A gripping device for handling new energy battery packs

Abstract

This utility model relates to the field of industrial automation and robotics, and discloses a gripping device for handling new energy battery packs. It includes a frame and a rotating assembly, a pitch-changing assembly, a vision assembly, and a claw assembly mounted on the frame. The vision assembly consists of two sets distributed on both sides of the frame to identify the battery pack position. The rotating assembly includes a first servo motor, a planetary reducer, and a slewing bearing, which can adjust the frame angle. The pitch-changing assembly consists of two sets symmetrically distributed, including a lead screw module and a second servo motor to adjust the distance between the claw assemblies. The claw assembly includes a claw mounting plate, claws, and a microswitch. The microswitch detects the gripping state. This device can accurately position and adapt to battery packs of different sizes, protect the battery packs, and is easy to maintain. It is suitable for battery pack handling, assembly, and other scenarios.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation and robotics technology, specifically a gripping device for handling new energy battery packs. Background Technology

[0002] With the rapid development of industrial automation and robotics, the production, assembly and testing of new energy battery packs are increasingly reliant on handling equipment. Among them, the gripping device, as a core execution component, directly affects production efficiency and product quality.

[0003] While current new energy battery pack grippers on the market have achieved automated handling, they still face numerous technical bottlenecks in practical applications. On one hand, the contradiction between high load and high precision is prominent. Existing devices often require structural reinforcement to meet the weight requirements of battery packs, which can easily lead to a decrease in positioning accuracy. Because the assembly precision requirements in new energy battery pack production are extremely stringent, even slight deformations caused by insufficient structural rigidity during handling by traditional grippers can lead to misalignment between the battery pack and the pallet or assembly station, thus affecting the yield rate of subsequent processes. On the other hand, flexibility and adaptability are insufficient. Different battery pack models vary significantly in length, width, and gripping point spacing. Traditional devices typically use a fixed-spacing claw design, requiring manual clamp replacement or complex mechanical adjustments when switching product models. This process not only takes several hours but also requires operators with specialized skills. While some devices using simple lead screw adjustments can achieve variable pitch, they lack precise positioning capabilities, making it difficult to ensure the synchronous movement accuracy of multiple claws, easily causing uneven force on the battery pack. Utility Model Content

[0004] This invention provides a gripping device for handling new energy battery packs, which solves the technical problems of high load and high precision contradiction and poor flexibility and adaptability of existing new energy battery pack grippers.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a gripping device for handling new energy battery packs, comprising a frame and a rotating component, a pitch-changing component, a vision component, and a claw component mounted on the frame; the vision component has two sets distributed on both sides of the frame, used to identify the position of the battery pack; the rotating component includes a first servo motor, a planetary reducer, and a slewing bearing, and can adjust the position based on the positioning coordinates output by the vision component; the output end of the first servo motor is connected to the input end of the planetary reducer, and the planetary reducer is connected to the internal gear transmission of the slewing bearing; the first servo motor drives the slewing bearing to rotate via the planetary reducer to adjust the position. The overall angle of the frame; the variable pitch assembly is provided in two sets, and the two sets of variable pitch assemblies are symmetrically distributed along the centerline of the length direction of the frame. Each set of variable pitch assemblies includes a lead screw module, a second servo motor, a guide rail, and a slider. The output end of the second servo motor is connected to the drive end of the lead screw module; the claw assembly includes a claw mounting plate, a claw, and a micro switch. The slide of the lead screw module and the slider of the guide rail are both fixedly connected to the claw mounting plate. The claw is mounted on the claw mounting plate. The micro switch is arranged opposite to the lifting surface of the claw. The distance of the claw assembly is adjusted by driving the lead screw module through the second servo motor. The micro switch is used to detect the battery pack gripping status in real time.

