripper module, the gripper horizontal frame, the servo motor, the positive and negative tooth screw rod, the module hook hand mounting seat and the guide camera, the outer side of the gripper horizontal frame is fixedly installed with a servo motor, the inside of the gripper horizontal frame is rotatably installed with a positive and negative tooth screw rod, the outer side of the positive and negative tooth screw rod is threadedly connected with a module hook hand mounting seat, the module hook hand mounting seat is slidably connected with the gripper horizontal frame, and the end of the gripper horizontal frame away from the servo motor is fixedly installed with a guide camera.
[0010] Preferably, the module hook hand mounting seat is provided with two identical ones, the number of the module hook hand mounting seats is the same as that of the hook hand mounting seats, and the module hook hand mounting seat and the hook hand mounting seat are fixedly connected through bolts.
[0011] Through the above technical scheme, the movable end of the servo motor drives the positive and negative tooth screw rod to rotate, the positive and negative tooth screw rod drives the two identical module hook hand mounting seats to move relatively, the module hook hand mounting seat transmits power to the module hook hand assembly, changes the distance between the two groups of module hook hand assemblies below the gripper module, and the guide camera can take pictures of the battery module body. The flexible variable-distance module gripper is installed on the robot through the robot mounting flange, the flexible variable-distance module gripper is moved by the robot, and the battery module body is placed into the PACK box.
[0012] Preferably, the module hook hand assembly, the hook hand mounting seat, the lower connecting plate, the hook hand bolt cylinder, the battery module hook, the hook hand safety bolt and the guide seat, the hook hand mounting seat is fixedly installed at the lower part of the module hook hand mounting seat, the lower part of the hook hand mounting seat is fixedly installed with a lower connecting plate, the lower part of the lower connecting plate is fixedly installed with a hook hand bolt cylinder and a battery module hook, the movable end of the hook hand bolt cylinder is fixedly installed with a hook hand safety bolt, and one side of the battery module hook close to the hook hand safety bolt is provided with a guide seat.
[0013] Preferably, the cross section of the battery module hook is in a "J" shape structure, the middle part of the hook hand safety bolt is located inside the guide seat, the hook hand safety bolt is slidably connected with the guide seat, the hook hand bolt cylinder is located above the hook hand safety bolt and the guide seat, the battery module hook plate is connected with the battery module hook, and the hook hand safety bolt is insertedly connected with the battery module fixing bolt hole.
[0014] Through the technical scheme, when in use, the battery module hook hooks the battery module hook plate on the side of the battery module body, then the hook hand bolt cylinder pushes the hook hand safety bolt to insert into the inside of the battery module fixing bolt hole on the battery module body, under the guidance of the guide seat, the lower part of the hook hand safety bolt completely enters the inside of the battery module fixing bolt hole, through the cooperation of the hook hand safety bolt and the battery module hook, the four corners of the battery module body can be gripped.
[0015] Preferably, the bottom mechanism, the module bottom base fixed plate, the base fixed plate side frame, the cylinder connecting seat, the bottom lifting cylinder, the cylinder connecting head, the cylinder connecting rod, the movable plate, the turnover cylinder, the rotating plate, the guide rail one, the sliding block one, the vertical clamping plate, the battery module clamping strip, the module bottom base displacement bolt, the guide rail two and the sliding block two, the lower part of the connecting frame is provided with the module bottom base fixed plate, the lower part of the module bottom base fixed plate is provided with the base fixed plate side frame, the outer side of the base fixed plate side frame is provided with the cylinder connecting seat, the bottom lifting cylinder is fixedly installed on the outer side of the base fixed plate side frame through the cylinder connecting seat, the movable end of the bottom lifting cylinder is fixedly installed with the cylinder connecting head, the outer side of the cylinder connecting head is fixedly installed with the cylinder connecting rod, the lower part of the cylinder connecting rod away from the cylinder connecting head is provided with the movable plate, the guide rail two and the sliding block two are arranged between the movable plate and the base fixed plate side frame, the guide rail two is fixedly connected with the base fixed plate side frame, the sliding block two is fixedly connected with the movable plate, the lower part of the movable plate is fixedly installed with the turnover cylinder, the movable end of the turnover cylinder is fixedly installed with the rotating plate, the lower part of the rotating plate is fixedly installed with the guide rail one, the outer side of the guide rail one is provided with the sliding block one, one side of the sliding block one away from the guide rail one is provided with the vertical clamping plate, one side of the vertical clamping plate away from the guide rail one is provided with the battery module clamping strip, one end of the rotating plate away from the turnover cylinder is fixedly installed with the module bottom base displacement bolt.
