Automatic grabbing and transplanting machine for battery packs

Abstract

The utility model discloses an automatic battery pack grabbing and transplanting machine which comprises a supporting frame, a first guide rail is arranged in the supporting frame in the X-axis direction, a first rack is arranged on the first guide rail, an X-axis moving assembly is arranged on the first guide rail in a sliding mode, a Y-axis moving assembly is arranged at the bottom of the X-axis moving assembly, and a second rack is arranged on the Y-axis moving assembly. An X-axis moving assembly is arranged at the bottom of the X-axis moving assembly, a Y-axis moving assembly is arranged at the bottom of the X-axis moving assembly, a Z-axis moving assembly is arranged at the bottom of the Y-axis moving assembly, a grabbing execution assembly is arranged at the bottom of the Z-axis moving assembly, and the X-axis moving assembly comprises a first double-axis driving device and a second guide rail arranged in parallel. And the battery pack can be automatically grabbed and carried, a traditional manual carrying mode is abandoned, personnel investment is reduced, the possibility of danger caused by collision and extrusion of the battery pack due to carrying is reduced, and therefore the carrying safety of the battery pack is improved.

Description

Technical Field

[0001] This utility model mainly relates to the field of automobile production equipment technology, specifically an automatic battery pack grabbing and transplanting machine. Background Technology

[0002] In the current automotive production equipment technology field, the battery pack is a core component of electric vehicles, and the handling and transfer process in its production is crucial. With the rapid development of the new energy vehicle industry, the market demand for electric vehicles continues to rise, which requires automakers to significantly improve production efficiency to meet market demand.

[0003] Traditional battery pack handling methods, such as manual handling and hydraulic trolley handling, have many drawbacks. When handling manually, due to the large size and heavy weight of the battery packs, workers need to manually move them to the battery rack and push them into the rack. This process is extremely laborious, and the battery racks are usually high, further increasing the difficulty of handling and resulting in extremely low handling efficiency. Although hydraulic trolley handling uses tools, workers still need to move the battery packs onto the hydraulic trolley first, and then use the hydraulic trolley to move them to the battery rack. The whole process not only requires multiple personnel, resulting in high manpower demand, but also poses a risk of battery packs falling during handling, which can easily cause injury accidents and has poor safety. Therefore, there is a need for an automatic battery pack grabbing and transplanting machine. Utility Model Content

[0004] This utility model provides a solution that is significantly different from existing technologies, addressing the problem that existing solutions are too simplistic. It mainly provides an automatic battery pack grabbing and transplanting machine to solve the technical problems mentioned in the background, such as the laborious and safety hazards of traditional battery pack handling methods, such as manual handling and hydraulic vehicle handling.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0006] An automatic battery pack grabbing and transplanting machine includes a support frame. A first guide rail is arranged inside the support frame along the X-axis direction. A first rack is arranged on the first guide rail. An X-axis moving component is slidably arranged on the first guide rail. A Y-axis moving component is arranged at the bottom of the X-axis moving component. A Z-axis moving component is arranged at the bottom of the Y-axis moving component. A grabbing execution component is arranged at the bottom of the Z-axis moving component.

[0007] The X-axis moving component includes a first dual-axis driving device and a second guide rail arranged in parallel. The two output ends of the first dual-axis driving device are respectively provided with a first driving gear through a transmission mechanism, and the first driving gear meshes with a first rack. A second rack is provided on the second guide rail. The transmission mechanism is used to drive the Y-axis moving component, the Z-axis moving component and the gripping execution component to achieve linear displacement in the X-axis direction.

[0008] The Y-axis moving component includes a second dual-axis drive device. The two output ends of the second dual-axis drive device are respectively provided with second drive gears through a transmission mechanism, and the second drive gears mesh with a second rack. The transmission mechanism is used to drive the Z-axis moving component and the gripping execution component to achieve linear displacement in the Y-axis direction.