[0006] Furthermore, this application proposes that the rotating assembly further includes a limit switch fixing plate, a limit switch, and a detection plate; the first servo motor and the planetary reducer are jointly fixed to the slewing bearing by screws; the limit switch fixing plate is fixed to the upper end face of the slewing bearing by screws, and the limit switch is mounted on the limit switch fixing plate; the detection plate is fixed to the frame and rotates synchronously with the frame. By setting the limit switch and the detection plate, the rotation angle of the frame can be precisely limited. When the slewing bearing rotates to the set maximum angle, the detection plate contacts the trigger end of the limit switch, and the power of the first servo motor is cut off in time.

[0007] Furthermore, this application proposes that the second servo motor and the lead screw module are jointly fixed to the frame by bolts; the two guide rails are arranged parallel to each other on both sides of the frame's length direction, the slider slides with the guide rails, and the slider and the lead screw module's slide block move synchronously. The cooperation between the parallel guide rails on both sides and the slider can accurately guide the movement of the claw mounting plate, ensuring that the slider and the lead screw module's slide block move synchronously, making the claw assembly spacing adjustment process smoother and more precise.

[0008] Furthermore, this application also proposes that the pitch-changing assembly further includes a floating fixing plate, a floating block, a shoulder screw, a rectangular spring, and a bolt fixing plate; the floating block is detachably mounted on the floating fixing plate; the shoulder screw passes through the floating block and the bolt fixing plate; the rectangular spring is sleeved on the shank of the shoulder screw, and both ends of the rectangular spring abut against the inner end faces of the floating block and the bolt fixing plate, respectively; the bolt fixing plate is fixedly connected to the hook mounting plate. The floating structure design utilizes the elasticity of the rectangular spring to provide a buffer when the hook assembly contacts the battery pack, preventing rigid contact from causing collision damage to the battery pack casing.

[0009] Furthermore, this application proposes that each set of vision components includes a camera component mounting plate, a light source bracket, a camera mounting plate, a camera, a lens, and a light source assembly; the camera component mounting plate is fixed to the side of the frame; the light source bracket and the camera mounting plate are both mounted on the same side of the camera component mounting plate; the camera is fixed to the camera mounting plate with screws, the lens is mounted on the image acquisition end of the camera, and the light source assembly is mounted on the light source bracket. The precise assembly of the camera and lens, combined with the auxiliary illumination of the light source assembly, can clearly acquire battery pack position information, providing accurate positioning basis for the movement of the rotating and variable-pitch components.

[0010] Furthermore, this application also proposes that the hook assembly further includes a micro switch fixing plate, which is fixed to the side of the hook. The micro switch is mounted on the micro switch fixing plate, and the detection end of the micro switch faces the lifting surface of the hook and maintains a distance from the lifting surface. When the battery pack is lifted by the hook, the battery pack squeezes the detection end of the micro switch, triggering the switch to send a signal, providing real-time feedback on the gripping status, so that the control system can promptly determine whether to perform subsequent handling actions.

[0011] Furthermore, this application also proposes that the hook mounting plate is provided with an array of threaded holes, and the hook can be detachably mounted on the lower end of the hook mounting plate through the threaded holes. The array of threaded holes design allows the hook to be flexibly adjusted in terms of installation position and quantity according to new energy battery packs of different specifications and sizes, without the need to replace the entire hook mounting plate, which greatly improves the adaptability of the device to different battery pack models.

[0012] Furthermore, this application also proposes that the rotation trajectory of the detection piece corresponds to the trigger end of the limit switch. When the slewing bearing rotates to the set maximum angle, the detection piece can contact the trigger end of the limit switch. The precise correspondence between the detection piece and the trigger end of the limit switch ensures that when the slewing bearing rotates to the set maximum angle, the detection piece can accurately trigger the limit switch and stop the first servo motor from running in time.

[0013] Furthermore, this application also proposes that the illumination direction of the light source component is consistent with the acquisition direction of the lens, and the illumination area of ​​the light source component covers the acquisition area of ​​the lens. The light source component can provide sufficient and uniform light for the lens to acquire images, enabling the camera to clearly capture the outline and positional features of the battery pack.

