Power battery pack upper cover gripping apparatus

Abstract

The utility model provides a gripping apparatus for an upper cover of a power battery pack. The connecting flange is fixed on the first surface of the main body frame; the vacuum generator is fixed on the main body frame; the vacuum suction cup set comprises a plurality of vacuum suction cups, and the multiple vacuum suction cups are fixed to the main body frame at intervals, extend in the direction away from the first surface and are connected with a vacuum generator through air pipes; the multiple first lifting devices are fixed to the main body frame at intervals, and the movable ends of the first lifting devices move in a reciprocating mode in the direction perpendicular to the first surface; and one magnetic suction cup is fixedly connected with the movable end of one first lifting device. According to the utility model, the upper cover and the upper cover material frame of the battery pack can be grabbed by virtue of one set of grabbing tool, and two sets of independent grabbing tools are not needed, so that the flexibility of the gluing station is improved, and the input cost of production line equipment is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to vehicle technical field, concretely relates to a power battery package upper cover grab. BACKGROUND

[0002] Power battery is one of important parts of new energy vehicle, and has important influence to key indexes such as endurance mileage, whole vehicle life, safety of new energy vehicle. In the power battery assembly process, the battery package upper cover is glued, and the lower shell is combined, wherein the gluing process directly influences the sealing and insulation performance of power battery, and is a key assembly process. Based on the fact that manual gluing cannot guarantee the continuity, size precision, coverage of gluing adhesive strip and other index requirements, the gluing station is planned as an automatic station, and is implemented by six-axis robot and automatic gluing system.

[0003] The battery package upper cover is a thin-walled sheet metal part, to prevent the upper cover from deforming in the transportation process, and save logistics cost simultaneously, the incoming material form of the battery package upper cover is stacked in multiple layers, and each layer of material frame is supported by one battery package upper cover. The existing battery package upper cover grab is only designed to grab the battery package upper cover, and cannot grab the upper cover material frame, and an additional special grab is still needed when the upper cover material frame needs to be grabbed. Therefore, the existing grab still has further improvement space in the flexible grabbing of the battery package upper cover and the upper cover material frame. UTILITY MODEL CONTENTS

[0004] Therefore, the utility model provides a power battery package upper cover grab to realize the grabbing of the battery package upper cover and the upper cover material frame simultaneously by the same set of grab.

[0005] The utility model provides a power battery package upper cover grab, which comprises:

[0006] A main frame;

[0007] A connecting flange fixed to a first surface of the main frame;

[0008] A vacuum generator fixed to the main frame;

[0009] A vacuum chuck set comprising a plurality of vacuum chucks, the plurality of vacuum chucks being fixed to the main frame in a spaced manner, extending in a direction away from the first surface, and connected to the vacuum generator through air pipes;

[0010] A plurality of first lifting devices fixed to the main frame in a spaced manner, the movable ends of the first lifting devices moving reciprocally in a direction perpendicular to the first surface;

[0011] A plurality of magnetic suction cups, one of the magnetic suction cups is fixedly connected with the moving end of one of the first lifting devices.

[0012] Optionally, the power battery pack upper cover grabber further comprises:

[0013] A plurality of first monitoring components, one of the first monitoring components is arranged corresponding to one of the first lifting devices, the first monitoring component comprises a first proximity switch and a second proximity switch, the first proximity switch is arranged at a first moving position of the corresponding magnetic suction cup, and the second proximity switch is arranged at a second moving position of the corresponding magnetic suction cup.

[0014] A controller, an input end of the controller is in communication connection with output ends of the first proximity switch and the second proximity switch, and an output end of the controller is in communication connection with a control end of the first lifting device.

[0015] Optionally, the power battery pack upper cover grabber further comprises:

[0016] A plurality of telescopic devices, a plurality of the telescopic devices are fixedly arranged at edges of the main body frame, and movable ends of the telescopic devices reciprocate along an extension direction of the first surface;

[0017] A plurality of clamping jaws, one of the clamping jaws is fixedly connected with the movable end of one of the telescopic devices, after the vacuum suction cup group adsorbs the battery pack upper cover, the telescopic device drives the clamping jaw to abut against a side of the battery pack upper cover away from the main body frame.

[0018] Optionally, the power battery pack upper cover grabber further comprises:

[0019] A plurality of second monitoring components, one of the second monitoring components is arranged corresponding to one of the telescopic devices, the second monitoring component comprises a third proximity switch and a fourth proximity switch, the third proximity switch is arranged at a first moving position of the corresponding clamping jaw, and the fourth proximity switch is arranged at a second moving position of the corresponding clamping jaw.

[0020] An input end of the controller is in communication connection with output ends of the third proximity switch and the fourth proximity switch, and an output end of the controller is in communication connection with a control end of the telescopic device.

[0021] Optionally, the power battery pack upper cover grabber further comprises a positioning pin assembly arranged on the main body frame.

