Clamping device and battery case cleaning system

Abstract

The utility model provides a clamping device and a battery case cleaning system, and belongs to the technical field of battery production. The clamping device comprises a mechanical arm, a mounting seat is arranged on a flange plate at the output end of the mechanical arm, a plurality of clamping structures are arranged on the mounting seat, and each clamping structure comprises a clamping jaw and a first driving device used for driving the clamping jaw to be opened and closed. A variable-pitch module is further arranged on the mounting base and used for driving the clamping structures to move on the mounting base so as to change the distance between the different clamping structures. According to the clamping device, a plurality of battery shells can be clamped at the same time through a plurality of clamping structures, automatic feeding is achieved, the distance between the different clamping structures can be adjusted so as to control the distance between the battery shells, and different cleaning requirements are met.

Description

Technical Field

[0001] This utility model relates to the field of battery production technology, and in particular to a clamping device and a battery casing cleaning system. Background Technology

[0002] In the field of automated battery casing cleaning, traditional cleaning methods generally employ single-workpiece loading and unloading operations. This method requires robots to frequently load and unload battery casings. This not only increases the robot's workload but also leads to frequent start-ups and shutdowns of the cleaning machine, thus reducing its uptime. In current industrial production, efficiency and continuity are crucial, and this frequent start-up and shutdown operation mode has become a bottleneck limiting production efficiency and equipment utilization. To address this issue, some domestic manufacturers have begun to adopt a combined loading method, simultaneously loading 4-6 battery casings, effectively improving the uptime of the cleaning machine. However, while this combined mode improves the loading end, manual placement of the punched battery casings onto the cleaning machine's loading end is still required at the loading end for them to enter the cleaning state. This means that although combined processing can improve the uptime of the cleaning machine, the need for human intervention makes automated cleaning at the loading end difficult to achieve, limiting the overall automation level of the cleaning process.

[0003] Therefore, it is necessary to improve the existing battery casing cleaning system to overcome the shortcomings of the existing technology. Utility Model Content

[0004] To overcome the problems existing in related technologies, one of the objectives of this utility model is to provide a clamping device that can clamp battery casings through multiple clamping structures to achieve automatic feeding. It can also adjust the distance between different clamping structures to control the spacing between battery casings and meet different cleaning needs.

[0005] A clamping device includes a robotic arm, a mounting base is provided on the flange at the output end of the robotic arm, and a plurality of clamping structures are provided on the mounting base. The clamping structure includes a gripper and a first driving device for driving the gripper to open and close.

[0006] The mounting base is also provided with a pitch-changing module, which is used to drive the clamping structure to move on the mounting base to change the distance between different clamping structures.

[0007] During operation, the robotic arm moves to a suitable position above the battery casing conveyor belt, and the system is activated, with the first drive unit opening the grippers. Once multiple battery casings are aligned on the conveyor belt, the robotic arm descends, aligning the grippers with the casings. The first drive unit then closes the grippers, clamping the surface of the battery casings. After gripping, the variable-pitch module activates according to preset parameters, moving each clamping structure on the mounting base to precisely adjust the distance between them, ensuring the spacing between the battery casings meets the requirements of the cleaning machine's fixtures. The robotic arm then transports the clamping device holding the battery casings to the cleaning machine's loading station. Upon reaching the designated position, the first drive unit again opens the grippers, releasing the battery casings and moving them to the cleaning fixture. The cleaning machine then begins cleaning the battery casings. After cleaning, the robotic arm, carrying the clamping device, moves back to the unloading position within the cleaning machine. The grippers grab the cleaned battery casings again and, following the reverse process of loading, transport the battery casings to the unloading line to complete the unloading operation. Then, they return to the top of the incoming conveyor belt to prepare for the next round of gripping and cleaning.

[0008] The entire loading and unloading process requires no manual intervention in the loading stage, reducing the labor intensity of workers. It can also complete the loading and unloading of multiple battery casings at once, reducing the number of robot trips and the number of start-ups and shutdowns of the cleaning machine, significantly improving overall production efficiency. Furthermore, the variable-pitch module can drive the movement of the clamping structure, precisely adjusting the distance between different clamping structures. This allows the device to flexibly adjust the spacing between battery casings according to the tooling requirements of different cleaning machines and the different specifications of the battery casings, meeting diverse cleaning needs and enhancing the equipment's versatility and adaptability.