[0016] Preferably, the cross sections of the movable plate and the base fixed plate side frame are both in "L" shape structure, the movable plate is located on the inner side of the base fixed plate side frame, the guide rail two and the sliding block two are provided with the same two groups, each group of the guide rail two and the sliding block two is provided with the same two, and the two guide rail two and the sliding block two are symmetrically distributed about the center line of the cylinder connecting rod.
[0017] Preferably, the rotating plate, the guide rail one, the sliding block one, the vertical clamping plate and the module bottom base displacement bolt are all provided with the same two groups, each group of the rotating plate, the guide rail one, the sliding block one, the vertical clamping plate and the module bottom base displacement bolt is provided with the same two, and symmetrically distributed on both sides of the turnover cylinder.
[0018] By the above technical scheme, when in use, the bottom lifting air cylinder drives the turnover air cylinder to move downward through the air cylinder connecting head, the air cylinder connecting rod and the movable plate, when the turnover air cylinder moves to the specified position, the turnover air cylinder drives the rotating plate to overturn downward, the rotating plate drives the battery module clamping strip to overturn downward through the guide rail I, the sliding block I and the vertical clamping plate, the battery module clamping strip can be directly hooked on the lower part of the side of the battery module body, and the battery module body can be operated from the bottom, and then the robot can place the battery module body into the PACK box.
[0019] Compared with the prior art, the utility model provides a flexible variable distance module gripper, has the following beneficial effects: the flexible variable distance module gripper is provided with gripper module, module hook hand subassembly and bottom holding mechanism, the inside cooperation of module hook hand subassembly is realized through the hook hand safety pin and battery module hook of bolt air cylinder, realizes the four -corner of battery module body's capture, the inside cooperation of bottom holding mechanism is realized through bottom holding lifting air cylinder and turnover air cylinder, can hold from the bottom to the lower part of battery module body, two groups of module hook hand subassembly and two groups of bottom holding mechanism can adjust, can satisfy the capture of compatible different size module, reduce the production cost of enterprise, use collocation robot, can accelerate the carrying efficiency of battery module body, can realize the flexible production of production line. BRIEF DESCRIPTION OF DRAWINGS
[0020] Figure 1 It is the three -dimensional structure schematic diagram of the utility model;
[0021] Figure 2 It is the three -dimensional structure schematic diagram of the utility model's gripper module;
[0022] Figure 3 It is the module hook hand subassembly installation structure schematic diagram of the utility model;
[0023] Figure 4 It is the three -dimensional structure schematic diagram of the utility model's module hook hand subassembly Figure 1 ;
[0024] Figure 5 It is the three -dimensional structure schematic diagram of the utility model's module hook hand subassembly Figure 2 ;
[0025] Figure 6 It is the hook hand safety pin installation structure schematic diagram of the utility model;
[0026] Figure 7 It is the bottom holding mechanism installation structure schematic diagram of the utility model;
[0027] Figure 8 It is the three -dimensional structure schematic diagram of the utility model's bottom holding mechanism Figure 1 ;
[0028] Figure 9 It is the three -dimensional structure schematic diagram of the utility model's bottom holding mechanismFigure 2 ;
[0029] Figure 10 This is a schematic diagram of the three-dimensional structure of the bottom support mechanism of this utility model. Figure 3 ;
[0030] Figure 11 This is a three-dimensional structural diagram of the battery module body of this utility model.