[0014] Furthermore, this application also proposes that a first polyurethane pad is attached to the lifting surface of the hook, and a second polyurethane pad is attached to the side stop surface of the hook, which can prevent the battery pack shell from being scratched and collided, protect the integrity of the battery pack structure, and reduce the damage rate.

[0015] Compared with the prior art, the beneficial effects of this utility model are: This invention uses a vision component to accurately identify the battery pack position. The rotating component, aided by a first servo motor, planetary reducer, and slewing bearing, achieves high-precision angle adjustment. Limit switches and detection plates restrict the rotation range, preventing overtravel and ensuring accurate and safe operation. The pitch-changing component, driven by a second servo motor and a lead screw module, allows for flexible adjustment of the hook assembly spacing. Arrayed threaded holes on the hook mounting plate support on-demand hook assembly and disassembly, adapting to different battery pack sizes. A floating mechanism within the pitch-changing component provides cushioning, preventing damage to the battery pack from rigid contact. The invention employs a modular design, with each component functioning independently and connected simply. Faulty components can be individually disassembled and replaced, reducing maintenance difficulty and cycle time. Polyurethane pads are attached to the hook's lifting surface and side face to prevent scratches on the battery pack. Microswitches monitor the gripping status in real time, ensuring proper gripping. This invention is stably applicable to the handling, assembly, and testing of new energy battery packs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is an overall structural diagram of the gripper device of this utility model; Figure 2 This is a structural diagram of the rotating component of the gripper device of this utility model; Figure 3 This is a structural diagram of the pitch-changing component of the gripper device of this utility model; Figure 4 This is a bottom view of the entire gripper device of this utility model; Figure 5 This is a structural diagram of the camera assembly of the gripper device of this utility model; Figure 6This is a structural diagram of the claw assembly of the gripper device of this utility model; Figure 7 This utility model Figure 3 Enlarged schematic diagram of the structure at point A in the middle.

[0018] In the diagram: 1. Rotary assembly; 1-1. First servo motor; 1-2. Planetary reducer; 1-3. Slewing bearing; 1-4. Limit switch mounting plate; 1-5. Limit switch; 1-6. Detection plate; 2. Pitch variable assembly; 2-1. Lead screw module; 2-2. Floating fixing plate; 2-3. Floating block; 2-4. Shoulder screw; 2-5. Rectangular spring; 2-6. Bolt fixing plate; 2-7. Second servo motor; 2-8. Guide rail; 2-9. Slider; 3. Vision components; 3-1. Camera component mounting plate; 3-2. Light source bracket; 3-3. Camera mounting plate; 3-4. Camera; 3-5. Lens; 3-6. Light source assembly; 4. Hook assembly; 4-1. Hook; 4-2. First polyurethane pad; 4-3. Second polyurethane pad; 4-4. Micro switch mounting plate; 4-5. Micro switch; 4-6. Hook mounting plate. Detailed Implementation

[0019] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] like Figure 1-7 As shown, this application proposes a gripping device for handling new energy battery packs, including a frame and a rotating component 1, a variable pitch component 2, a vision component 3, and a claw component 4 mounted on the frame.

[0021] The vision component 3 has two sets, respectively distributed on both sides of the frame, for identifying the position of the battery pack. The rotation component 1 includes a first servo motor 1-1, a planetary reducer 1-2, and a slewing bearing 1-3. Based on the positioning coordinates output by the vision component 3, the output end of the first servo motor 1-1 is connected to the input end of the planetary reducer 1-2. The planetary reducer 1-2 is internally geared and connected to the slewing bearing 1-3. The first servo motor 1-1 drives the slewing bearing 1-3 to rotate via the planetary reducer 1-2 to adjust the overall angle of the frame.