[0009] The Z-axis moving assembly includes a third dual-axis drive device and a fourth mounting frame. The two output ends of the third dual-axis drive device are respectively equipped with take-up reels via a transmission mechanism. A connecting strip is wound around the circumference of each take-up reel. The top of the fourth mounting frame is equipped with a clamping mounting mechanism for clamping the end of the connecting strip. This transmission mechanism is used to drive the gripping execution assembly to achieve vertical displacement in the Z-axis direction.

[0010] The gripping execution component includes a fifth mounting frame, the bottom of which is provided with a drive cylinder. The piston rod of the drive cylinder is connected to a gripper via a pusher frame for gripping the battery pack.

[0011] More preferably, the second guide rails are fixedly connected to each other by connecting columns and the first mounting bracket, the top of the second guide rail is provided with a first guide wheel group, the first guide wheel group rolls with the first guide rail, and the first dual-axis drive device is provided on the top of the first mounting bracket.

[0012] More preferably, the Y-axis moving assembly includes a second mounting bracket, the top of which is provided with a second guide wheel assembly and a second dual-axis drive device, the second guide wheel assembly being in rolling cooperation with a second guide rail.

[0013] More preferably, the second mounting bracket is connected to the third mounting bracket via a mounting column, the top of the third mounting bracket is provided with a third dual-axis drive device, the bottom of the third mounting bracket is connected to the fourth mounting bracket via a scissor mechanism, and the third mounting bracket is connected to the fourth mounting bracket via a swingable telescopic rod.

[0014] More preferably, a drive device is installed on the outer wall of the fourth mounting bracket, an arc-shaped rack is provided on the top of the fifth mounting bracket and on the side near the drive device, and a gear that meshes with the arc-shaped rack is installed on the output end of the drive device, and the bottom of the fourth mounting bracket is rotatably connected to the top of the fifth mounting bracket.

[0015] More preferably, the bottom of the fifth mounting bracket is provided with a positioning sensor assembly and an identification sensor assembly for battery pack identification and positioning.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] This automatic battery pack gripping and transplanting machine, based on a three-axis motion system (X, Y, Z), employs a combination of gear and rack transmission and guide wheel rolling support to achieve stable multi-dimensional movement. During the gripping phase, a drive cylinder moves the gripper for a secure hold. An angle adjustment structure, through the drive unit and the arc-shaped rack, allows for fine-tuning of the gripping angle, ensuring the gripper remains perpendicular to the battery pack surface and improving gripping reliability. This automatic gripping and transplanting design replaces the traditional manual handling method, reducing manpower input and avoiding safety hazards caused by human error. It also lowers the safety risks of collisions and compression during battery pack handling, providing a guarantee for safe battery pack handling and production.

[0018] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a front view structural diagram of the present invention;

[0021] Figure 3 This is a three-dimensional enlarged structural diagram of the mobile gripping mechanism of this utility model;

[0022] Figure 4 This is an exploded magnified structural diagram of the mobile gripping mechanism of this utility model;

[0023] Figure 5 This is a magnified front view of the mobile gripping mechanism of this utility model;

[0024] Figure 6 This is a side view enlarged structural schematic diagram of the mobile gripping mechanism of this utility model.

[0025] Numbering on the map:

[0026] 1. Support frame; 2. First guide rail; 3. First rack; 4. X-axis moving assembly; 401. Second guide rail; 402. Connecting column; 403. First guide wheel assembly; 404. First mounting bracket; 405. First dual-axis drive device; 406. First drive gear; 407. Second rack; 5. Y-axis moving assembly; 501. Second mounting bracket; 502. Second guide wheel assembly; 503. Second dual-axis drive device; 504. Second drive gear 6. Wheel; Z-axis moving assembly; 601. Third mounting bracket; 602. Third dual-axis drive unit; 603. Rewind reel; 604. Connecting belt; 605. Scissor mechanism; 606. Fourth mounting bracket; 607. Clamping mounting mechanism; 608. Drive unit; 7. Gripping execution assembly; 701. Fifth mounting bracket; 702. Swingable telescopic rod; 703. Drive cylinder; 704. Push frame; 705. Gripper; 706. Arc rack. Detailed Implementation

[0027] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, which show several embodiments of the utility model. However, the utility model can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the utility model more thorough and comprehensive.