[0009] In a preferred embodiment of this invention, the first driving device includes a finger-operated cylinder and a driving air circuit. The finger-operated cylinder is fixed on the mounting base, and the driving air circuit is connected to the finger-operated cylinder. The driving air circuit is used to drive the finger-operated cylinder to move its gripping fingers.

[0010] This embodiment provides a specific implementation of the first driving device. The design of the finger-operated cylinder in conjunction with the driving air circuit enables rapid and precise control of the finger gripping opening and closing. During the battery casing gripping process, driven by the air pressure of the driving air circuit, the finger-operated cylinder can quickly respond to commands, rapidly opening and closing the gripping fingers. Compared to other driving methods, the action is more agile, greatly shortening the battery casing gripping time and improving loading efficiency.

[0011] In a preferred embodiment of this invention, the finger cylinder is provided with two opposing gripping fingers, each gripping finger being provided with a gripping claw, and the gripping claw being provided with anti-slip texture.

[0012] The finger-operated cylinder provides a stable clamping force under air pressure, and the specially designed anti-slip texture of the clamping fingers further increases the friction between the clamping fingers and the battery casing, effectively preventing the battery casing from slipping due to oil on its surface. This stable clamping performance ensures the safety of the battery casing during transportation, reduces product damage and production interruptions caused by battery casings falling, and improves the stability and reliability of the production process.

[0013] In a preferred embodiment of this utility model, the clamping structure is further provided with a spring-loaded structure, which includes a mounting plate, a mounting rod, and an elastic element. The mounting plate is disposed above the finger clamp of the finger-operated cylinder, and the mounting rod is adjustablely disposed on the mounting plate, with the axis of the mounting rod being parallel to the axis of the finger-operated cylinder.

[0014] The elastic element is detachably disposed at one end of the mounting rod, and the elastic element is disposed near the finger clamping position of the finger-operated cylinder; when the finger-operated cylinder clamps the product, the top of the product can press against the elastic element.

[0015] The design of the top-mounted structure ensures that when the battery casing is grasped, the top of the casing is pressed down by the elastic element, creating a stabilizing force from both above and below. On one hand, the gripper of the finger-operated cylinder clamps the battery casing from the side; on the other hand, the elastic element applies pressure to the battery casing from the top, preventing it from shaking during grasping and handling.

[0016] When the battery case is placed in the cleaning fixture, the elastic element of the top structure releases elastic potential energy, pushing the battery case downward. This pushing method is more precise than simply relying on the opening of the fingers to let the battery case fall naturally. It can ensure that the battery case falls smoothly and can be accurately placed in the predetermined position of the cleaning fixture, thus improving the accuracy of loading.

[0017] In a preferred embodiment of this invention, the driving air path includes a main air path and multiple branch air paths, each of which is connected in parallel with the outlet of the main air path, and the inlet of the main air path is connected to an external air supply device.

[0018] In this embodiment, the drive air circuit adopts a design with a main air circuit and multiple branch air circuits connected in parallel, ensuring that each finger cylinder receives a stable air pressure supply from the main air circuit. Compared to individual air supply methods, the main air circuit can balance the air pressure of each branch air circuit, avoiding the problem of unstable finger gripping caused by air pressure fluctuations. Each finger can obtain a uniform and stable gripping force, thereby improving the success rate and stability of gripping the battery casing and ensuring efficient cleaning. In addition, this parallel air circuit structure ensures that if a branch air circuit or finger cylinder fails, it will not affect the normal operation of other branch air circuits and finger cylinders. Maintenance personnel can directly inspect and replace the faulty branch air circuit or finger cylinder without large-scale disassembly and debugging of the entire air circuit system, greatly reducing maintenance difficulty and repair costs, shortening equipment downtime, and improving production continuity.

[0019] In a preferred embodiment of this invention, a first guide rail is provided on the mounting base, a first driving device is disposed on the first guide rail, and the variable pitch module includes a second driving device disposed on the mounting base. The output end of the second driving device is fixedly connected to the first driving device, and the second driving device drives the first driving device to move on the first guide rail.

[0020] This embodiment provides one implementation of the pitch-changing module. Specifically, by employing a second drive device (such as a servo motor paired with a ball screw) in conjunction with a first guide rail, precise control of the position of the first drive device (clamping structure) can be achieved. The servo motor can precisely control the rotation angle and speed, and the ball screw converts the rotational motion into linear motion, ensuring high precision in pitch changing. The first guide rail provides stable support and guidance for the movement of the first drive device. During pitch changing, the first drive device slides along the first guide rail, reducing swaying and offset, and ensuring the stability of the clamping structure during movement. Simultaneously, the ball screw has high transmission efficiency and rigidity, capable of withstanding large loads, ensuring the reliability of the pitch-changing module during long-term operation, reducing the risk of equipment failure, and improving production continuity.