[0022] The pitch-changing assembly 2 has two sets, which are symmetrically distributed along the centerline of the frame's length direction. Each set of pitch-changing assemblies 2 includes a lead screw module 2-1, a second servo motor 2-7, a guide rail 2-8, and a slider 2-9. The output end of the second servo motor 2-7 is connected to the drive end of the lead screw module 2-1. The claw assembly 4 includes a claw mounting plate 4-6, a claw 4-1, and a micro switch 4-5. The slide of the lead screw module 2-1 and the slider 2-9 of the guide rail 2-8 are both fixedly connected to the claw mounting plate 4-6. The claw 4-1 is mounted on the claw mounting plate 4-6. The micro switch 4-5 is positioned opposite to the lifting surface of the claw 4-1. The second servo motor 2-7 drives the lead screw module 2-1 to adjust the spacing of the claw assembly 4. The micro switch 4-5 is used to detect the battery pack gripping status in real time.

[0023] This technical solution uses two sets of vision components 3 to accurately identify the position of the battery pack and obtain its spatial coordinates. The rotating component 1 uses the first servo motor 1-1, planetary reducer 1-2 and slewing bearing 1-3 to achieve high-precision angle adjustment of the frame. With the help of limit switch 1-5 and detection plate 1-6, the rotation range is limited to avoid overtravel and ensure accurate and safe operation. The variable pitch component 2 synchronously adjusts the distance between the two side claws 4-1 to adapt to different battery pack specifications. The combined use of vision components 3 and micro switch 4-5 forms a closed-loop detection system, which effectively improves the reliability of the gripping operation.

[0024] like Figure 2As shown, this application also proposes that the rotating assembly 1 further includes a limit switch fixing plate 1-4, a limit switch 1-5, and a detection plate 1-6; the first servo motor 1-1 and the planetary reducer 1-2 are jointly fixed to the slewing bearing 1-3 by screws; the limit switch fixing plate 1-4 is fixed to the upper end face of the slewing bearing 1-3 by screws, and the limit switch 1-5 is mounted on the limit switch fixing plate 1-4; the detection plate 1-6 is fixed to the frame and rotates synchronously with the frame. The rotation trajectory of the detection plate 1-6 corresponds to the trigger end of the limit switch 1-5, and when the slewing bearing 1-3 rotates to the set maximum angle, the detection plate 1-6 can contact the trigger end of the limit switch 1-5. The limit switch fixing plate 1-4 can be made of aluminum alloy or steel plate. Its mounting holes match the threaded holes on the upper end face of the slewing bearing 1-3. The limit switch 1-5 is preferably a mechanical contact switch or a photoelectric proximity switch. The material of the detection piece 1-6 can be a thin stainless steel plate. Its installation position is determined by calculating the trigger position under the maximum rotation angle of the frame. The limit switch 1-5 is connected in series with the control circuit of the first servo motor 1-1. When the detection piece 1-6 contacts the switch and triggers, it can directly cut off the motor power supply circuit.

[0025] When the slewing bearing 1-3 drives the frame to rotate to the preset limit angle, the detection piece 1-6 fixed on the frame comes into contact with the limit switch 1-5, and the trigger signal immediately interrupts the power supply to the first servo motor 1-1. The installation position of the limit switch 1-5 can be finely adjusted, and the shape and size of the detection piece 1-6 can also be changed according to the actual working conditions.

[0026] like Figure 3 , Figure 4 As shown, this application also proposes that the second servo motor 2-7 and the lead screw module 2-1 are jointly fixed to the frame by bolts; the two guide rails 2-8 are arranged parallel to each other on both sides of the frame length direction, the slider 2-9 slides with the guide rails 2-8, and the slider 2-9 moves synchronously with the slide block of the lead screw module 2-1. The pitch-changing assembly 2 also includes a floating fixing plate 2-2, a floating block 2-3, a shoulder screw 2-4, a rectangular spring 2-5, and a bolt fixing plate 2-6; the floating block 2-3 is detachably assembled on the floating fixing plate 2-2; the shoulder screw 2-4 passes through the floating block 2-3 and the bolt fixing plate 2-6, the rectangular spring 2-5 is sleeved on the shank of the shoulder screw 2-4, and the two ends of the rectangular spring 2-5 abut against the inner end faces of the floating block 2-3 and the bolt fixing plate 2-6 respectively; the bolt fixing plate 2-6 is fixedly connected to the claw mounting plate 4-6.