[0028] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0029] Please refer to the appendix carefully. Figure 1-6 An automatic battery pack grabbing and transplanting machine includes a support frame 1. Two parallel first guide rails 2 are installed inside the support frame 1 along the X-axis direction. A first rack 3 is installed on each of the two first guide rails 2. An X-axis moving component 4 is slidably installed on the first guide rails 2. A Y-axis moving component 5 is installed at the bottom of the X-axis moving component 4. A Z-axis moving component 6 is installed at the bottom of the Y-axis moving component 5. A grabbing execution component 7 is installed at the bottom of the Z-axis moving component 6.

[0030] The X-axis moving assembly 4 includes a first dual-axis drive device 405 and parallel-mounted second guide rails 401. The two output ends of the first dual-axis drive device 405 are respectively provided with first drive gears 406 through a transmission mechanism, and the two first drive gears 406 respectively mesh with corresponding first racks 3. Each second guide rail 401 is equipped with a second rack 407. The transmission mechanism is used to drive the Y-axis moving assembly 5, the Z-axis moving assembly 6 and the gripping execution assembly 7 to achieve linear displacement in the X-axis direction.

[0031] The Y-axis moving component 5 includes a second dual-axis drive device 503. The two output ends of the second dual-axis drive device 503 are respectively provided with second drive gears 504 through a transmission mechanism, and the two second drive gears 504 respectively mesh with the corresponding second racks 407. The transmission mechanism is used to drive the Z-axis moving component 6 and the gripping execution component 7 to achieve linear displacement in the Y-axis direction.

[0032] Z-axis moving assembly 6 includes a third dual-axis drive device 602 and a fourth mounting bracket 606. The two output ends of the third dual-axis drive device 602 are respectively equipped with take-up reels 603 through a transmission mechanism. A connecting strip 604 is wound around the circumference of each take-up reel 603. The top of the fourth mounting bracket 606 and near the four corners are equipped with clamping mounting mechanisms 607 for clamping the ends of the connecting strips 604. The transmission mechanism is used to drive the gripping execution assembly 7 to achieve vertical displacement in the Z-axis direction.

[0033] The gripping execution component 7 includes a fifth mounting bracket 701. The bottom of the fifth mounting bracket 701 is provided with two symmetrically distributed drive cylinders 703. The piston rod of each drive cylinder 703 is connected to two symmetrically distributed grippers 705 through a pusher bracket 704 for gripping the battery pack.

[0034] In this embodiment, as Figure 1 , Figure 2 and Figure 3 As shown, the second guide rails 401 are fixedly connected by the first mounting bracket 404 and two connecting columns 402. The top of the second guide rails 401 is provided with two sets of first guide wheel sets 403. Each first guide wheel set 403 rolls with the corresponding first guide rail 2. The first dual-axis drive device 405 is located on the top of the first mounting bracket 404. The first dual-axis drive device 405 drives the first drive gear 406 meshing with the second rack 407 through the transmission mechanism, so that it rolls on the second rack 407, thereby driving the Y-axis moving component 5, the Z-axis moving component 6 and the gripping execution component 7 to move synchronously. At the same time, multiple vertical rollers and horizontal rollers on the first guide wheel set 403 roll in the corresponding first guide rail 2. The multi-dimensional rolling support structure effectively improves the stability during the movement.