[0022] Optionally, the positioning pin assembly comprises:

[0023] At least one first positioning pin, the first positioning pin is fixedly arranged on the main body frame.

[0024] a plurality of second lifting devices, the plurality of second lifting devices are fixed on the main frame;

[0025] a plurality of second positioning pins, one of the second positioning pins is fixedly connected with a movable end of one of the second lifting devices.

[0026] Optionally, the power battery pack upper cover grabber further comprises:

[0027] a plurality of third monitoring components, one of the third monitoring components is arranged corresponding to one of the second lifting devices, the third monitoring component comprises a fifth proximity switch and a sixth proximity switch, the fifth proximity switch is arranged at a first moving position of the corresponding second positioning pin, and the sixth proximity switch is arranged at a second moving position of the corresponding second positioning pin;

[0028] an input end of the controller is in communication connection with output ends of the fifth proximity switch and the sixth proximity switch, and an output end of the controller is in communication connection with a control end of the second lifting device.

[0029] Optionally, the power battery pack upper cover grabber further comprises a plurality of profiling limit blocks, the plurality of profiling limit blocks are fixedly arranged at a second surface of the main frame in a spaced manner, and the second surface is arranged opposite to the first surface.

[0030] Optionally, the vacuum generator is provided with two, and the vacuum chuck group is provided with two groups, one of the vacuum chuck groups corresponds to one of the vacuum generators.

[0031] Optionally, the power battery pack upper cover grabber further comprises a camera, and the camera is fixed on the main frame.

[0032] Compared with the prior art, the above technical scheme of the power battery pack upper cover grabber has at least the following beneficial effects:

[0033] By means of the first lifting device, the magnetic chuck is driven to move upwards and is higher than the vacuum chuck, so that in the process of adsorbing the upper cover of the battery pack by the vacuum chuck, the magnetic chuck does not interfere with the upper cover of the battery pack, and after the upper cover of the battery pack is grabbed, the first lifting device is used to drive the magnetic chuck to move downwards and to be lower than the vacuum chuck, so that in the process of adsorbing the upper cover frame by the magnetic chuck, the vacuum chuck does not interfere with the upper cover frame, so that by means of one set of grabber, the upper cover of the battery pack and the upper cover frame can be grabbed, a separate two sets of grabbers are not needed, the flexibility of the gluing station is improved, and the investment cost of the production line equipment is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The utility model discloses a three -dimensional structure diagram of power battery pack upper cover grabber for one embodiment of the utility model.

[0035] Figure 2 for Figure 1 The bottom perspective structural view of the power battery pack upper cover grabber shown in FIG. 1 is shown in FIG. 2.

[0036] Figure 3 for Figure 1 The connection relationship diagram of the first lifting device and the magnetic suction disc of the power battery pack upper cover grabber shown in FIG. 1 is shown in FIG. 3.

[0037] Figure 4 for Figure 1 The connection relationship diagram of the telescopic device and the clamping jaw of the power battery pack upper cover grabber shown in FIG. 1 is shown in FIG. 4.

[0038] Figure 5 for Figure 1 The connection relationship diagram of the second lifting device and the second positioning pin of the power battery pack upper cover grabber shown in FIG. 1 is shown in FIG. 5.

[0039] Reference signs:

[0040] 1: main body frame; 2: connecting flange; 3: vacuum generator; 4: vacuum suction disc; 5: first lifting device; 6: magnetic suction disc; 7: first monitoring assembly; 71: first proximity switch; 72: second proximity switch; 8: telescopic device; 9: clamping jaw; 10: second monitoring assembly; 101: third proximity switch; 102: fourth proximity switch; 11: first positioning pin; 12: second lifting device; 13: second positioning pin; 14: third monitoring assembly; 141: fifth proximity switch; 142: sixth proximity switch; 15: profiling limit block; 16: camera; 17: first induction support; 18: second induction support; 19: third induction support. DETAILED DESCRIPTION

[0041] The embodiments of the present application will be further described below with reference to the drawings. In the description of the present application, it should be explained that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of the simplified description of the present application, and do not indicate or imply that the indicated device or component must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0042] Figure 1 The perspective structural view of the power battery pack upper cover grabber according to an embodiment of the present application is shown in FIG. 1. Figure 2 for Figure 1Fig. 6 is a bottom perspective view of the power battery pack upper cover grabber. Figure 1 and Figure 2 As shown in the figure, the power battery pack upper cover grabber comprises a main frame 1, a connecting flange 2, a vacuum generator 3, a vacuum chuck group, a plurality of first lifting devices 5 and a plurality of magnetic chucks 6.