[0031] The components include: 1. Gripper module; 101. Gripper knitting machine frame; 102. Servo motor; 103. Positive and negative threaded screws; 104. Module hook mounting base; 105. Guide camera; 2. Robot mounting flange; 3. Module hook assembly; 301. Hook mounting seat; 302. Lower connecting plate; 303. Hook pin cylinder; 304. Battery module hook; 305. Hook safety pin; 306. Guide seat; 4. Main connecting plate; 5. Connecting frame; 6. Module pocket base; 7. Pocket mechanism; 701. Module pocket base fixing. 702. Base fixing plate side frame; 703. Cylinder connecting seat; 704. Bottom lifting cylinder; 705. Cylinder connector; 706. Cylinder connecting rod; 707. Movable plate; 708. Tilting cylinder; 709. Rotating plate; 710. Guide rail one; 711. Slider one; 712. Vertical clamping plate; 713. Battery module clamping strip; 714. Module bottom base displacement pin; 715. Guide rail two; 716. Slider two; 8. Battery module body; 9. Battery module hook plate; 10. Battery module fixing bolt hole. Detailed Implementation
[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0033] Example 1: As Figures 1-11 As shown, the present invention provides a flexible variable pitch module gripper, including a gripper module 1. Module hook assemblies 3 are provided on the lower front and rear sides of the gripper module 1. A main connecting plate 4 is fixedly installed inside the gripper module 1. A robot mounting flange 2 is fixedly installed on the top of the main connecting plate 4. A connecting frame 5 is fixedly installed on the lower part of the main connecting plate 4. Module pocket bases 6 are provided on both sides of the lower part of the connecting frame 5. A bottom-holding mechanism 7 is provided at the lower part of the module pocket base 6. A battery module body 8 is provided directly below the gripper module 1. A battery module hook plate 9 is provided on the outer side of the battery module body 8. Battery module fixing bolt holes 10 are provided on the side of the battery module body 8.
[0034] Specifically, the module hook hand assembly 3 is provided with four identical ones, and the four module hook hand assemblies 3 are symmetrically distributed at the four corners of the lower part of the gripper module 1. The pocket bottom mechanism 7 is provided with two identical ones, and the two pocket bottom mechanisms 7 are symmetrically distributed on both sides of the lower part of the gripper module 1.
[0035] The advantage is that through the design of four identical module hook hand assemblies 3 and two identical pocket bottom mechanisms 7, the battery module body 8 can be clamped and carried.
[0036] Embodiment two: as shown, as an improvement on the previous embodiment. Figures 2-11
[0037] Specifically, the gripper module 1, the gripper horizontal frame 101, the servo motor 102, the positive and negative tooth screw rod 103, the module hook hand mounting seat 104 and the guide camera 105, the outer side of the gripper horizontal frame 101 is fixedly installed with the servo motor 102, the inside of the gripper horizontal frame 101 is rotatably installed with the positive and negative tooth screw rod 103, the outer side of the positive and negative tooth screw rod 103 is threadedly connected with the module hook hand mounting seat 104, the module hook hand mounting seat 104 is in sliding connection with the gripper horizontal frame 101, the end of the gripper horizontal frame 101 away from the servo motor 102 is fixedly installed with the guide camera 105, the module hook hand mounting seat 104 is provided with two identical ones, the number of the module hook hand mounting seat 104 is the same as that of the hook hand mounting seat 301, and the module hook hand mounting seat 104 and the hook hand mounting seat 301 are fixedly connected through bolts, the advantage is that the movable end of the servo motor 102 drives the positive and negative tooth screw rod 103 to rotate, the positive and negative tooth screw rod 103 drives the two identical module hook hand mounting seats 104 to move relatively, the module hook hand mounting seat 104 transmits power to the module hook hand assembly 3, changes the distance between the two groups of module hook hand assemblies 3 below the gripper module 1, and the guide camera 105 can take pictures of the battery module body 8, the flexible variable distance module gripper is installed on the robot through the robot mounting flange 2, and the flexible variable distance module gripper is moved by the robot to put the battery module body 8 into the PACK box.
