Clamping device and carrying manipulator

Abstract

The utility model provides a clamping device and a carrying manipulator, and the clamping device comprises a mounting seat; the first clamping piece is arranged on the mounting seat; the second clamping piece and the first clamping piece are arranged in a spaced mode in the first direction; and the driving assembly can be movably arranged on the mounting base in the first direction, and the driving assembly is connected with the second clamping piece and drives the second clamping piece to move in the first direction, so that the second clamping piece and the first clamping piece are matched to clamp the battery module. According to the clamping device provided by the invention, before the battery module is clamped, the driving assembly can be adjusted to a proper position in the first direction, so that the distance between the second clamping piece and the first clamping piece can be adjusted, the limitation of the stroke of the driving assembly is overcome, the clamping device can be suitable for clamping battery modules of different sizes, and the compatibility is higher.

Description

Technical Field

[0001] This application belongs to the field of battery module processing technology, and more specifically, relates to a clamping device and a handling robot. Background Technology

[0002] With the rapid development of new energy vehicles, the power batteries used to power these vehicles have also developed rapidly, and the market demand for power batteries is increasing.

[0003] A power battery comprises multiple battery modules, which are manufactured by stacking multiple cells together and securing them with adhesive tape. During the manufacturing process, battery modules typically need to be moved to different workstations for processing. Clamping devices are required to hold or release the battery modules during this process. However, existing clamping devices are not suitable for clamping battery modules of different sizes, limiting their applicability. Utility Model Content

[0004] This application provides a clamping device that can be used to clamp battery modules of different sizes, improving the versatility of the equipment.

[0005] The technical solution adopted in this application embodiment is: to provide a clamping device, including:

[0006] Mounting base;

[0007] A first clamping element is disposed on the mounting base;

[0008] The second clamping member is disposed at a distance from the first clamping member along a first direction; and

[0009] A driving component is movably disposed on the mounting base along a first direction. The driving component is connected to the second clamping member and drives the second clamping member to move along the first direction so that the second clamping member cooperates with the first clamping member to clamp the battery module.

[0010] Furthermore, the clamping device also includes an adjusting member, the mounting base is provided with a plurality of adjusting holes spaced apart along a first direction, the driving assembly is provided with a connecting hole, and the adjusting member passes through any of the adjusting holes and is connected to the connecting hole.

[0011] Furthermore, the driving component includes:

[0012] A fixed base, movably disposed on the mounting base along the first direction; and,

[0013] A driving component is disposed on the fixed base and connected to the second clamping component.

[0014] Furthermore, the clamping device also includes:

[0015] A guide rail, extending along a first direction, is disposed on the mounting base; and,

[0016] The slider is slidably mounted on the guide rail, and the second clamping member is connected to the slider.

[0017] Furthermore, the clamping device also includes a pressure sensor, which is disposed on the second clamping member and connected to the driving assembly, for detecting the driving pressure of the driving assembly.

[0018] Furthermore, the clamping device also includes a first insulating member, which is disposed on the side of the first clamping member that contacts the battery module;

[0019] And / or,

[0020] The clamping device further includes a second insulating member, which is disposed on the side of the second clamping member that contacts the battery module.

[0021] Furthermore, the clamping device also includes a first limiting member, which is disposed at one end of the first clamping member along the second direction, and can limit the side of the battery module along the second direction.

[0022] And / or,

[0023] The clamping device further includes a second limiting member, which is disposed at one end of the second clamping member along the second direction and can limit the side of the battery module along the second direction.

[0024] The second direction is set at an angle to the first direction.

[0025] Furthermore, the clamping device also includes a first through-beam sensor and a second through-beam sensor.

[0026] The first clamping member and the second clamping member are provided with slots. The first through-beam sensor is disposed on the side of the first clamping member away from the second clamping member, and the second through-beam sensor is disposed on the side of the second clamping member away from the first clamping member. The first through-beam sensor and the second through-beam sensor realize photoelectric sensing through the slots to detect whether the battery module is clamped between the first clamping member and the second clamping member.

[0027] Furthermore, the clamping device also includes a first buffer member, which is disposed on the side of the second clamping member close to the first clamping member;

[0028] And / or,

[0029] The clamping device further includes a second buffer member, which is disposed on the side of the second clamping member opposite to the first clamping member.

[0030] This application also provides a handling robot, including a robotic arm and a gripping device as described above, wherein the mounting base of the gripping device is connected to the robotic arm.