[0043] The connecting flange 2 is fixed to the first surface of the main frame 1; the vacuum generator 3 is fixed to the main frame 1; the vacuum chuck group comprises a plurality of vacuum chucks 4, which are fixed to the main frame 1 at intervals, extend away from the first surface, and are connected to the vacuum generator 3 through air pipes; the plurality of first lifting devices 5 are fixed to the main frame 1 at intervals, and the movable ends of the first lifting devices 5 move reciprocally in a direction perpendicular to the first surface; one magnetic chuck 6 is fixedly connected to the movable end of one first lifting device 5.

[0044] In operation, the whole of the power battery pack upper cover grabber is installed on the robot arm through the connecting flange 2, and because the battery pack upper cover is located above the upper cover material frame, in order to avoid interference between the magnetic suction plate 6 and the battery pack upper cover during the grabbing of the battery pack upper cover, the active end of each first lifting device 5 is controlled to retract, thereby driving the magnetic suction plate 6 connected thereto to move in the same direction, so that the height of the magnetic suction plate 6 is higher than the height of the vacuum suction plate 4. Then the robot positions the position of the battery pack upper cover through vision, aligns the grabber with the battery pack upper cover and gradually approaches, when each vacuum suction plate 4 abuts against the battery pack upper cover, the vacuum generator 3 is started to make the vacuum suction plate 4 adsorb the battery pack upper cover, so that the battery pack upper cover is separated from the upper cover material frame, and then the robot completes the gluing work of the battery pack upper cover along the preset trajectory, after gluing, the robot moves the whole of the grabber and the battery pack upper cover to the lower shell position through the mechanical arm, and gradually approaches the battery pack upper cover to the lower shell, when the battery pack upper cover abuts against the lower shell, the vacuum generator 3 is adjusted to make the vacuum suction plate 4 release the battery pack upper cover, and the closing work of the battery pack upper cover and the lower shell is performed. After the closing operation is completed, the active end of each first lifting device 5 is controlled to extend outward, thereby driving the magnetic suction plate 6 connected thereto to move in the same direction, so that the height of the magnetic suction plate 6 is lower than the height of the vacuum suction plate 4, then the robot drives the whole of the grabber to move along the preset trajectory through the mechanical arm, so that the magnetic suction plate 6 aligns with the upper cover material frame and gradually approaches, when the distance between the magnetic suction plate 6 and the upper cover material frame reaches the set distance, the magnetic suction plate 6 adsorbs the upper cover material frame of metal material, finally, the robot drives the whole of the grabber and the upper cover material frame to move to the empty material frame stacking position through the mechanical arm, and the upper cover material frame is separated from the magnetic suction plate 6 by external force, and the carrying of the upper cover material frame is completed. After the carrying of the upper cover material frame is completed, the active end of the first lifting device 5 is controlled to retract again, thereby driving the magnetic suction plate 6 connected thereto to move in the same direction, so that the height of the magnetic suction plate 6 is higher than the height of the vacuum suction plate 4 again, and the grabbing process of the next battery pack upper cover is continued. In this way, the grabbing process of all battery pack upper covers and upper cover material frames is completed.

[0045] By means of the power battery pack upper cover grabber, the magnetic suction plate 6 is driven by the first lifting device 5 to move upward and be higher than the vacuum suction plate 4, so that in the process of adsorbing the battery pack upper cover by the vacuum suction plate 4, the magnetic suction plate 6 does not interfere with the battery pack upper cover, and after the grabbing of the battery pack upper cover is completed, the magnetic suction plate 6 is driven by the first lifting device 5 to move downward and be lower than the vacuum suction plate 4, so that in the process of adsorbing the upper cover material frame by the magnetic suction plate 6, the vacuum suction plate 4 does not interfere with the upper cover material frame, so that by means of one set of grabber, the grabbing of the battery pack upper cover and the upper cover material frame can be realized, without the need to set two separate grabbers, the flexibility of the gluing station is improved, and the investment cost of the production line equipment is reduced.

[0046] As Figure 1 and Figure 2As shown, in the embodiment, the main frame 1 is formed by a plurality of support rods connected to each other perpendicularly, and along Figure 2 In the middle, the lower left and the upper right direction, there are four nearly parallel rows of vacuum suction cups 4 and three nearly parallel rows of magnetic suction cups 6. The vacuum suction cups 4 are fixed to the main frame 1 through connecting members, and the specific positions of the vacuum suction cups 4 on the main frame 1 are arranged according to the shape of the battery pack upper cover to be sucked. The first lifting device 5 is selected as a lifting cylinder fixed to the main frame 1, and the free end of the piston rod of the first lifting device 5, i.e. the movable end, is connected to the magnetic suction cup 6. The magnetic suction cup 6 can also be directly fixed to the main frame 1 without moving up and down at a position that will never interfere with the battery pack upper cover. Figure 1 In the middle, the upper surface of the main frame 1 is a first surface, the connecting flange 2 is fixed to the approximate center of the upper surface of the main frame 1 for connection with the mechanical arm of the robot, and the vacuum suction cups 4 extend in a direction away from the first surface, i.e. downward by a certain distance. According to actual application conditions, the number of vacuum suction cups 4 and the specific arrangement position of the vacuum suction cups 4 on the main frame 1 can be appropriately adjusted, and the number of first lifting devices 5 and magnetic suction cups 6 and the specific arrangement position of the first lifting devices 5 and the magnetic suction cups 6 on the main frame 1 can be appropriately adjusted. The first lifting device 5 can be selected as other lifting structures other than the lifting cylinder, as long as it can drive the magnetic suction cup 6 to move up and down to avoid mutual interference during grabbing. The vacuum generator 3 is a mature existing technology, and its specific structure and working principle will not be described here.