[0021] In a preferred embodiment of this utility model, the pitch-changing module includes a servo motor, a transmission spindle, and a pitch-changing platform. The servo motor is disposed on one side of the pitch-changing platform, and the output end of the servo motor is connected to the transmission spindle. The servo motor drives the transmission spindle to rotate.

[0022] The variable pitch stage includes several second guide rails and several sliding gimbals. The several second guide rails are arranged in parallel, and the sliding gimbals are slidably mounted on the second guide rails. The sliding gimbals are connected to the transmission spindle, and the servo motor drives the transmission spindle to rotate, thereby causing the sliding gimbals to be discrete on the second guide rails.

[0023] The clamping structure is mounted on the sliding gimbal.

[0024] In a preferred embodiment of this invention, the variable pitch stage is equipped with a distance measuring sensor for determining the position of the clamping structure.

[0025] In this embodiment, the variable pitch module achieves high-precision control of the clamping structure spacing through the coordinated operation of the drive device, transmission spindle, second guide rail, and sliding gimbal. The precise control of the servo motor and the guiding effect of the second guide rail ensure high movement accuracy of the sliding gimbal. The distance sensor provides real-time feedback on the clamping structure position, further guaranteeing the accuracy of spacing adjustment and meeting the stringent requirements of different cleaning machine tooling for battery case spacing, thus improving cleaning quality and consistency. The second guide rail provides stable support and guidance for the sliding gimbal, reducing swaying and offset during movement. The distance sensor installed on the variable pitch platform not only determines the clamping structure position but also assists in fault detection. If the data fed back by the distance sensor is abnormal, it can quickly determine whether there is a fault in the variable pitch module, such as sliding gimbal jamming or wear of transmission components.

[0026] The second objective of this utility model is to provide a battery casing cleaning system, including the clamping device as described above.

[0027] In a preferred embodiment of this invention, the battery casing cleaning system includes: a conveyor line for conveying battery casings;

[0028] A workbench, wherein the clamping device is disposed on the workbench and located on one side of the conveyor line;

[0029] A cleaning machine is provided with a feeding platform, and a fixing fixture for supporting battery casings is provided on the feeding platform. The fixing fixture is provided with a receiving groove.

[0030] The beneficial effects of this utility model are as follows:

[0031] This utility model provides a clamping device, which includes a robotic arm. A mounting base is provided on the flange at the output end of the robotic arm, and multiple clamping structures are mounted on the mounting base. Each clamping structure includes grippers and a first driving device for opening and closing the grippers. A variable-pitch module is also provided on the mounting base, which drives the clamping structures to move on the mounting base to change the distance between the different clamping structures. This clamping device can be used in the cleaning process of battery casings. Multiple clamping structures can simultaneously clamp multiple battery casings, completing the loading and unloading of multiple battery casings in one operation. This reduces the number of robot reciprocations and the number of start-ups and shutdowns of the cleaning machine, greatly improving overall production efficiency. Furthermore, it eliminates the need for manual intervention in the loading process, reducing the labor intensity of workers. The variable-pitch module can drive the movement of the clamping structures and precisely adjust the distance between different clamping structures. This allows the device to flexibly adjust the spacing between battery casings according to the tooling requirements of different cleaning machines and the different specifications of the battery casings, meeting diverse cleaning needs and enhancing the versatility and adaptability of the equipment.

[0032] This application also provides a battery casing cleaning system including the above-mentioned clamping device. The system can automatically load and unload battery casings for cleaning using the clamping device, eliminating the need for manual loading, reducing the labor intensity of workers, and helping to improve the utilization rate of the cleaning machine. Attached Figure Description

[0033] Figure 1 This is a front view of a clamping device provided in an embodiment of the present invention when it does not include a robotic arm;

[0034] Figure 2 This is a top view of a clamping device provided in an embodiment of the present invention when it does not include a robotic arm;

[0035] Figure 3 This is a side view of a clamping device provided in an embodiment of the present invention when it does not include a robotic arm;

[0036] Figure 4 This is a schematic diagram of the projectile top structure provided in an embodiment of this utility model;

[0037] Figure 5 This is a schematic diagram of the driving air path provided in an embodiment of this utility model;

[0038] Figure 6 This is a schematic diagram showing the connection between the second driving device and the first driving device provided in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of a battery casing cleaning system provided in an embodiment of the present invention.