[0038] Specifically, the module hook handle assembly 3, the hook handle seat 301, the lower connecting plate 302, the hook handle bolt cylinder 303, the battery module hook 304, the hook handle safety bolt 305 and the guide seat 306, the hook handle seat 301 is fixedly installed at the lower part of the module hook handle mounting seat 104, the lower part of the hook handle seat 301 is fixedly installed with the lower connecting plate 302, the lower part of the lower connecting plate 302 is fixedly installed with the hook handle bolt cylinder 303 and the battery module hook 304, the movable end of the hook handle bolt cylinder 303 is fixedly installed with the hook handle safety bolt 305, one side of the battery module hook 304 close to the hook handle safety bolt 305 is provided with the guide seat 306, the cross section of the battery module hook 304 is in the "J" type structure, the middle part of the hook handle safety bolt 305 is located inside the guide seat 306, the hook handle safety bolt 305 and the guide seat 306 are in sliding connection, the hook handle bolt cylinder 303 is located above the hook handle safety bolt 305 and the guide seat 306, the battery module hook plate 9 and the battery module hook 304 are mutually hooked, the hook handle safety bolt 305 and the battery module fixed bolt hole 10 are in plug-in connection, the advantage is that when in use, the battery module hook 304 hooks the battery module hook plate 9 at the side of the battery module body 8, then the hook handle bolt cylinder 303 pushes the hook handle safety bolt 305 to insert into the inside of the battery module fixed bolt hole 10 on the battery module body 8, under the guidance of the guide seat 306, the lower part of the hook handle safety bolt 305 completely enters the inside of the battery module fixed bolt hole 10, through the cooperation of the hook handle safety bolt 305 and the battery module hook 304, the four corners of the battery module body 8 can be gripped.
[0039] Specifically, the bottom-up mechanism 7, the module bottom-up base fixing plate 701, the base fixing plate side frame 702, the cylinder connecting seat 703, the bottom-up lifting cylinder 704, the cylinder connecting head 705, the cylinder connecting rod 706, the movable plate 707, the turnover cylinder 708, the rotating plate 709, the guide rail one 710, the sliding block one 711, the vertical clamping plate 712, the battery module clamping strip 713, the module bottom-up base displacement bolt 714, the guide rail two 715 and the sliding block two 716, the lower part of the connecting frame 5 is provided with the module bottom-up base fixing plate 701, the lower part of the module bottom-up base fixing plate 701 is provided with the base fixing plate side frame 702, the outer side of the base fixing plate side frame 702 is provided with the cylinder connecting seat 703, the outer side of the base fixing plate side frame 702 is fixedly installed with the bottom-up lifting cylinder 704 through the cylinder connecting seat 703, the movable end of the bottom-up lifting cylinder 704 is fixedly installed with the cylinder connecting head 705, the outer side of the cylinder connecting head 705 is fixedly installed with the cylinder connecting rod 706, the lower part of the cylinder connecting rod 706 away from the cylinder connecting head 705 is provided with the movable plate 707, the guide rail two 715 and the sliding block two 716 are arranged between the movable plate 707 and the base fixing plate side frame 702, the guide rail two 715 is fixedly connected with the base fixing plate side frame 702, the sliding block two 716 is fixedly connected with the movable plate 707, the lower part of the movable plate 707 is fixedly installed with the turnover cylinder 708, the movable end of the turnover cylinder 708 is fixedly installed with the rotating plate 709, the lower part of the rotating plate 709 is fixedly installed with the guide rail one 710, the outer side of the guide rail one 710 is provided with the sliding block one 711, one side of the sliding block one 711 away from the guide rail one 710 is provided with the vertical clamping plate 712, one side of the vertical clamping plate 712 away from the guide rail one 710 is provided with the battery module clamping strip 713, one end of the rotating plate 709 away from the turnover cylinder 708 is fixedly installed with the module bottom-up base displacement bolt 714, the cross sections of the movable plate 707 and the base fixing plate side frame 702 are both "L" shaped structures, the movable plate 707 is located on the inner side of the base fixing plate side frame 702, the guide rail two 715 and the sliding block two 716 are provided with the same two groups, each group of the guide rail two 715 and the sliding block two 716 is provided with the same two, the two guide rail two 715 and the sliding block two 716 are symmetrically distributed about the center line of the cylinder connecting rod 706, the rotating plate 709, the guide rail one 710, the sliding block one 711, the vertical clamping plate 712 and the module bottom-up base displacement bolt 714 are all provided with the same two groups, each group of the rotating plate 709, the guide rail one 710, the sliding block one 711, the vertical clamping plate 712 and the module bottom-up base displacement bolt 714 is provided with the same two, and is symmetrically distributed on the two sides of the turnover cylinder 708, and the advantage is that when in use, the bottom-up lifting cylinder 704 drives the turnover cylinder 708 to move downwards through the cylinder connecting head 705, the cylinder connecting rod 706 and the movable plate 707, when the turnover cylinder 708 moves to a specified position, the turnover cylinder 708 drives the rotating plate 709 to turn downwards,The battery module clamping strip 713 can be directly hooked to the lower part of the side of the battery module body 8, and the battery module body 8 can be operated to be bottomed.