[0031] The beneficial effects of the clamping device provided in this application embodiment are as follows: The clamping device in this application embodiment, by setting the first clamping member on the mounting base, the driving component can be movably set on the mounting base along the first direction, and the second clamping member is connected to the driving component. Before clamping the battery module, the driving component can be adjusted to a suitable position along the first direction, and then the distance between the second clamping member and the first clamping member can be adjusted by driving the driving component, overcoming the limitation of the driving component's stroke, and can be applied to clamping battery modules of different sizes, with higher compatibility. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a three-dimensional structural diagram of the clamping device provided in the embodiments of this application;

[0034] Figure 2 This is a schematic diagram of the structure of the first clamping member and the first insulating member provided in the embodiments of this application;

[0035] Figure 3 This is a schematic diagram of the structure of the second clamping member and the second insulating member provided in the embodiments of this application;

[0036] Figure 4 This is a three-dimensional structural diagram of the handling robot provided in the embodiments of this application.

[0037] The following are the labeling elements in the figure:

[0038] 100. Clamping device; 10. Mounting base; 11. Adjustment hole; 20. First clamping member; 21. Slot; 30. Second clamping member; 40. Drive assembly; 41. Fixed base; 42. Drive member; 50. Guide rail; 60. Slider; 70. Pressure sensor; 81. First insulating member; 82. Second insulating member; 91. First limiting member; 92. Second limiting member; 110. First through-beam sensor; 120. Second through-beam sensor; 130. First buffer member; 140. Second buffer member; 200. Robotic arm. Detailed Implementation

[0039] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0040] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0041] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and 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. Therefore, they should not be construed as limitations on this application.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0043] Please see Figure 1 The clamping device 100 provided in the embodiments of this application will now be described. The clamping device 100 provided in the embodiments of this application can be used for clamping battery modules.

[0044] The clamping device 100 provided in this application embodiment includes a mounting base 10, a first clamping member 20, a second clamping member 30, and a driving assembly 40. The first clamping member 20 is disposed on the mounting base 10. The second clamping member 30 is spaced apart from the first clamping member 20 along a first direction.

[0045] The drive assembly 40 is movably mounted on the mounting base 10 along a first direction. The drive assembly 40 is connected to the second clamping member 30, driving the second clamping member 30 to move along the first direction, so that the second clamping member 30 cooperates with the first clamping member 20 to clamp the battery module. When clamping the battery module, the drive assembly 40 first drives the second clamping member 30 closer to the first clamping member 20 along the first direction, thereby clamping the battery module. When releasing the battery module, the drive assembly 40 simply drives the second clamping member 30 away from the first clamping member 20 along the first direction, thus releasing the battery module; the operation is very simple and convenient.

[0046] Before clamping the battery module, the drive assembly 40 can be adjusted to a suitable position according to the size of the battery module before clamping. Since the drive assembly 40 has a limited stroke, it cannot clamp battery modules whose size exceeds its stroke limit. By allowing the drive assembly 40 to be movably mounted on the mounting base 10 along a first direction (i.e., the position of the drive assembly 40 along the first direction is adjustable), and by connecting the drive assembly 40 to the second clamping member 30, the position of the second clamping member 30 along the first direction can be adjusted, thereby adjusting the distance between the second clamping member 30 and the first clamping member 20. This allows for clamping of battery modules of different sizes, overcoming the limitation of the drive assembly 40's stroke.

[0047] The clamping device 100 provided in this application embodiment, by setting the first clamping member 20 on the mounting base 10, and the driving component 40 being movably set on the mounting base 10 along the first direction, and the second clamping member 30 being connected to the driving component 40, allows the driving component 40 to be adjusted to a suitable position along the first direction before clamping the battery module, thereby adjusting the distance between the second clamping member 30 and the first clamping member 20, overcoming the limitation of the stroke of the driving component 40, and being applicable to clamping battery modules of different sizes, with higher compatibility.

[0048] Please see Figure 1The clamping device 100 may further include an adjusting member (not shown in the figure). The mounting base 10 has multiple adjusting holes 11 spaced apart along a first direction. The drive assembly 40 has a connecting hole (not shown in the figure). The adjusting member passes through any adjusting hole 11 and connects to the connecting hole. When it is necessary to adjust the position of the drive assembly 40 along the first direction, the adjusting member can be separated from the connecting hole. At this time, the drive assembly 40 can move along the first direction. When the drive assembly 40 moves to a preset position, the adjusting member passes through the corresponding adjusting hole 11 and connects to the connecting hole, thereby fixing the drive assembly 40 in the preset position. Specifically, the adjusting member can be a screw, and the connecting hole can be a threaded hole that mates with a screw. It is understood that the mounting base 10 may also directly provide an adjusting groove extending along the first direction, with the adjusting member passing through any position of the adjusting groove and connecting to the connecting hole for fixation.