[0047] Figure 3 For Figure 1 As shown in the connection relationship diagram of the first lifting device and the magnetic suction cup of the power battery pack upper cover grabber. As shown in Figure 3 Optionally, the power battery pack upper cover grabber further comprises a plurality of first monitoring assemblies 7 and a controller (not shown). One first monitoring assembly 7 is arranged corresponding to one first lifting device 5, and the first monitoring assembly 7 comprises a first proximity switch 71 and a second proximity switch 72. The first proximity switch 71 is arranged at a first moving position of the corresponding magnetic suction cup 6, and the second proximity switch 72 is arranged at a second moving position of the corresponding magnetic suction cup 6. The input end of the controller is in communication connection with the output ends of the first proximity switch 71 and the second proximity switch 72, and the output end of the controller is in communication connection with the control end of the first lifting device 5. In this way, when the first lifting device 5 drives the magnetic suction cup 6 to move to the first moving position or the second moving position, the first proximity switch 71 or the second proximity switch 72 senses the magnetic suction cup 6, sends a signal to the controller, and controls the movable end of the first lifting device 5 to stop driving the magnetic suction cup 6 to rise or fall, so that the stopping time of the first lifting device 5 can be accurately controlled.

[0048] As shown in Figure 1 and Figure 3As shown, in this embodiment, the first monitoring component 7 is fixed to the right side of the first lifting device 5 by a mounting plate. One movable end of the first lifting device 5 is connected to a magnetic suction cup 6; that is, one first monitoring component 7 corresponds to one magnetic suction cup 6. Figure 3 Taking an example where the upper middle side is the first proximity switch 71 and the lower side is the second proximity switch 72, a magnetic chuck 6 connected to the first lifting device 5 is equipped with a sensing element. When the distance between the proximity switch and the sensing element remains within the sensing distance range, the proximity switch can be triggered to output a signal. In this embodiment, Figure 3 The movable end of the first lifting device 5 is connected to the first sensing bracket 17, which is fixedly connected to the top of the magnetic chuck 6. The movable end of the first lifting device 5 drives the magnetic chuck 6 to move upward. When the lower surface of the magnetic chuck 6 is higher than the lower surface of the vacuum chuck 4 by a set distance, the position of the upper surface of the magnetic chuck 6 is its first moving position. At this time, there is no mutual interference between the magnetic chuck 6 and the battery pack cover. The first proximity switch 71 is at the same height as the first moving position, thereby generating a sense with the first sensing bracket 17 fixed on the upper surface of the magnetic chuck 6 and outputting a stop signal to the controller. The controller further controls the first lifting device 5 to stop continuing to operate. The movable end of the first lifting device 5 drives the magnetic chuck 6 to move downwards. When the lower surface of the magnetic chuck 6 is lower than the lower surface of the vacuum chuck 4 by a set distance, the position of the upper surface of the magnetic chuck 6 is its second moving position. At this time, there is no interference between the vacuum chuck 4 and the upper cover frame. The second proximity switch 72 is at the same height as the second moving position, thereby sensing the first sensing bracket 17 fixed on the upper surface of the magnetic chuck 6 and outputting a stop signal to the controller. The controller further controls the first lifting device 5 to stop its operation. Depending on the actual application, the magnetic chuck 6 can also be directly fixedly connected to the movable end of the first lifting device 5, and the sensing element can also be set at other positions on the magnetic chuck 6. The first and second moving positions of the first proximity switch 71 and the second proximity switch 72 can be adjusted accordingly. Proximity switches are mature existing technology, and their specific structure and working principle will not be described in detail here.

[0049] Figure 4 for Figure 1 The diagram shows the connection relationship between the telescopic device and the gripper of the power battery pack cover clamp. Figure 1 , Figure 2 and Figure 4As shown, optionally, the power battery pack cover gripper also includes multiple telescopic devices 8 and multiple grippers 9. The multiple telescopic devices 8 are fixed at intervals along the edge of the main frame 1, and the movable ends of the telescopic devices 8 reciprocate along the extension direction of the first surface. One gripper 9 is fixedly connected to the movable end of one telescopic device 8. After the vacuum suction cup assembly adsorbs the battery pack cover, the telescopic device 8 drives the gripper 9 to abut against the side of the battery pack cover facing away from the main frame 1. This configuration, while using the vacuum suction cup 4 to adsorb the battery pack cover, also uses the telescopic device 8 to drive the gripper 9 to clamp the battery pack cover, thus protecting the battery pack cover and preventing it from falling if the vacuum suction cup 4 loses its adsorption force due to malfunction.