[0040] Working principle: in use, when the flexible variable-distance module gripper moves directly above the battery module body 8, the movable end of the servo motor 102 drives the forward and reverse screw rod 103 to rotate, the forward and reverse screw rod 103 drives the two identical module hook hand mounting seats 104 to move towards each other, the module hook hand mounting seat 104 transmits power to the module hook hand assembly 3, changes the distance between the two groups of module hook hand assemblies 3 below the gripper module 1, and stops the servo motor 102 after the distance between the two groups of module hook hand assemblies 3 below the gripper module 1 is greater than the size of the battery module body 8, the robot controls the flexible variable-distance module gripper to descend, and after descending to the specified position, the movable end of the servo motor 102 drives the forward and reverse screw rod 103 to rotate, the forward and reverse screw rod 103 drives the two identical module hook hand mounting seats 104 to move relatively, so that the distance between the two groups of module hook hand assemblies 3 below the gripper module 1 is reduced, until the battery module hook 304 hooks the battery module hook plate 9 on the side of the battery module body 8, the servo motor 102 stops running, and then the hook hand bolt cylinder 303 pushes the hook hand safety bolt 305 to insert into the inside of the battery module fixing bolt hole 10 on the battery module body 8, the hook hand safety bolt 305 is guided by the guide seat 306, and the lower part is completely inserted into the inside of the battery module fixing bolt hole 10, the turnover cylinder 708 drives the turnover plate 709 to turn down, and the battery module clamping strip 713 can be directly hooked to the lower part of the side of the battery module body 8, and the battery module body 8 can be operated to be bottomed.
[0041] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.
Claims
1. A flexible variable span modular gripper comprising a gripper module (1) characterised in that: The lower front and rear sides of the grab hand module (1) are provided with a module hook hand assembly (3), the inside of the grab hand module (1) is fixedly installed with a main connecting plate (4), the top end of the main connecting plate (4) is fixedly installed with a robot installation flange (2), the lower part of the main connecting plate (4) is fixedly installed with a connecting frame (5), the lower part of the connecting frame (5) is provided with a module pocket base (6), the lower part of the module pocket base (6) is provided with a pocket bottom mechanism (7), the directly below of the grab hand module (1) is provided with a battery module body (8), the outer side of the battery module body (8) is provided with a battery module hook plate (9), the side of the battery module body (8) is provided with a battery module fixing bolt hole (10).
2. A flexible variable span modular gripper as claimed in claim 1, wherein: The grab hand module (1), the grab hand cross machine frame (101), the servo motor (102), the positive and negative toothed lead screw (103), the module hook hand mounting seat (104) and the guide camera (105), the outer side of the grab hand cross machine frame (101) is fixedly installed with a servo motor (102), the inside of the grab hand cross machine frame (101) is rotatably installed with a positive and negative toothed lead screw (103), the outer side of the positive and negative toothed lead screw (103) is threadedly connected with a module hook hand mounting seat (104), the module hook hand mounting seat (104) and the grab hand cross machine frame (101) are slidingly connected, the end of the grab hand cross machine frame (101) away from the servo motor (102) is fixedly installed with a guide camera (105); The module hook hand assembly (3), the hook hand seat (301), the lower connecting plate (302), the hook hand bolt cylinder (303), the battery module hook (304), the hook hand safety bolt (305) and the guide seat (306), the lower part of the hook hand seat (301) is fixedly installed on the module hook hand mounting seat (104), the lower part of the hook hand seat (301) is fixedly installed with a lower connecting plate (302), the lower part of the lower connecting plate (302) is fixedly installed with a hook hand bolt cylinder (303) and a battery module hook (304), the movable end of the hook hand bolt cylinder (303) is fixedly installed with a hook hand safety bolt (305), one side of the battery module hook (304) close to the hook hand safety bolt (305) is provided with a guide seat (306); The bottom mechanism (7), the module bottom base fixing plate (701), the base fixing plate side frame (702), the cylinder connecting seat (703), the bottom lifting cylinder (704), the cylinder connecting head (705), the cylinder connecting rod (706), the