[0049] Of course, the fixing method of the drive assembly 40 is not limited to this. For example, a lead screw drive assembly can also be provided, which is connected to the drive assembly 40. The rotation of the lead screw drive assembly enables the drive assembly 40 to move in the first direction. It can be understood that the driving force of the lead screw drive assembly can be provided by manual rotation or a rotary motor, etc.

[0050] Please see Figure 1 The drive assembly 40 may include a fixed base 41 and a drive member 42. The fixed base 41 is movably disposed on the mounting base 10 along a first direction. The drive member 42 is disposed on the fixed base 41 and connected to the second clamping member 30. Driven by the drive member 42, the second clamping member 30 can be moved along the first direction to clamp or release the battery module. Specifically, a connection hole is provided on the fixed base 41. The drive member 42 may be a linear cylinder or a linear motor, or it may be a rotary motor and a transmission mechanism that can convert the rotational driving force of the rotary motor into the linear motion of the second clamping member 30, such as a lead screw and nut or a gear and rack.

[0051] Please see Figure 1 The drive component 42 can be connected to the second clamping component 30 through a floating joint (not shown in the figure). By setting the floating joint, errors can be eliminated, eccentricity problems can be solved, and the equipment can be operated smoothly.

[0052] Please see Figure 1 The clamping device 100 may further include a guide rail 50 and a slider 60. The guide rail 50 is disposed on the mounting base 10 extending along a first direction. The slider 60 is slidably mounted on the guide rail 50, and the second clamping member 30 is connected to the slider 60. The arrangement of the guide rail 50 and the slider 60 ensures that the second clamping member 30 runs smoothly and avoids deviation.

[0053] Please see Figure 1 and Figure 3The clamping device 100 may further include a pressure sensor 70, which is disposed on the second clamping member 30 and connected to the drive assembly 40 for detecting the drive pressure of the drive assembly 40. The pressure sensor 70 enables real-time monitoring of the drive pressure.

[0054] Please see Figure 2 and Figure 3 The clamping device 100 may further include a first insulating member 81, which is disposed on the side of the first clamping member 20 that contacts the battery module. The first insulating member 81 prevents electrical conduction between the first clamping member 20 and the battery module. The clamping device 100 may further include a second insulating member 82, which is disposed on the side of the second clamping member 30 that contacts the battery module. The second insulating member 82 prevents electrical conduction between the second clamping member 30 and the battery module. Specifically, the first insulating member 81 and the second insulating member 82 may be rubber pads.

[0055] Please see Figure 2 and Figure 3 The clamping device 100 may further include a first limiting member 91, which is disposed at one end of the first clamping member 20 along the second direction and can limit the side of the battery module along the second direction. The first limiting member 91 enables positioning of the battery module along the second direction, improving positioning accuracy. The clamping device 100 may further include a second limiting member 92, which is disposed at one end of the second clamping member 30 along the second direction and can limit the side of the battery module along the second direction. The second limiting member 92 enables positioning of the battery module along the second direction, improving positioning accuracy.

[0056] Please refer to Figure 1 The second direction is set at an angle to the first direction, such as 90°, 45°, 150° or any other angle.

[0057] Please see Figure 2 and Figure 3 The clamping device 100 may further include a first through-beam sensor 110 and a second through-beam sensor 120, with slots 21 formed on the first clamping member 20 and the second clamping member 30. The first through-beam sensor 110 is located on the side of the first clamping member 20 opposite to the second clamping member 30, and the second through-beam sensor 120 is located on the side of the second clamping member 30 opposite to the first clamping member 20. The first through-beam sensor 110 and the second through-beam sensor 120 achieve photoelectric sensing through the slots 21 to detect whether a battery module is clamped between the first clamping member 20 and the second clamping member 30, thereby avoiding no-load operation. Of course, a reflective sensor or other types of sensors can also be used for detection.