[0050] like Figure 1 and Figure 4 As shown, in this embodiment, the telescopic device 8 is a telescopic cylinder, horizontally arranged parallel to the main frame 1 and fixed to the edge of the main frame 1. The movable end of the telescopic device 8, i.e., the free end of the piston rod of the telescopic cylinder, faces outward from the main frame 1 and is fixedly connected to the gripper 9. The gripper 9 includes a vertically connected vertical part and a horizontal part, wherein the vertical part is fixedly connected to the movable end of the telescopic device 8, and the horizontal part is used to abut against the battery pack cover. Before the vacuum suction cup 4 adsorbs the battery pack cover, the movable end of the telescopic device 8 is controlled to move outward from the main frame 1, thereby driving the gripper 9 to move synchronously away from the main frame 1. Then, the gripper as a whole is brought close to the battery pack cover, and the vacuum suction cup 4 is used to adsorb the battery pack cover, avoiding interference between the gripper 9 and the battery pack cover. After the vacuum suction cup 4 adsorbs the battery pack cover, the movable end of the telescopic device 8 moves inward toward the main frame 1, thereby driving the gripper 9 to move synchronously, approaching the main frame 1 and moving to the lower surface of the battery pack cover, that is, the side of the battery pack cover facing away from the main frame 1. The height of the gripper 9 is designed in advance so that the gripper 9 just abuts against the battery pack cover. When the battery pack cover has completed the glue application and needs to be closed with the lower housing, the movable end of the telescopic device 8 is again moved outward toward the main frame 1, driving the gripper 9 away from the main frame 1 and releasing the battery pack cover. Then, the vacuum generator 3 is activated to allow the vacuum suction cup 4 to release the battery pack cover. Depending on the actual application, the telescopic device 8 can also be other telescopic structures besides telescopic cylinders, as long as it can drive the gripper 9 to move back and forth along the extension direction of the main frame 1 and can cooperate to achieve the clamping and releasing of the battery pack cover.

[0051] Optionally, the power battery pack upper cover grabber further comprises a plurality of second monitoring assemblies 10, one second monitoring assembly 10 corresponding to one telescopic device 8, the second monitoring assembly 10 comprising a third proximity switch 101 and a fourth proximity switch 102, the third proximity switch 101 being arranged at the first moving position of the corresponding clamping jaw 9, and the fourth proximity switch 102 being arranged at the second moving position of the corresponding clamping jaw 9; the input end of the controller being in communication connection with the output ends of the third proximity switch 101 and the fourth proximity switch 102, and the output end of the controller being in communication connection with the control end of the telescopic device 8. With such an arrangement, when the telescopic device 8 drives the clamping jaw 9 to move to the first moving position or the second moving position, the third proximity switch 101 or the fourth proximity switch 102 senses the clamping jaw 9, and by sending a signal to the controller, the movable end of the telescopic device 8 stops driving the clamping jaw 9 to continue to extend or retract, so that the stopping time of the telescopic device 8 can be accurately controlled.

[0052] As shown in the drawings, Figure 4 In the present embodiment, the second monitoring assembly 10 is fixed to the left side of the telescopic device 8 through the mounting plate, the movable end of one telescopic device 8 being connected to one clamping jaw 9, that is, one second monitoring assembly 10 corresponding to one clamping jaw 9, so that Figure 4 The right side is the third proximity switch 101, and the left side is the fourth proximity switch 102. The clamping jaw 9 connected with the telescopic device 8 is provided with a sensing element, and when the distance between the proximity switch and the sensing element is kept within the sensing distance range, the proximity switch can be triggered to output a signal. In the present embodiment, Figure 4The movable end of the telescopic device 8 is connected with a second sensing bracket 18, which is fixedly connected with the upper end of the vertical part of the clamping jaw 9. The movable end of the telescopic device 8 is extended to drive the clamping jaw 9 to move outwardly of the main frame 1. When the horizontal part of the clamping jaw 9 moves to be completely beyond the range of the main frame 1, the position where the clamping jaw 9 is connected with the second sensing bracket 18 is the first moving position of the clamping jaw 9. At this time, the clamping jaw 9 does not interfere with the battery pack upper cover to be adsorbed. The third proximity switch 101 is arranged corresponding to the first moving position, so as to generate induction with the second sensing bracket 18 and output a stop signal to the controller, which further controls the telescopic device 8 to stop continuing to act. After the vacuum chuck 4 adsorbs the battery pack upper cover, the movable end of the telescopic device 8 is retracted to drive the clamping jaw 9 to move inwardly of the main frame 1. When the horizontal part of the clamping jaw 9 moves to the side of the battery pack upper cover away from the main frame 1 and overlaps the battery pack upper cover to a certain extent and abuts against the battery pack upper cover, the position where the clamping jaw 9 is connected with the second sensing bracket 18 is the second moving position of the clamping jaw 9. The fourth proximity switch 102 is arranged corresponding to the second moving position, so as to generate induction with the second sensing bracket 18 and output a stop signal to the controller, which further controls the telescopic device 8 to stop continuing to act. According to actual application conditions, the clamping jaw 9 can be directly fixedly connected with the movable end of the telescopic device 8, and the sensing element can also be arranged at other positions of the clamping jaw 9. The first moving position and the second moving position of the third proximity switch 101 and the fourth proximity switch 102 are adaptively adjusted accordingly.