[0035] In this embodiment, as Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the Y-axis moving assembly 5 includes a second mounting bracket 501. A second dual-axis drive device 503 and two second guide wheel sets 502 are mounted on the top of the second mounting bracket 501. The second guide wheel sets 502 are in rolling engagement with the second guide rail 401. The second dual-axis drive device 503 drives the second drive gear 504, which meshes with the second rack 407, through a transmission mechanism, causing it to roll on the second rack 407. This, in turn, drives the Z-axis moving assembly 6 and the gripping execution assembly 7 to move synchronously. At the same time, multiple vertical rollers and horizontal rollers on the second guide wheel sets 502 roll within the corresponding second guide rails 401. The multi-dimensional rolling support structure effectively improves the stability during the movement process.

[0036] In this embodiment, as Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the second mounting frame 501 is connected to the third mounting frame 601 via four mounting columns. The top of the third mounting frame 601 is equipped with a third dual-axis drive device 602. The bottom center of the third mounting frame 601 is connected to the fourth mounting frame 606 via a scissor mechanism 605. The third mounting frame 601 is connected to the fourth mounting frame 606 via two diagonally distributed swingable telescopic rods 702. The third dual-axis drive device 602 drives two winding reels 603 to rotate synchronously via a transmission mechanism, performing bidirectional synchronous winding or unwinding operations on the connecting belt 604. The synchronous winding and unwinding actions at both ends of the connecting belt 604 drive the fourth mounting frame 606 and the gripping execution component 7 to achieve synchronous vertical lifting and lowering movement through the clamping mounting mechanism 607. During this process, the scissor mechanism 605 expands or contracts accordingly, providing a stable mechanical support structure for the lifting and lowering movement, effectively improving the stability during vertical movement. The clamping mounting mechanism 607 fixes one end of the connecting belt 604 with clamping blocks and screws.

[0037] In this embodiment, as Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, a drive device 608 is mounted on the outer wall of the fourth mounting bracket 606. An arc-shaped rack 706 is provided on the top of the fifth mounting bracket 701, near the drive device 608. A gear meshing with the arc-shaped rack 706 is mounted on the output end of the drive device 608. The bottom center of the fourth mounting bracket 606 is rotatably connected to the top center of the fifth mounting bracket 701. When the gripping execution component 7 performs the gripping task on the lower conveyor line, if a slight angular deviation of the battery pack is detected, the system will automatically... The drive unit 608 is activated, and the drive unit 608 drives the gear to rotate through the output shaft. The gear rotates through the engagement of the arc rack 706, which drives the gripping execution component 7 to rotate and adjust around the central axis at a small angle. The design of this fine-tuning mechanism allows the gripping execution component 7 to quickly adapt to the actual posture of the battery pack, ensuring that the gripper 705 maintains perpendicular contact with the surface of the battery pack during the gripping process. This achieves precise positioning and gripping of the battery pack, thereby improving the stability of the gripping operation. A force sensor is provided on the inner side of the gripper 705 to monitor the gripping force on the battery pack.

[0038] In this embodiment, as Figure 5 and Figure 6 As shown, the bottom of the fifth mounting bracket 701 is equipped with a positioning sensor assembly and an identification sensor assembly for battery pack identification and positioning. The identification sensor assembly integrates multimodal identification technologies such as RFID reading, image recognition, and barcode scanning, which can quickly collect and analyze key feature information such as the battery pack's model code, production batch, and performance parameters. This assembly adopts multi-sensor fusion technology and ensures the accuracy and reliability of information collection through a data cross-validation mechanism. The positioning sensor assembly is based on multi-dimensional spatial coordinate detection technologies such as laser ranging, visual recognition, and inertial navigation. Combined with a real-time displacement feedback control system, during the battery pack gripping and installation process, the system continuously optimizes the motion trajectory of the actuator through dynamic path planning and error compensation algorithms to ensure the accuracy of battery pack positioning and provide a guarantee for the stable operation of the battery automated production line.

[0039] It should be noted that in this utility model, the drive device 608 can be a geared motor; the dual-shaft drive device can be realized by cooperating with the geared motor through a dual-shaft reducer; the transmission mechanism adopts a combination structure of transmission shaft and coupling.

