Automatically changeable battery module boxing gripper

Abstract

The utility model discloses a battery module case -in gripper of automatic changeable, contain: installation frame, five compression module, five compression module set up on installation frame, five compression module are respectively Z -direction compression module, a pair of X -direction compression module and a pair of Y -direction compression module, a pair of X -direction compression module along X -direction pair of clamps and hold battery module, a pair of Y -direction compression module along Y -direction pair of clamps and hold battery module, Z -direction compression module drive battery module moves along Z -direction, change type module, change type module sets up on installation frame, and connects two sucking disc, and the output end of Z -direction compression module is clamped to sucking disc, and change type module switches two sucking disc respectively with the output end of Z -direction compression module and clamps, and sucking disc adsorbs fixed battery module. The utility model can realize the automatic switching of different sucking disc, and the subsequent compatibility is convenient, and production cost is effectively reduced, and the location precision is high to use camera and range sensor and carry out the addressing and distance measurement before case -in.

Description

Technical Field

[0001] This utility model relates to the field of battery module handling technology, and in particular to a battery module gripper that can automatically change types. Background Technology

[0002] In the existing technology, with the rapid development of the new energy industry, the types of products have become more diversified. The key equipment of the production line needs to be switched to adapt to the diversification of products in order to reduce operating costs. For the handling and transfer of battery modules into boxes, an automatic changeable battery module box gripper is needed to achieve automated compatibility with multiple battery modules. Summary of the Invention

[0003] According to an embodiment of the present invention, an automatically changeable battery module loading gripper is provided, comprising: Mounting framework; Five clamping modules are mounted on the mounting frame. The five clamping modules are a Z-axis clamping module, a pair of X-axis clamping modules, and a pair of Y-axis clamping modules. The pair of X-axis clamping modules clamp the battery module along the X-axis, the pair of Y-axis clamping modules clamp the battery module along the Y-axis, and the Z-axis clamping module drives the battery module to move along the Z-axis. The changing module is set on the mounting frame and connected to two suction cups. The suction cups are snapped into the output end of the Z-axis clamping module. The changing module switches the two suction cups to snap into the output end of the Z-axis clamping module respectively, and the suction cups adsorb and fix the battery module.

[0004] Furthermore, the clamping module includes: a drive unit, a pressure plate, and a guide rail; The drive unit and guide rail are mounted on the mounting frame; The pressure plate is connected to the output end of the drive component and is slidably connected to the guide rail; The drive unit drives the pressure plate to move along the guide rail to get closer to or away from the battery module.

[0005] Furthermore, the changeover module includes: a base plate, a slide rail, and a changeover cylinder; The slide rail and the changing cylinder are fixed to the mounting frame; The base plate is slidably connected to the slide rail; The two suction cups are slidably connected to the base plate, and the two suction cups can slide relative to the base plate along the Z direction; The output end of the changing cylinder is connected to the base plate, driving the base plate to slide along the slide rail, so that the two suction cups can dock with the Z-axis clamping module respectively.

[0006] Furthermore, the suction cup is slidably connected to the base plate via a linear bearing and a guide rod. The linear bearing is mounted on the base plate, and the guide rod cooperates with the linear bearing and is connected to the suction cup.

[0007] Furthermore, at least two self-locking cylinders are installed on the base plate, and the output ends of the at least two self-locking cylinders are respectively connected to two suction cups. The self-locking cylinders drive the suction cups that are in a non-working state to reset.

[0008] Furthermore, a U-shaped groove is fixed to the top of the suction cup, and an I-shaped clamping connector is fixed to the output end of the Z-axis clamping module. The changing cylinder drives the base plate to slide, causing the U-shaped groove on the suction cup to engage with the I-shaped clamping connector.

[0009] Furthermore, it also includes: a pair of anti-drop mechanisms, which are respectively set on a pair of X-axis clamping modules, and the anti-drop mechanisms support the bottom of the battery module after it is adsorbed and fixed.