[0040] Figure label:

[0041] Figure label:

[0042] 1. Flange; 2. Mounting base; 21. First guide rail; 3. Drive air circuit; 31. Main air circuit; 32. Branch air circuit; 4. Clamping structure; 41. Gripper; 42. First drive device; 43. Second drive device; 421. Grip finger; 5. Battery casing; 61. Servo motor; 62. Pitch control table; 621. Second guide rail; 7. Spring top structure; 71. Mounting plate; 72. Mounting rod; 73. Elastic element; 100. Cleaning machine; 110. Feeding table; 120. Fixed fixture; 200. Workbench; 210. Robotic arm; 300. Conveyor line. Detailed Implementation

[0043] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

[0044] In the field of automated battery casing cleaning, some domestic manufacturers have begun to adopt a combined unloading method, which simultaneously unloads 4-6 battery casings, effectively improving the uptime of the cleaning machine. However, while this combined method improves the unloading process, manual intervention is still required at the loading end to place the punched battery casings onto the cleaning machine's loading end before they can be cleaned. This means that although combined processing can increase the uptime of the cleaning machine, the need for human intervention makes automated cleaning at the loading end difficult to achieve, limiting the overall automation level of the cleaning process.

[0045] Based on this, this application provides a clamping device.

[0046] Example 1

[0047] like Figures 1-6 As shown, this embodiment provides a clamping device including a robotic arm 210. A mounting base 2 is provided on the flange 1 at the output end of the robotic arm 210. A plurality of clamping structures 4 are provided on the mounting base 2. The clamping structure 4 includes a gripper 41 and a first driving device 42 for driving the gripper 41 to open and close.

[0048] The mounting base 2 is also provided with a variable pitch module, which is used to drive the clamping structure 4 to move on the mounting base 2 to change the distance between different clamping structures 4.

[0049] Specifically, the robotic arm 210 of this application can be a three-axis robotic arm 210 or a five-axis robotic arm 210. The robotic arm 210 drives the mounting base 2 to move, thereby changing the position of the clamping structure 4. In actual use, a position sensor can be installed on the mounting base 2 to sense its position. The position sensor is electrically connected to the controller of the clamping device, thereby transmitting the position data of the mounting base 2 to the controller of the clamping device.

[0050] During operation, the robotic arm 210 moves to a suitable position above the battery casing 5 conveyor belt, and the system is activated, with the first drive unit 42 opening the gripper 41. Once multiple battery casings 5 ​​are aligned on the conveyor belt, the robotic arm 210 descends, aligning the gripper 41 with the battery casings 5. Subsequently, the first drive unit 42 closes the gripper 41, clamping the surface of the battery casings 5. After gripping, the variable-pitch module activates according to preset parameters, driving each clamping structure 4 to move on the mounting base 2, precisely adjusting the distance between different clamping structures 4 to ensure the spacing between multiple battery casings 5 ​​meets the spacing requirements of the cleaning machine 100 fixture. The robotic arm 210 transports the clamping device holding multiple battery casings 5 ​​to the loading station of the cleaning machine 100. Upon reaching the designated position, the first drive unit 42 again opens the gripper 41, disengaging the battery casings 5 ​​from the gripper 41 and moving them to the cleaning fixture position. The cleaning machine 100 then begins cleaning the battery casings 5. After cleaning, the robotic arm 210, with its gripping device, moves back to the unloading position inside the cleaning machine 100. The gripper 41 grabs the cleaned battery casing 5 again and, following the reverse process of loading, transports the battery casing 5 to the unloading line to complete the unloading operation. Then, it returns to the top of the incoming conveyor belt to prepare for the next round of gripping and cleaning.

[0051] The entire loading and unloading process requires no manual intervention in the loading stage, reducing the labor intensity of workers. It also allows for the simultaneous loading and unloading of multiple battery casings 5, minimizing robot retracing and the number of start-ups and shutdowns of the cleaning machine 100, significantly improving overall production efficiency. Furthermore, the variable-pitch module can drive the movement of the clamping structure 4, precisely adjusting the distance between different clamping structures 4. This allows the device to flexibly adjust the spacing between battery casings 5 ​​according to the tooling requirements of different cleaning machines 100 and the different specifications of the battery casings 5, meeting diverse cleaning needs and enhancing the equipment's versatility and adaptability.

[0052] Example 2

[0053] This embodiment is an improvement on embodiment 1.