[0053] Optionally, the power battery pack upper cover grabber further comprises a positioning pin assembly arranged on the main frame 1. The battery pack upper cover is provided with a positioning hole. The positioning pin assembly is fixed on the main frame 1 and arranged corresponding to the positioning hole of the battery pack upper cover. Before the vacuum chuck 4 adsorbs the battery pack upper cover, the robot positions the positioning hole of the battery pack upper cover by vision and inserts the positioning pin assembly on the grabber into the positioning hole of the battery pack upper cover to realize positioning. Then the vacuum chuck 4 is used to adsorb the battery pack upper cover to prevent deviation of the relative position between the grabber and the battery pack upper cover and affect the adsorption of the battery pack upper cover by the vacuum chuck 4.

[0054] In the embodiment, the positioning pin assembly is arranged at the edge of the main frame 1. According to the specific arrangement position of the positioning hole of the battery pack upper cover, the arrangement position of the positioning pin assembly can be adjusted accordingly.

[0055] Figure 5 For Figure 1 the second lifting device of the power battery pack upper cover grabber and the connection relationship of the second positioning pin are shown in FIG. 6. As shown in FIG. 6, Figure 1 , Figure 2 and Figure 5As shown, the positioning pin assembly comprises at least one first positioning pin 11, a plurality of second lifting devices 12 and a plurality of second positioning pins 13. The first positioning pin 11 is fixed on the main frame 1; the plurality of second lifting devices 12 are fixed on the main frame 1; and one second positioning pin 13 is fixedly connected with the movable end of one second lifting device 12. With this arrangement, for the battery pack upper cover of different models, for the positioning holes with consistent positions, the first positioning pin 11 is fixed on the main frame 1, so that the first positioning pin 11 is inserted into the corresponding positioning hole to achieve preliminary positioning; for the positioning holes with inconsistent positions, the second lifting device 12 is fixed on the main frame 1 at a position corresponding to the different positioning holes, and the second positioning pin 13 is connected with the movable end of the second lifting device 12, so that the second positioning pin 13 is lifted by the second lifting device 12 to avoid interference with the battery pack upper cover, or the second positioning pin 13 is lowered by the second lifting device 12 to be inserted into the corresponding positioning hole, so as to cooperate with the first positioning pin 11 to achieve further positioning of the battery pack upper cover. Thus, by means of one set of positioning pin assembly, the positions of the battery pack upper covers of different models on the grabber can be accurately positioned, and the positional accuracy and adaptability of the battery pack upper cover on the grabber are ensured.

[0056] In the present embodiment, one first positioning pin 11, three second lifting devices 12 and three second positioning pins 13 are provided, as shown in Figure 2 The first positioning pin 11 is fixed at the right lower side edge of the main frame 1, the three second lifting devices 12 are arranged at the left upper side edge of the main frame 1 and are sequentially and spacedly arranged, and the three second positioning pins 13 are fixedly connected with the movable ends of the three second lifting devices 12. For the battery pack upper covers of different specifications and models, the same position on the right lower side is provided with a positioning hole, and the first positioning pin 11 is inserted into the positioning hole to achieve preliminary positioning of the grabber and the battery pack upper cover. For the battery pack upper covers of different specifications and models, the positioning holes on the left upper side are different in position, and the positioning hole of the battery pack upper cover to be grabbed corresponds to the second positioning pin 13 on the leftmost side in the Figure 2 For example, the second positioning pin 13 on the leftmost side in the Figure 2 is inserted into the positioning hole of the battery pack upper cover, Figure 2The second positioning pin 13 on the rightmost and middle sides does not interfere with the battery pack cover. When the specifications and model of the battery pack cover change, and the position of the positioning hole on the battery pack cover changes, the second lifting device 12 at different positions can be adjusted to drive the second positioning pin 13 at different positions to extend or retract. In this embodiment, the second lifting device 12 is a lifting cylinder, and the free end of the piston rod of the lifting cylinder is also the moving end of the second lifting device 12. Depending on the actual application, the second lifting device 12 can also be other lifting structures besides the lifting cylinder, as long as it can drive the second positioning pin 13 to move up and down. Depending on the actual application, the specific setting position of the first positioning pin 11 on the main frame 1, the number of the second lifting device 12 and the second positioning pin 13, and their specific setting positions on the main frame 1 can all be adjusted according to the number and position changes of the positioning holes on the battery pack cover.