[0040] The specific operation process of this utility is as follows: Based on the support frame 1, the device constructs a three-axis motion system of X, Y, and Z. When the system receives the instruction to grab the battery pack, the X-axis moving component 4 starts to operate first. The first dual-axis drive device 405 is started, and its two output ends drive the first drive gear 406 through the transmission mechanism. Since the first drive gear 406 meshes with the first rack 3 on the first guide rail 2, when the motor is running, the first drive gear 406 rolls on the first rack 3, thereby driving the X-axis moving component 4 to move along the X-axis direction. At the same time, the first guide wheel group 403 at the top of the second guide rail 401 rolls with the first guide rail 2. The multi-dimensional rolling support structure ensures the stability of movement, thereby driving the Y-axis moving component 5, the Z-axis moving component 6, and the grabbing execution component 7 to move along the X-axis direction, so that the entire device reaches the vicinity of the target position in the X-axis direction.

[0041] After positioning in the X-axis direction, the Y-axis moving component 5 starts to work, and the second dual-axis drive device 503 operates. Its output end drives the second drive gear 504 through the transmission mechanism. The second drive gear 504 meshes with the second rack 407 on the second guide rail 401, causing the second drive gear 504 to roll on the second rack 407, driving the Y-axis moving component 5 to move along the Y-axis direction on the second guide rail 401. During this process, the second guide wheel group 502 rolls with the second guide rail 401 to provide stable support, thereby driving the Z-axis moving component 6 and the gripping execution component 7 to move along the Y-axis direction, so that the gripping execution component 7 gets closer to the target battery pack on the plane.

[0042] When approaching the target position in the X and Y axes, the Z-axis moving component 6 takes effect, and the third dual-axis drive device 602 is activated. Its output end drives the winding reel 603 to rotate synchronously via the transmission mechanism, performing bidirectional synchronous winding or unwinding operations on the connecting strip 604 wound on the circumferential surface. The two ends of the connecting strip 604 are connected to the fourth mounting frame 606 through the clamping and mounting mechanism 607. As the connecting strip 604 is wound and unwound, it drives the fourth mounting frame 606 and the gripping execution component 7 to achieve synchronous vertical lifting and lowering movements. During the lifting and lowering process, the scissor mechanism 605 unfolds or retracts accordingly, and the two diagonally distributed swingable telescopic rods 702 assist in the movement, providing stable support for vertical movement, so that the gripping execution component 7 accurately reaches the appropriate height above the battery pack.

[0043] After the gripping execution component 7 reaches the target position, the two drive cylinders 703 at the bottom of the fifth mounting frame 701 operate. The piston rod of the drive cylinder 703 drives the two symmetrically distributed grippers 705 to move through the push frame 704, firmly gripping the battery pack. If a slight angular deviation of the battery pack is detected during the gripping process, the drive device 608 on the outer wall of the fourth mounting frame 606 is activated. Its output gear meshes with the arc-shaped rack 706 at the top of the fifth mounting frame 701. The drive device 608 drives the gear to rotate, and through the arc-shaped rack 706, the gripping execution component 7 rotates and adjusts around the central axis by a small angle to ensure that the grippers 705 maintain perpendicular contact with the surface of the battery pack, achieving precise gripping.

[0044] Throughout the grasping process, the identification sensor assembly and positioning sensor assembly at the bottom of the fifth mounting bracket 701 operate continuously. The identification sensor assembly integrates multimodal recognition technology to quickly collect and analyze key feature information such as the battery pack's model code, production batch, and performance parameters. It ensures the accuracy of the information through multi-sensor fusion technology and data cross-validation mechanism. The positioning sensor assembly is based on multi-dimensional spatial coordinate detection technology and combined with a real-time displacement feedback control system. It uses dynamic path planning and error compensation algorithms to continuously optimize the motion trajectory of the actuator, ensuring the accuracy of the battery pack's positioning and guaranteeing the efficient and stable operation of the battery automated production line.