[0054] like Figures 1-6As shown, in this embodiment, the first driving device 42 includes a finger-operated cylinder and a driving air passage 3. The finger-operated cylinder is fixed on the mounting base 2, and the driving air passage 3 is connected to the finger-operated cylinder. The driving air passage 3 is used to drive the finger clamp 421 of the finger-operated cylinder to move.

[0055] This embodiment provides a specific implementation of the first driving device 42. The design of the finger-operated cylinder in conjunction with the driving air circuit 3 enables rapid and precise control of the opening and closing of the gripper finger 421. During the gripping of the battery casing 5, the finger-operated cylinder can quickly respond to commands through the air pressure driven by the driving air circuit 3, rapidly opening and closing the gripper finger 421. Compared with other driving methods, the action is more agile, greatly shortening the time for gripping the battery casing 5 and improving the feeding efficiency.

[0056] More specifically, in this embodiment, the finger cylinder is provided with two opposing gripping fingers 421, each gripping finger 421 is provided with a gripper 41, and the gripper 41 is provided with anti-slip texture.

[0057] The assembly process of the clamping device is as follows: Multiple finger-operated cylinders are fixed on the mounting base 2, each corresponding to a clamping structure 4. The drive air circuit 3 is connected to ensure precise communication between the drive air circuit 3 and each finger-operated cylinder. Based on the dimensions of the battery case 5 to be cleaned and the parameters of the cleaning machine 100 tooling, the pitch data of the pitch-changing module is preset in the control system. Each finger-operated cylinder corresponds to a clamping structure 4. The drive air circuit 3 is connected to ensure precise communication between the drive air circuit 3 and each finger-operated cylinder. Based on the dimensions of the battery case 5 to be cleaned and the parameters of the cleaning machine 100 tooling, the pitch data of the pitch-changing module is preset in the control system. The finger-operated cylinders provide stable clamping force under air pressure. The anti-slip texture of the specially designed clamping fingers 421 further increases the friction between the finger-operated cylinder and the battery case 5, effectively preventing the battery case 5 from slipping due to oil on its surface. This stable clamping performance ensures the safety of the battery case 5 during handling, reduces product damage and production interruptions caused by the battery case 5 falling, and improves the stability and reliability of the production process.

[0058] Taking a clamping device with 5 clamping structures 4 as an example, the working process of this device will be explained:

[0059] After the battery casings 5 ​​are conveyed to the designated position by the conveyor belt, the robot controls the solenoid valve of the drive air circuit 3 to open, and compressed air quickly enters the finger cylinder through the drive air circuit 3. Under the action of air pressure, the finger cylinder drives the gripping fingers 421 to open rapidly. The robotic arm 210 drives the gripping device to descend, so that the gripping fingers 421 are accurately aligned with the battery casings 5. Then, the solenoid valve switches, the drive air circuit 3 changes the airflow direction, and the air pressure in the finger cylinder pushes the gripping fingers 421 to close, and the textured gripping fingers 421 tightly clamp the battery casings 5. The textured surface of the specially designed gripping fingers 421 increases the friction between the gripper and the battery casings 5, so that the gripper can hold the battery casings 5 ​​stably even if the surface of the battery casings 5 ​​is oily.

[0060] After the battery casing 5 is gripped, the variable-pitch module starts according to preset instructions. The motor on the variable-pitch module drives the lead screw to rotate, which moves the slider equipped with the finger cylinder on the mounting base 2, thereby adjusting the distance between the different clamping structures 4 so that the spacing between the five battery casings 5 ​​precisely meets the spacing requirements of the fixture of the cleaning machine 100. The robotic arm 210 transports the clamping device holding multiple battery casings 5 ​​to the loading station of the cleaning machine 100. After reaching the predetermined position, the robot again controls the solenoid valve of the drive air circuit 3 to release the air pressure in the finger cylinder, and the gripper 421 opens to release the battery casing 5.

[0061] Example 3

[0062] This embodiment is an improvement on embodiment 2.

[0063] like Figures 1-6 As shown, in this embodiment, the clamping structure 4 is further provided with a spring top structure 7. The spring top structure 7 includes a mounting plate 71, a mounting rod 72, and an elastic element 73. The mounting plate 71 is disposed above the clamping finger 421 of the finger-operated cylinder. The mounting rod 72 is adjustablely disposed on the mounting plate 71, and the axis of the mounting rod 72 is parallel to the axis of the finger-operated cylinder.

[0064] The elastic element 73 is detachably disposed at one end of the mounting rod 72, and the elastic element 73 is disposed near the gripper finger 421 of the finger-operated cylinder; when the finger-operated cylinder grips the product, the top of the product can press against the elastic element 73.