[0027] The synchronous movement of the slide block and slider 2-9 of the lead screw module 2-1 is achieved through a rigid hook mounting plate 4-6. The hook mounting plate 4-6 is fixedly connected to both the bolt fixing plate 2-6 and the slider 2-9. The floating fixing plate 2-2 is fixedly connected to the slide block of the lead screw module 2-1 by bolts. The floating block 2-3 is detachably mounted on the floating fixing plate 2-2 by bolts. When the hook assembly 4 is subjected to lateral force caused by the positional deviation of the battery pack, the rectangular spring 2-5 allows the bolt fixing plate 2-6 to elastically displace along the axial direction of the shoulder screw 2-4, thereby absorbing the impact energy. After the external force is removed, the spring restoring force drives the bolt fixing plate 2-6 to return to its initial position, ensuring that the hook assembly 4 is always in its theoretical working position. This structure effectively solves the problem of battery pack surface damage caused by rigid connection during pitch change.

[0028] like Figure 5 As shown, this application also proposes that each set of visual components 3 includes a camera component mounting plate 3-1, a light source bracket 3-2, a camera mounting plate 3-3, a camera 3-4, a lens 3-5, and a light source component 3-6; the camera component mounting plate 3-1 is fixed to the side of the frame; the light source bracket 3-2 and the camera mounting plate 3-3 are both mounted on the same side of the camera component mounting plate 3-1; the camera 3-4 is fixed to the camera mounting plate 3-3 with screws; the lens 3-5 is mounted on the image acquisition end of the camera 3-4; and the light source component 3-6 is mounted on the light source bracket 3-2. The illumination direction of the light source component 3-6 is consistent with the acquisition direction of the lens 3-5, and the illumination area of ​​the light source component 3-6 covers the acquisition area of ​​the lens 3-5.

[0029] Specifically, the camera assembly mounting plate 3-1 can be made of aluminum alloy and rigidly connected to the side of the frame with bolts. The light source bracket 3-2 and the camera mounting plate 3-3 are fixed to the same side of the camera assembly mounting plate 3-1 by locating pins and screws, ensuring that the installation benchmarks of the two are consistent. The camera 3-4 is fixed to the camera mounting plate 3-3 with screws. The precise assembly of the camera 3-4 and the lens 3-5, combined with the auxiliary illumination of the light source assembly 3-6, can clearly collect the battery pack position information, providing accurate positioning basis for the operation of the rotating assembly 1 and the variable pitch assembly 2.

[0030] like Figure 6As shown, this application also proposes that the claw assembly 4 further includes a micro switch fixing plate 4-4, which is fixed to the side of the claw 4-1. A micro switch 4-5 is mounted on the micro switch fixing plate 4-4, with its detection end facing the lifting surface of the claw 4-1 and maintaining a distance from it. The micro switch fixing plate 4-4 is rigidly connected to the side of the claw 4-1 by bolts or welding. The micro switch fixing plate 4-4 has a slotted hole, and the distance between the detection end and the lifting surface can be adjusted by adjusting the mounting position of the micro switch fixing plate 4-4 using adjusting screws. When the battery pack is lifted by the claw 4-1, the battery pack presses against the detection end of the micro switch 4-5, triggering the switch to send a signal, providing real-time feedback on the gripping status, which facilitates the control system's timely determination of whether to perform subsequent handling actions.