[0045] The present invention has been described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. An automatic battery pack grabbing and transplanting machine, comprising a support frame (1), characterized in that: The support frame (1) is provided with a first guide rail (2) along the X-axis direction. A first rack (3) is provided on the first guide rail (2). An X-axis moving component (4) is slidably provided on the first guide rail (2). A Y-axis moving component (5) is provided at the bottom of the X-axis moving component (4). A Z-axis moving component (6) is provided at the bottom of the Y-axis moving component (5). A gripping execution component (7) is provided at the bottom of the Z-axis moving component (6). The X-axis moving component (4) includes a first dual-axis drive device (405) and a second guide rail (401) arranged in parallel. The two output ends of the first dual-axis drive device (405) are respectively provided with a first drive gear (406) through a transmission mechanism, and the first drive gear (406) meshes with a first rack (3). The second guide rail (401) is provided with a second rack (407). The transmission mechanism is used to drive the Y-axis moving component (5), the Z-axis moving component (6) and the gripping execution component (7) to achieve linear displacement in the X-axis direction. The Y-axis moving component (5) includes a second dual-axis drive device (503). The two output ends of the second dual-axis drive device (503) are respectively provided with a second drive gear (504) through a transmission mechanism. The second drive gear (504) meshes with a second rack (407). The transmission mechanism is used to drive the Z-axis moving component (6) and the gripping execution component (7) to achieve linear displacement in the Y-axis direction. The Z-axis moving assembly (6) includes a third dual-axis drive device (602) and a fourth mounting bracket (606). The two output ends of the third dual-axis drive device (602) are respectively provided with a winding reel (603) through a transmission mechanism. A connecting strip (604) is wound on the circumferential surface of each winding reel (603). The top of the fourth mounting bracket (606) is provided with a clamping mounting mechanism (607) for clamping the end of the connecting strip (604). The transmission mechanism is used to drive the gripping execution assembly (7) to achieve vertical displacement in the Z-axis direction. The gripping execution component (7) includes a fifth mounting bracket (701), and a drive cylinder (703) is provided at the bottom of the fifth mounting bracket (701). The piston rod of the drive cylinder (703) is connected to a gripper (705) through a pusher (704) for gripping the battery pack.

2. The battery pack automatic grabbing transplanting machine according to claim 1, characterized in that: The second guide rails (401) are fixedly connected to each other by a connecting column (402) and a first mounting bracket (404). A first guide wheel group (403) is provided on the top of the second guide rail (401). The first guide wheel group (403) rolls with the first guide rail (2). The first dual-axis drive device (405) is located on the top of the first mounting bracket (404).

3. The battery pack automatic grabbing transplanting machine according to claim 1, characterized in that: The Y-axis moving assembly (5) includes a second mounting bracket (501), on the top of which is provided a second guide wheel group (502) and a second dual-axis drive device (503), and the second guide wheel group (502) rolls in cooperation with the second guide rail (401).

4. The battery pack automatic grabbing transplanting machine according to claim 3, characterized in that: The second mounting bracket (501) is connected to the third mounting bracket (601) via a mounting column. The top of the third mounting bracket (601) is provided with a third dual-axis drive device (602). The bottom of the third mounting bracket (601) is connected to the fourth mounting bracket (606) via a scissor mechanism (605). The third mounting bracket (601) is connected to the fourth mounting bracket (606) via a swingable telescopic rod (702).

5. The battery pack automatic grabbing transplanting machine according to claim 1, characterized in that: The fourth mounting bracket (606) is equipped with a drive device (608) on its outer wall. The fifth mounting bracket (701) has an arc-shaped rack (706) on its top and near the drive device (608). The output end of the drive device (608) is equipped with a gear that meshes with the arc-shaped rack (706). The bottom of the fourth mounting bracket (606) is rotatably connected to the top of the fifth mounting bracket (701).

6. The battery pack automatic grabbing transplanting machine according to claim 1, characterized in that: The bottom of the fifth mounting bracket (701) is provided with a positioning sensor assembly and an identification sensor assembly for battery pack identification and positioning.

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