[0065] Specifically, in one embodiment, the mounting rod 72 is threadedly connected to the mounting plate 71, and the position of the elastic element 73 can be adjusted by rotating the mounting rod 72. The elastic element 73 can be implemented as a spring, which is sleeved on the mounting rod 72 and fixed by a detachable structure such as a retaining ring.

[0066] After the clamping device holds the battery case 5 to the designated position, the drive air circuit 3 controls the finger 421 of the finger cylinder to open. At this time, the spring top structure plays a role. The elastic element 73 has stored elastic potential energy due to the previous pressure from the battery case 5. When the finger 421 opens, the elastic element 73 releases the elastic potential energy, pushing the battery case 5 to move outward, so that the battery case 5 can be smoothly released from the finger 421 and accurately placed on the cleaning fixture of the cleaning machine 100. Then the cleaning machine 100 starts the cleaning operation.

[0067] The design of the top structure ensures that when the battery casing 5 is gripped, the top of the battery casing 5 is pressed by the elastic element 73, creating a stabilizing force in both directions. On one hand, the gripping finger 421 of the finger-operated cylinder clamps the battery casing 5 from the side; on the other hand, the elastic element 73 applies a certain pressure to the battery casing 5 from the top, preventing the battery casing 5 from shaking during gripping and handling.

[0068] When the battery case 5 is placed in the cleaning fixture, the elastic element 73 of the top structure releases elastic potential energy, pushing the battery case 5 downward. This pushing method is more accurate than simply relying on the opening of the gripper 421 to let the battery case 5 fall naturally. It can ensure that the battery case 5 falls smoothly and can be accurately placed in the predetermined position of the cleaning fixture, thus improving the accuracy of loading.

[0069] Example 4

[0070] This embodiment is an improvement on embodiment 2.

[0071] like Figures 1-6 As shown, in this embodiment, the driving air path 3 includes a main air path 31 and multiple branch air paths 32. The multiple branch air paths 32 are all connected in parallel with the air outlet of the main air path 31, and the air inlet of the main air path 31 is connected to an external air supply device.

[0072] In this embodiment, the drive air circuit 3 adopts a design with a main air circuit 31 and multiple branch air circuits 32 connected in parallel, so that each finger cylinder can obtain a stable air pressure supply from the main air circuit 31. Compared with the individual air supply method, the main air circuit 31 can balance the air pressure of each branch air circuit 32, avoiding the problem of unstable gripping of the gripping fingers 421 due to air pressure fluctuations. Each gripping finger 421 can obtain a uniform and stable gripping force, thereby improving the success rate and stability of gripping the battery casing 5 and ensuring the efficient operation of the cleaning work. In addition, this parallel air circuit structure means that when a branch air circuit 32 or finger cylinder fails, it will not affect the normal operation of other branch air circuits 32 and finger cylinders. Maintenance personnel can directly inspect and replace the faulty branch air circuit 32 or finger cylinder without large-scale disassembly and debugging of the entire air circuit system, which greatly reduces the maintenance difficulty and repair cost, shortens equipment downtime, and improves production continuity.

[0073] Example 5

[0074] This embodiment is an improvement on embodiment 1.

[0075] like Figures 1-6 As shown, in this embodiment, the mounting base 2 is provided with a first guide rail 21, the first driving device 42 is provided on the first guide rail 21, and the variable pitch module includes a second driving device 43 provided on the mounting base 2. The output end of the second driving device 43 is fixedly connected to the first driving device 42, and the second driving device 43 drives the first driving device 42 to move on the first guide rail 21.

[0076] Specifically, in one embodiment, multiple first guide rails 21 can be provided on the second mounting base 2, and several first driving devices 42 can be provided on each first guide rail 21. Each first driving device 42 is driven by a second driving device 43 to move on the first guide rail 21, thereby realizing the position adjustment of multiple clamping structures 4.

[0077] In this embodiment of the variable pitch module, a second drive device 43 (such as a servo motor 61 paired with a ball screw) is used in conjunction with the first guide rail 21 to achieve precise control of the position of the first drive device 42 (clamping structure 4). The servo motor 61 can precisely control the rotation angle and speed, and the ball screw converts the rotational motion into linear motion, ensuring high precision in pitch change. The first guide rail 21 provides stable support and guidance for the movement of the first drive device 42. During pitch change, the first drive device 42 slides along the first guide rail 21, reducing swaying and offset, and ensuring the stability of the clamping structure 4 during movement. At the same time, the ball screw has high transmission efficiency and rigidity, and can withstand large loads, ensuring the reliability of the variable pitch module during long-term operation, reducing the risk of equipment failure, and improving production continuity.