[0031] This application also proposes that the hook mounting plate 4-6 is provided with an array of threaded holes, and the hook 4-1 is detachably mounted on the lower end of the hook mounting plate 4-6 through the threaded holes, so that the hook 4-1 can be adjusted in multiple positions in the length direction of the mounting plate. When it is necessary to adapt to different size battery packs, simply loosen the bolts and move the hook 4-1 to the target threaded hole position and tighten it again to complete the adjustment.

[0032] like Figure 6 As shown, this application also proposes that a first polyurethane pad 4-2 is adhered to the lifting surface of the claw 4-1, and a second polyurethane pad 4-3 is adhered to the side surface of the claw 4-1. The first polyurethane pad 4-2 is fixed to the lifting surface by high-strength double-sided tape or polyurethane-specific adhesive, and the second polyurethane pad 4-3 is fixed to the side surface in the same way. Preferably, the surface of the first polyurethane pad 4-2 can be processed into an anti-slip texture to enhance the friction with the bottom of the battery pack. The impact energy during the gripping process is absorbed by the elastic deformation of the polyurethane material, wherein the first polyurethane pad 4-2 mainly buffers the vertical lifting force, and the second polyurethane pad 4-3 eliminates frictional damage during lateral movement.

[0033] Working principle: After the device is started, the two sets of vision components 3 distributed on both sides of the frame enter the working state first. The light source component 3-6 in the vision component 3 is turned on according to preset parameters. Its illumination direction is consistent with the acquisition direction of the lens 3-5 of the camera 3-4, and the illumination area completely covers the acquisition area of ​​the lens 3-5, providing sufficient and uniform light for image acquisition and eliminating ambient light interference. The camera 3-4 acquires image information of the battery pack to be transported in real time through the lens 3-5. After the acquired image data is processed, the spatial coordinates of the battery pack are accurately identified, and the positioning coordinates are transmitted to the control system of the device, providing accurate basis for the subsequent actions of each component.

[0034] After receiving the battery pack positioning coordinates output by the vision component 3, the control system analyzes and determines the angle that the frame needs to be adjusted, and then sends an action command to the rotation component 1. The first servo motor 1-1 in the rotation component 1 starts. The power output of the first servo motor 1-1 is reduced and increased in torque by the planetary reducer 1-2, and then transmitted to the internal gear of the slewing bearing 1-3, driving the slewing bearing 1-3 to rotate the frame, thereby adjusting the overall angle of the frame so that the claw component 4 on the frame can be aligned with the gripping position of the battery pack. During the frame rotation, the detection plate 1-6 fixed on the frame rotates synchronously with the frame. When the slewing bearing 1-3 rotates to the set maximum angle, the detection plate 1-6 contacts the trigger end of the limit switch 1-5 installed on the limit switch fixing plate 1-4. The limit switch 1-5 immediately sends a signal to the control system, and the control system cuts off the power of the first servo motor 1-1 to prevent the frame from rotating excessively and to ensure the accuracy and safety of the angle adjustment.

[0035] After the frame angle is adjusted to the correct position, the control system sends a gap adjustment command for the claws 4-1 to the pitch control assembly 2 based on the battery pack size parameters identified by the vision component 3. The second servo motor 2-7 in the pitch control assembly 2 starts, driving the lead screw module 2-1 to rotate. The slide of the lead screw module 2-1 moves along the lead screw. Since the claw mounting plate 4-6 is fixedly connected to the slide of the lead screw module 2-1 and the slider 2-9 of the guide rail 2-8, and the slider 2-9 slides with the guide rail 2-8, the movement of the slide will cause the claw mounting plate 4-6 and the slider 2-9 to move synchronously and smoothly along the guide rail 2-8, thereby adjusting the gap between the two sets of claw assemblies 4, so that the claws 4-1 can adapt to the size of the battery pack to be grasped. Meanwhile, the floating structure in the pitch assembly 2 plays a role. If the hook 4-1 makes slight contact with the battery pack during the movement, the rectangular spring 2-5 will undergo elastic deformation. Through the cooperation of the shoulder screw 2-4 and the bolt fixing plate 2-6, it provides a buffer for the hook 4-1, avoiding collision damage to the battery pack shell caused by rigid contact. When the contact force disappears, the rectangular spring 2-5 returns to its original shape, driving the hook 4-1 to reset, ensuring accurate pitch adjustment.