[0057] Optionally, the power battery pack cover gripper also includes multiple third monitoring components 14, each corresponding to one second lifting device 12. Each third monitoring component 14 includes a fifth proximity switch 141 and a sixth proximity switch 142. The fifth proximity switch 141 is positioned at the first moving position of the corresponding second positioning pin 13, and the sixth proximity switch 142 is positioned at the second moving position of the corresponding second positioning pin 13. The input terminal of the controller is communicatively connected to the output terminals of the fifth proximity switch 141 and the sixth proximity switch 142, and the output terminal of the controller is communicatively connected to the control terminal of the second lifting device 12. With this configuration, when the second lifting device 12 moves the second positioning pin 13 to its first or second moving position, the fifth proximity switch 141 or the sixth proximity switch 142 senses the second positioning pin 13 and sends a signal to the controller to stop the moving end of the second lifting device 12 from continuing to raise or lower the second positioning pin 13, thus precisely controlling the stopping timing of the second lifting device 12.

[0058] like Figure 5 As shown, in this embodiment, the third monitoring component 14 is fixed to the right side of the second lifting device 12 by a mounting plate. One movable end of the second lifting device 12 is connected to one second positioning pin 13; that is, one third monitoring component 14 corresponds to one second positioning pin 13. Figure 5 Taking the example of a fifth proximity switch 141 on the upper side and a sixth proximity switch 142 on the lower side, a sensing element is provided on the second positioning pin 13 connected to the second lifting device 12. When the distance between the proximity switch and the sensing element is maintained within the sensing distance range, the proximity switch outputs a signal. In this embodiment, Figure 5The movable end of the second lifting device 12 is connected to the third sensing bracket 19. The third sensing bracket 19 is fixedly connected to the top of the second positioning pin 13. The movable end of the second lifting device 12 drives the second positioning pin 13 to move upward. When the lower end of the second positioning pin 13 is higher than the lower surface of the vacuum suction cup 4 by a set distance, the upper end of the second positioning pin 13 is in its first moving position. At this time, there will be no mutual interference between the second positioning pin 13 and the battery pack cover. The fifth proximity switch 141 is at the same height as the first moving position, thereby generating a sense with the first sensing bracket 17 fixed at the upper end of the second positioning pin 13 and outputting a stop signal to the controller. The controller further controls the second lifting device 12 to stop continuing to operate. The movable end of the second lifting device 12 drives the second positioning pin 13 to move downward. When the lower end of the second positioning pin 13 is lower than the lower surface of the vacuum suction cup 4 by a set distance and can be inserted into the positioning hole of the battery pack cover, the upper end of the second positioning pin 13 is at its second moving position. The sixth proximity switch 142 is at the same height as the second moving position, thereby sensing the third sensing bracket 19 fixed at the upper end of the second positioning pin 13 and outputting a stop signal to the controller. The controller further controls the second lifting device 12 to stop its operation. Depending on the actual application, the second positioning pin 13 can also be directly fixedly connected to the movable end of the second lifting device 12, and the sensing element can also be set at other positions of the second positioning pin 13. The first and second moving positions of the fifth proximity switch 141 and the sixth proximity switch 142 are adjusted accordingly.

[0059] Optionally, the power battery pack cover gripper also includes multiple contouring limiting blocks 15, which are fixed at intervals to the second surface of the main frame 1, with the second surface opposite to the first surface. The contouring limiting blocks 15 further stabilize and support the battery pack cover after it is adsorbed by the vacuum suction cup 4, preventing deformation due to the suction force of the vacuum suction cup 4 and ensuring the stability and stability of the battery pack cover on the gripper.

[0060] like Figure 2 As shown, in this embodiment, multiple contouring limiting blocks 15 are spaced apart on the main frame 1. The contouring limiting blocks 15 extend in the same direction as the vacuum suction cup 4. The lengths of the contouring limiting blocks 15 at different positions are different according to the specific shape of the battery pack cover. This ensures that after the vacuum suction cup 4 adsorbs the battery pack cover, the contouring limiting blocks 15 at different positions can abut against the battery pack cover to provide support for it.

[0061] Optionally, two vacuum generators 3 and two sets of vacuum suction cups are provided, with one set of vacuum suction cups corresponding to one vacuum generator 3. This arrangement ensures that the battery pack cover will not fall off even if one set of vacuum suction cups is damaged or one vacuum generator 3 fails, thus improving the safety of the adhesive application station.