[0078] Example 6

[0079] This embodiment is an improvement on embodiment 1.

[0080] like Figures 1-6 As shown, this embodiment provides a different implementation from the variable pitch module in Embodiment 5. Specifically, the variable pitch module includes a servo motor 61, a transmission spindle, and a variable pitch stage 62. The servo motor 61 is disposed on one side of the variable pitch stage 62, and the output end of the servo motor 61 is connected to the transmission spindle. The servo motor 61 drives the transmission spindle to rotate.

[0081] The variable pitch stage 62 includes a plurality of second guide rails 621 and a plurality of sliding gimbals. The plurality of second guide rails 621 are arranged in parallel, and the sliding gimbals are slidably arranged on the second guide rails 621. The sliding gimbals are connected to the transmission spindle, and the servo motor 61 drives the transmission spindle to rotate, thereby causing the sliding gimbals to be discrete on the second guide rails 621.

[0082] The clamping structure 4 is disposed on the sliding gimbal.

[0083] In this embodiment, the variable pitch stage 62 is equipped with a distance measuring sensor for determining the position of the clamping structure 4.

[0084] Specifically, the drive spindle and the second guide rail 621 are parallel to each other, and the drive spindle is positioned between several second guide rails 621. The servo motor 61 drives the drive spindle to rotate via a drive belt. The drive spindle is provided with a connecting groove, which is located on the surface of the drive spindle and is arc-shaped. The sliding gimbal connects to the connecting groove via a slider. Therefore, when the spindle rotates, the slider in the connecting groove moves, thereby driving the sliding gimbal to move on the second guide rail 621, achieving the purpose of making the sliding gimbal discrete on the second guide rail 621.

[0085] In this embodiment, the variable pitch module, through the coordinated operation of the drive device, transmission spindle, second guide rail 621, and sliding gimbal, achieves high-precision control of the spacing of the clamping structure 4. The precise control of the servo motor 61 and the guiding effect of the second guide rail 621 ensure high movement accuracy of the sliding gimbal. The distance sensor provides real-time feedback on the position of the clamping structure 4, further guaranteeing the accuracy of the spacing adjustment and meeting the stringent requirements of different cleaning machine tooling for the spacing of the battery case 5, thus improving cleaning quality and consistency. The second guide rail 621 provides stable support and guidance for the sliding gimbal, reducing swaying and offset during movement. The distance sensor installed on the variable pitch platform 62 not only determines the position of the clamping structure 4 but also assists in fault detection. If the data fed back by the distance sensor is abnormal, it can quickly determine whether there is a fault in the variable pitch module, such as sliding gimbal jamming or wear of transmission components.

[0086] Specifically, the variable pitch module in this embodiment can also be implemented using an existing variable pitch module.

[0087] Example 7

[0088] like Figures 1-7 As shown, this embodiment provides a battery casing cleaning system, including the clamping device as described above.

[0089] Specifically, the cleaning system includes: a conveyor line 300 for conveying the battery casing 5;

[0090] The workbench 200, the clamping device is disposed on the workbench 200 and located on one side of the conveyor line 300;

[0091] A cleaning machine 100 is provided with a feeding platform 110, and a fixing fixture 120 for supporting the battery case 5 is provided on the feeding platform 110. The fixing fixture 120 is provided with a receiving groove.

[0092] The design of the fixed fixture 120 matches the shape of the battery casing 5, and its surface is machined with receiving grooves. The size of the receiving grooves is just right to fit tightly against the battery casing 5, preventing the battery casing 5 from shaking during cleaning. On one side of the worktable 200, the clamping device mentioned in the aforementioned patent is installed. The robotic arm 210 of the clamping device is fixed to the worktable 200 by a sturdy bracket, ensuring sufficient stability of the robotic arm 210 during operation. The variable pitch module, clamping structure 4, and other components are all installed and debugged to ensure normal operation. At the same time, a stable air supply system is provided for the clamping device to ensure the stable operation of the finger-operated cylinder.

[0093] A cleaning machine 100 is installed on one side of the workbench 200. The clamping device sends the battery case 5 to the fixed fixture 120 on the feeding table 110. During feeding, the cleaning machine 100 drives the fixed fixture 120 into the cleaning machine 100. After the cleaning machine 100 finishes cleaning, it sends out the fixed fixture 120 and the battery case 5. The clamping device removes the cleaned battery case 5 from the fixed fixture 120, thus completing one cleaning process of the battery case 5.