[0036] After the spacing of the hooks 4-1 is adjusted to the appropriate size, the device drives the hook assembly 4 to move towards the battery pack, so that the lifting surface of the hooks 4-1 contacts the bottom of the battery pack. The first polyurethane pad 4-2 attached to the lifting surface of the hooks 4-1 increases the friction between the hooks and the battery pack, preventing the battery pack from sliding and avoiding the hooks 4-1 from scratching the battery pack shell due to excessive hardness. The second polyurethane pad 4-3 on the side of the hooks 4-1 protects the battery pack from the side, preventing damage from collisions between the battery pack and the side of the hooks 4-1 during handling. When the battery pack is lifted by the hooks 4-1, the battery pack will press the detection end of the micro switch 4-5 (the micro switch 4-5 is mounted on the side of the hooks 4-1 via the micro switch fixing plate 4-4, with the detection end facing the lifting surface and maintaining a reasonable distance). After the micro switch 4-5 is triggered, it sends a signal to the control system, indicating that the battery pack has been successfully grasped. If the micro switch 4-5 is not triggered, the control system determines that the grasp has not been successful and will not execute subsequent handling actions to avoid the risk of empty runs or the battery pack falling.

[0037] After the control system confirms successful battery pack grabbing, it drives the entire device to move along the preset transport path, transferring the battery pack to the target location. Upon reaching the target location, the device adjusts the action of the hook assembly 4 to release the battery pack. After the transport is completed, each component resets under the command of the control system. The rotating assembly 1 drives the frame back to its initial angle, the pitch-adjusting assembly 2 adjusts the distance between the hooks 4-1 to its initial state, the vision assembly 3 stops image acquisition, and the light source assembly 3-6 is turned off, awaiting the next transport command to enter the next work cycle. If it is necessary to transport battery packs of different specifications, the installation position and number of hooks 4-1 can be disassembled and adjusted through the array of threaded holes on the hook mounting plate 4-6 without replacing the entire hook mounting plate 4-6, thus improving the device's adaptability to different battery pack models.

[0038] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A gripping device for handling new energy battery packs, characterized in that: Includes a frame (5) and a rotating assembly (1), a pitch-changing assembly (2), a vision assembly (3) and a claw assembly (4) mounted on the frame (5); The vision component (3) is provided in two sets and is distributed on both sides of the frame (5) to identify the position of the battery pack; The rotating assembly (1) includes a first servo motor (1-1), a planetary reducer (1-2), and a slewing bearing (1-3). The first servo motor (1-1) drives the slewing bearing (1-3) to rotate via the planetary reducer (1-2) to adjust the overall angle of the frame (5). The pitch-changing assembly (2) is provided in two sets, and the two sets of pitch-changing assemblies (2) are symmetrically distributed along the centerline of the length direction of the frame (5). Each set of pitch-changing assemblies (2) includes a lead screw module (2-1), a second servo motor (2-7), a guide rail (2-8), and a slider (2-9). The second servo motor (2-7) is connected to the lead screw module (2-1) for transmission. The claw assembly (4) includes a claw mounting plate (4-6), a claw (4-1), and a micro switch (4-5). The slide of the lead screw module (2-1) and the slider (2-9) of the guide rail (2-8) are both fixedly connected to the claw mounting plate (4-6). The second servo motor (2-7) drives the lead screw module (2-1) to adjust the spacing of the claw assembly (4). The claw (4-1) is mounted on the claw mounting plate (4-6), and the micro switch (4-5) is mounted on the claw (4-1). The micro switch (4-5) is used to detect the gripping status of the battery pack in real time.