movable plate (707), the turnover cylinder (708), the rotating plate (709), the guide rail one (710), the sliding block one (711), the vertical clamping plate (712), the battery module clamping strip (713), the module bottom base displacement bolt (714), the guide rail two (715) and the sliding block two (716), the lower part of the connecting frame (5) is provided with a module bottom base fixing plate (701), the lower part of the module bottom base fixing plate (701) is provided with a base fixing plate side frame (702), the outer side of the base fixing plate side frame (702) is provided with a cylinder connecting seat (703), the base fixing plate side frame (702) is fixedly installed with a bottom lifting cylinder (704) through the cylinder connecting seat (703), the movable end of the bottom lifting cylinder (704) is fixedly installed with a cylinder connecting head (705), the outer side of the cylinder connecting head (705) is fixedly installed with a cylinder connecting rod (706), the lower part of the cylinder connecting rod (706) away from the cylinder connecting head (705) is provided with a movable plate (707), the movable plate (707) and the base fixing plate side frame (702) are provided with a guide rail two (715) and a sliding block two (716), the guide rail two (715) and the base fixing plate side frame (702) are fixedly connected, the sliding block two (716) and the movable plate (707) are fixedly connected, the lower part of the movable plate (707) is fixedly installed with a turnover cylinder (708), the movable end of the turnover cylinder (708) is fixedly installed with a rotating plate (709), the lower part of the rotating plate (709) is fixedly installed with a guide rail one (710), the outer side of the guide rail one (710) is provided with a sliding block one (711), one side of the sliding block one (711) away from the guide rail one (710) is provided with a vertical clamping plate (712), one side of the vertical clamping plate (712) away from the guide rail one (710) is provided with a battery module clamping strip (713), one end of the rotating plate (709) away from the turnover cylinder (708) is fixedly installed with a module bottom base displacement bolt (714).
3. A flexible variable span modular gripper as claimed in claim 1, wherein: The module hook hand assembly (3) is provided with four same ones, and the four module hook hand assemblies (3) are symmetrically distributed at the four corners of the lower part of the gripper module (1), and the bottom mechanism (7) is provided with two same ones, and the two bottom mechanisms (7) are symmetrically distributed on the two sides of the lower part of the gripper module (1).
4. A flexible variable span modular gripper as claimed in claim 2, wherein: The module hook hand mounting seat (104) is provided with two same ones, the number of the module hook hand mounting seat (104) is same as that of the hook hand mounting seat (301), and the module hook hand mounting seat (104) and the hook hand mounting seat (301) are fixedly connected through bolts.
5. A flexible variable span modular gripper as claimed in claim 2, wherein: The section of the battery module hook (304) is a "J" type structure, the middle part of the hook safety latch (305) is located inside the guide seat (306), the hook safety latch (305) is in sliding connection with the guide seat (306), the hook latch air cylinder (303) is located above the hook safety latch (305) and the guide seat (306), the battery module hook plate (9) is in interlocking connection with the battery module hook (304), and the hook safety latch (305) is in plug-in connection with the battery module fixing bolt hole (10).
6. A flexible variable span modular gripper as claimed in claim 2, wherein: The section of the movable plate (707) and the base fixed plate side frame (702) are both "L" type structures, the movable plate (707) is located inside the base fixed plate side frame (702), the guide rail two (715) and the sliding block two (716) are provided with the same two groups, each group of the guide rail two (715) and the sliding block two (716) are provided with the same two, and the two guide rail two (715) and the sliding block two (716) are symmetrically distributed about the center line of the air cylinder connecting rod (706).
7. A flexible variable span modular gripper as claimed in claim 2, wherein: The turning plate (709), the guide rail one (710), the sliding block one (711), the vertical clamping plate (712) and the module pocket bottom base displacement latch (714) are all provided with the same two groups, each group of the turning plate (709), the guide rail one (710), the sliding block one (711), the vertical clamping plate (712) and the module pocket bottom base displacement latch (714) are all provided with the same two, and are symmetrically distributed on the two sides of the turnover air cylinder (708).