[0058] Please see Figure 1 The clamping device 100 may further include a first buffer 130, which is disposed on the side of the second clamping member 30 near the first clamping member 20. The first buffer 130 serves to cushion the impact, preventing damage to the second clamping member 30 from hard impacts when clamping in the first direction. Specifically, the first buffer 130 may be a hydraulic damper.

[0059] Please see Figure 3 The clamping device 100 may further include a second buffer 140, which is disposed on the side of the second clamping member 30 opposite to the first clamping member 20. The second buffer 140 serves to cushion the impact, preventing damage to the second clamping member 30 from hard collisions when it opens along the first direction. Specifically, the second buffer 140 may be a hydraulic buffer.

[0060] Please see Figure 4 This application also provides a handling robot, including a robotic arm 200 and a clamping device 100 as described in any of the above embodiments, wherein the mounting base 10 of the clamping device 100 is connected to the robotic arm 200.

[0061] The handling robot provided in this application has the beneficial effects brought by the clamping device 100 in any of the above embodiments due to the clamping device 100 in any of the above embodiments, which will not be repeated here.

[0062] When it is necessary to move the battery module, firstly, the robotic arm 200 moves the clamping device 100 to the upper side of the battery module. At this time, the robotic arm 200 then moves the clamping device 100 downwards, so that the first clamping member 20 moves directly below the battery module. Next, the robotic arm 200 moves the clamping device 100 upwards, and at this time, the drive component 40 simultaneously drives the second clamping member 30 downwards, thus clamping the battery module. Finally, the robotic arm 200 moves the clamping device 100 to the position where it needs to be unloaded, thus completing the transfer of the battery module.

[0063] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A clamping device, characterized in that The clamping device comprises: a mounting base; a first clamping piece arranged on the mounting base; a second clamping piece arranged in a first direction and spaced apart from the first clamping piece; and a driving assembly movably arranged on the mounting base in the first direction, connected with the second clamping piece, and driving the second clamping piece to move in the first direction so as to clamp the battery module together with the first clamping piece. The clamping device further comprises a first limiting piece arranged at one end of the first clamping piece in a second direction, capable of limiting the side surface of the battery module in the second direction. The second direction is arranged at an angle to the first direction. The clamping device further comprises an adjusting piece, the mounting base is provided with a plurality of adjusting holes spaced apart in the first direction, and the driving assembly is provided with a connecting hole, the adjusting piece passes through any adjusting hole and is connected with the connecting hole.

2. The clamping device of claim 1, wherein The driving assembly comprises:

3. The clamping device of claim 1, wherein a fixing base movably arranged on the mounting base in the first direction; and a driving piece arranged on the fixing base and connected with the second clamping piece. The clamping device further comprises: a guide rail arranged on the mounting base in the first direction; and 4. The clamping device of claim 1, wherein a sliding block slidingly arranged on the guide rail, the second clamping piece being connected with the sliding block. The clamping device further comprises a pressure sensor arranged on the second clamping piece and connected with the driving assembly, for detecting the driving pressure of the driving assembly. The clamping device further comprises a first insulating piece arranged on the side of the first clamping piece in contact with the battery module.

5. The clamping device of claim 1, wherein The clamping device further comprises a second insulating piece arranged on the side of the second clamping piece in contact with the battery module.

6. The clamping device according to any one of claims 1-5, characterized in that The clamping device further comprises a second limiting piece arranged at one end of the second clamping piece in the second direction, capable of limiting the side surface of the battery module in the second direction. The clamping device further comprises a first pair of sensors and a second pair of sensors, the first clamping piece and the second clamping piece are provided with a slot, the first pair of sensors are arranged on the side of the first clamping piece away from the second clamping piece, the second pair of sensors are arranged on the side of the second clamping piece away from the first clamping piece, and the first pair of sensors and the second pair of sensors realize photoelectric induction through the slot to detect whether the battery module is clamped between the first clamping piece and the second clamping piece.

7. The clamping device according to any one of claims 1-5, characterized in that The clamping device further comprises a first buffer piece arranged on the side of the second clamping piece close to the first clamping piece.

8. The clamping device according to any one of claims 1-5, characterized in that The clamping device further comprises a second buffer piece arranged on the side of the second clamping piece away from the first clamping piece. The clamping device comprises a mechanical arm and the clamping device of any one of claims 1-9, the mounting base of the clamping device being connected with the mechanical arm.

9. The clamping device according to any one of claims 1-5, characterized in that ​ ​ ​ 10. A handling robot, characterized in that ​

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