2. The grabbing device based on new energy battery pack carrying according to claim 1, characterized in that: The rotating assembly (1) also includes a limit switch fixing plate (1-4), a limit switch (1-5), and a detection plate (1-6); the first servo motor (1-1) and the planetary reducer (1-2) are both fixed on the slewing bearing (1-3); the limit switch fixing plate (1-4) is fixed on the upper end face of the slewing bearing (1-3), and the limit switch (1-5) is mounted on the limit switch fixing plate (1-4); the detection plate (1-6) is fixed on the frame (5).

3. The grabbing device based on new energy battery pack carrying according to claim 1, characterized in that: The second servo motor (2-7) and the lead screw module (2-1) are both fixed on the frame (5); the two guide rails (2-8) are arranged in parallel on both sides of the length direction of the frame (5), the slider (2-9) slides with the guide rail (2-8), and the slider (2-9) moves synchronously with the slide of the lead screw module (2-1).

4. The grabbing device based on new energy battery pack carrying according to claim 3, characterized in that: The pitch-changing assembly (2) further includes a floating fixing plate (2-2), a floating block (2-3), a shoulder screw (2-4), a rectangular spring (2-5), and a bolt fixing plate (2-6); the floating block (2-3) is detachably mounted on the floating fixing plate (2-2); the shoulder screw (2-4) passes through the floating block (2-3) and the bolt fixing plate (2-6); the rectangular spring (2-5) is sleeved on the shank of the shoulder screw (2-4), and the two ends of the rectangular spring (2-5) abut against the inner end faces of the floating block (2-3) and the bolt fixing plate (2-6), respectively; the bolt fixing plate (2-6) is fixedly connected to the hook mounting plate (4-6).

5. The grabbing device based on new energy battery pack carrying according to claim 1, characterized in that: Each set of vision components (3) includes a camera component mounting plate (3-1), a light source bracket (3-2), a camera mounting plate (3-3), a camera (3-4), a lens (3-5), and a light source component (3-6); the camera component mounting plate (3-1) is fixed to the side of the frame; the light source bracket (3-2) and the camera mounting plate (3-3) are both mounted on the same side of the camera component mounting plate (3-1); the camera (3-4) is fixed on the camera mounting plate (3-3), the lens (3-5) is mounted on the image acquisition end of the camera (3-4), and the light source component (3-6) is mounted on the light source bracket (3-2).

6. The grabbing device based on new energy battery pack carrying according to claim 1, characterized in that: The claw assembly (4) also includes a micro switch fixing plate (4-4), which is fixed to the side of the claw (4-1). The micro switch (4-5) is mounted on the micro switch fixing plate (4-4), and the detection end of the micro switch (4-5) faces the lifting surface of the claw (4-1) and maintains a distance from the lifting surface.

7. The grabbing device based on new energy battery pack carrying according to claim 1, characterized in that: The hook mounting plate (4-6) has an array of threaded holes, and the hook (4-1) is detachably mounted on the lower end of the hook mounting plate (4-6) through the threaded holes.

8. The grabbing device based on new energy battery pack carrying according to claim 2, characterized in that: The rotation trajectory of the detection piece (1-6) corresponds to the trigger end of the limit switch (1-5). When the slewing bearing (1-3) rotates to the set maximum angle, the detection piece (1-6) can contact the trigger end of the limit switch (1-5). 9.The grabbing device based on new energy battery pack carrying according to claim 5, characterized in that: The illumination direction of the light source component (3-6) is consistent with the acquisition direction of the lens (3-5), and the illumination area of ​​the light source component (3-6) covers the acquisition area of ​​the lens (3-5).

10. The grabbing device based on new energy battery pack carrying according to claim 6, characterized in that: The lifting surface of the hook (4-1) is attached with a first polyurethane pad (4-2), and the side surface of the hook (4-1) is attached with a second polyurethane pad (4-3).

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