[0094] This cleaning system achieves automated operation. From loading and cleaning the battery casings 5 ​​to unloading, everything is completed automatically by the equipment, reducing manual operation, lowering the labor intensity of operators, and improving the safety of the production process. The variable-pitch module of the clamping device can flexibly adjust the distance between the clamping structures 4 according to the spacing requirements of different specifications of battery casings 5 ​​and the receiving slot of the fixed fixture 120, enhancing the adaptability of the cleaning system to various models of battery casings 5.

[0095] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings. In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0096] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0097] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. The above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. For those skilled in the art, this utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A clamping device, comprising a robotic arm (210), characterized in that: A mounting base (2) is provided on the flange (1) at the output end of the robotic arm (210). A plurality of clamping structures (4) are provided on the mounting base (2). The clamping structure (4) includes a gripper (41) and a first driving device (42) for driving the gripper (41) to open and close. The mounting base (2) is also provided with a pitch-changing module, which is used to drive the clamping structure (4) to move on the mounting base (2) to change the distance between different clamping structures (4).

2. The clamping device according to claim 1, characterized in that: The first driving device (42) includes a finger cylinder and a driving air passage (3). The finger cylinder is fixed on the mounting base (2). The driving air passage (3) is connected to the finger cylinder and is used to drive the finger clamp (421) of the finger cylinder to move.

3. The clamping device according to claim 2, characterized in that: The finger cylinder is provided with two opposing gripping fingers (421), each of the gripping fingers (421) is provided with a gripper (41), and the gripper (41) is provided with anti-slip texture.

4. The clamping device according to claim 2, characterized in that: The clamping structure (4) is also provided with a spring top structure (7), the spring top structure (7) includes a mounting plate (71), a mounting rod (72) and an elastic element (73), the mounting plate (71) is disposed above the clamping finger (421) of the finger cylinder, the mounting rod (72) is adjustablely disposed on the mounting plate (71), and the axis of the mounting rod (72) is parallel to the axis of the finger cylinder; The elastic element (73) is detachably disposed at one end of the mounting rod (72), and the elastic element (73) is disposed near the gripper (421) of the finger-operated cylinder; when the finger-operated cylinder grips the product, the top of the product can press against the elastic element (73).

5. The clamping device according to claim 2, characterized in that: The driving air passage (3) includes a main air passage (31) and multiple branch air passages (32). The multiple branch air passages (32) are all connected in parallel with the air outlet of the main air passage (31). The air inlet of the main air passage (31) is connected to an external air supply device.

6. The clamping device according to any one of claims 1-5, characterized in that: The mounting base (2) is provided with a first guide rail (21), and the first drive device (42) is provided on the first guide rail (21). The variable pitch module includes a second drive device (43) provided on the mounting base (2). The output end of the second drive device (43) is fixedly connected to the first drive device (42). The second drive device (43) drives the first drive device (42) to move on the first guide rail (21).

7. The clamping device according to any one of claims 1-5, characterized in that: The variable pitch module includes a servo motor (61), a transmission spindle, and a variable pitch stage (62). The servo motor (61) is located on one side of the variable pitch stage (62). The output end of the servo motor (61) is connected to the transmission spindle, and the servo motor (61) drives the transmission spindle to rotate. The variable pitch stage (62) includes several second guide rails (621) and several sliding gimbals. The several second guide rails (621) are arranged in parallel, and the sliding gimbals are slidably arranged on the second guide rails (621). The sliding gimbals are connected to the transmission spindle, and the servo motor (61) drives the transmission spindle to rotate, thereby causing the sliding gimbals to be discrete on the second guide rails (621). The clamping structure (4) is disposed on the sliding gimbal.

8. The clamping device according to claim 7, characterized in that: The variable pitch stage (62) is equipped with a distance measuring sensor for determining the position of the clamping structure (4).

9. A battery casing cleaning system, characterized in that: Includes the clamping device as described in any one of claims 1-8.

10. The battery casing cleaning system according to claim 9, characterized in that: A conveyor line (300) for conveying battery casings (5); A workbench (200), wherein the clamping device is disposed on the workbench (200) and located on one side of the conveyor line (300); A cleaning machine (100) is provided with a feeding platform (110), and a fixing fixture (120) for carrying the battery case (5) is provided on the feeding platform (110), and a receiving groove is provided on the fixing fixture (120).

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