[0062] As Figure 1 shown in the embodiment, two vacuum generators 3 are fixed side by side on the main frame 1, Figure 2 The four columns of vacuum cups 4 in the main frame 1 can be arranged in two groups, for example, the first column and the third column are a group of vacuum cup groups, and the second column and the fourth column are a group of vacuum cup groups. Each vacuum cup 4 in a group of vacuum cup groups is connected to one of the vacuum generators 3 through an air pipe.

[0063] Optionally, the power battery pack upper cover grabber further comprises a camera 16 fixed to the main frame 1. When the vacuum cups 4 adsorb the battery pack upper cover and drive the battery pack upper cover to be combined with the lower shell, the camera 16 can take pictures at the combined position, which can assist the positioning between the battery pack upper cover and the lower shell, and further guide the correct installation.

[0064] As Figure 1 shown in the embodiment, two cameras 16 are arranged, and are fixed to the lower left corner and the upper right corner of the main frame 1, respectively.

[0065] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A power battery pack upper cover grabber, characterized in that, The utility model relates to a kind of battery pack upper cover positioning device, including: Main frame; Connecting flange, the connecting flange is fixed on the first surface of the main frame; Vacuum generator, the vacuum generator is fixed on the main frame; Vacuum chuck group, the vacuum chuck group includes multiple vacuum chucks, multiple the vacuum chuck is fixed on the main frame, extends in the direction away from the first surface, and is connected with the vacuum generator by air pipe; Multiple first lifting devices, multiple the first lifting device is fixed on the main frame, and the movable end of the first lifting device reciprocates in the direction perpendicular to the first surface; Multiple magnetic chucks, one the magnetic chuck is fixedly connected with the movable end of one the first lifting device.

2. The power battery pack upper cover grabber according to claim 1, characterized in that, Further including: Multiple first monitoring components, one the first monitoring component is set to one the first lifting device, and the first monitoring component includes first proximity switch and second proximity switch, and the first proximity switch is set to the first moving position of corresponding the magnetic chuck, and the second proximity switch is set to the second moving position of corresponding the magnetic chuck; Controller, the input end of the controller is connected with the output end of the first proximity switch and the second proximity switch, and the output end of the controller is connected with the control end of the first lifting device.

3. The power battery pack upper cover grabber according to claim 2, characterized in that, Further including: Multiple telescopic devices, multiple the telescopic device is fixed on the edge of the main frame, and the movable end of the telescopic device reciprocates along the extension direction of the first surface; Multiple clamping jaws, one the clamping jaw is fixedly connected with the movable end of one the telescopic device, after the vacuum chuck group is adsorbed battery pack upper cover, the telescopic device drives the clamping jaw and the battery pack upper cover, which is away from the side of the main frame.

4. The power battery pack upper cover grabber according to claim 3, characterized in that, Further including: Multiple second monitoring components, one the second monitoring component is set to one the telescopic device, and the second monitoring component includes third proximity switch and fourth proximity switch, and the third proximity switch is set to the first moving position of corresponding the clamping jaw, and the fourth proximity switch is set to the second moving position of corresponding the clamping jaw; The input end of the controller is connected with the output end of the third proximity switch and the fourth proximity switch, and the output end of the controller is connected with the control end of the telescopic device.

5. The power battery pack upper cover grabber according to any one of claims 2-4, characterized in that, Further including: Positioning pin component, the positioning pin component is set on the main frame.

6. The power battery pack upper cover grabber according to claim 5, characterized in that, The positioning pin component includes: At least one first positioning pin, the first positioning pin is fixed on the main frame; Multiple second lifting devices, multiple the second lifting device is fixed on the main frame; Multiple second positioning pins, one the second positioning pin is fixedly connected with the movable end of one the second lifting device.

7. The power battery pack upper cover grabber according to claim 6, characterized in that, Further including: Multiple third monitoring components, one the third monitoring component is set to one the second lifting device, and the third monitoring component includes fifth proximity switch and sixth proximity switch, and the fifth proximity switch is set to the first moving position of corresponding the second positioning pin, and the sixth proximity switch is set to the second moving position of corresponding the second positioning pin. An input end of the controller is connected with output ends of the fifth proximity switch and the sixth proximity switch, and an output end of the controller is connected with a control end of the second lifting device.

8. The power battery pack upper cover grabber according to any one of claims 1-4, characterized in that, Further comprising: A plurality of profiling limit blocks, a plurality of the profiling limit blocks are fixedly arranged on the second surface of the main frame, and the second surface is arranged opposite to the first surface.

9. The power battery pack upper cover grabber according to any one of claims 1-4, characterized in that: The vacuum generator is provided with two, and the vacuum chuck group is provided with two groups, and one vacuum chuck group corresponds to one vacuum generator.

10. The power battery pack upper cover grabber according to any one of claims 1-4, characterized in that, Further comprising: A camera is fixed on the main frame.

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