[0010] Furthermore, the anti-fall mechanism includes: an L-shaped bracket and a pair of cylinders; A pair of cylinders are respectively located on both sides of the X-axis clamping module and are hinged to the X-axis clamping module. The output ends of the pair of cylinders are respectively hinged to both sides of the L-shaped bracket. The L-shaped bracket has a first end and a second end, and the first ends on both sides of the L-shaped bracket are hinged to the X-direction clamping module. A pair of cylinders extend to drive the second end of the L-shaped bracket to rotate around the first end to support the bottom of the battery module.

[0011] Furthermore, it also includes: a detection module, which is mounted on the mounting frame and is used to detect the position of the battery module and the housing, as well as the distance between the battery module and the housing.

[0012] Furthermore, the detection module includes: a ranging sensor and three visual camera modules; Three vision camera modules are respectively set on both sides of the mounting frame. One vision camera module takes pictures to locate the battery module, and the other two vision camera modules take pictures to locate the housing. The distance sensor is mounted on the mounting frame and detects the distance between the battery module and the bottom of the housing.

[0013] The battery module loading gripper with automatic interchangeability according to the present invention can automatically switch between different suction cups, which facilitates subsequent compatibility and effectively reduces production costs; it uses a camera and a distance sensor for addressing and distance measurement before loading, resulting in high positional accuracy.

[0014] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the battery module loading gripper that can automatically change shape according to an embodiment of the present utility model; Figure 2 This is a schematic diagram of the bottom structure of the battery module loading gripper that can automatically change shape according to an embodiment of the present utility model; Figure 3 This is a schematic diagram of the bottom structure of the mounting frame of the battery module loading gripper that can automatically change shape according to an embodiment of the present utility model. Figure 4 This is a schematic diagram of the structure of the battery module loading gripper that can automatically change shapes according to an embodiment of the present utility model. Figure 5 This is a front view schematic diagram of the changing module of the battery module loading gripper that can automatically change shape according to an embodiment of the present utility model; Figure 6 This is a schematic diagram of the anti-drop mechanism of the battery module loading gripper that can automatically change shape according to an embodiment of the present utility model; Figure 7 This is a schematic diagram of the detection module of the battery module loading gripper that can automatically change types according to an embodiment of the present invention.

[0016] Reference numerals: Mounting frame 1, X-axis clamping module 21, Y-axis clamping module 22, Z-axis clamping module 23, changing module, battery module 6, suction cup 7; driving component 24, pressure plate 25, guide rail 26, pressure sensor 27; base plate 51, slide rail 52, changing cylinder 53, linear bearing 54, guide rod 55, self-locking cylinder 56, U-shaped slot 57, I-shaped connector 58; anti-fall mechanism 3, L-shaped bracket 31, cylinder 32; detection module 4, vision camera 41, light source 42, distance sensor 43. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, further illustrating the present invention.

[0018] First, combine Figures 1-7 This invention describes an automatically changeable battery module loading gripper according to an embodiment of the present invention, used for gripping and loading battery modules into a box, and has a wide range of applications.

[0019] like Figures 1-7 As shown in the figure, the battery module loading gripper with automatic shape change capability according to this utility model embodiment includes: mounting frame 1, five clamping modules and shape change module.

[0020] Specifically, such as Figures 1-7As shown, in this embodiment, five clamping modules are mounted on the mounting frame 1. These five clamping modules are a Z-axis clamping module 23, a pair of X-axis clamping modules 21, and a pair of Y-axis clamping modules 22. The pair of X-axis clamping modules 21 clamp the battery module 6 along the X-axis, and the pair of Y-axis clamping modules 22 clamp the battery module 6 along the Y-axis. The Z-axis clamping module 23 drives the battery module to move along the Z-axis. In this embodiment, the X, Y, and Z axes are perpendicular to each other. A shape-changing module is mounted on the mounting frame 1 and connected to two suction cups 7. The suction cups 7 are connected to the Z-axis clamping module... The output end of block 23 engages with the two suction cups 7, which are then switched by the shape-changing module to engage with the output end of the Z-axis pressing module 23 to achieve rapid shape change. The suction cups 7 adsorb and fix the battery module 6. In this embodiment, the suction cups 7 are sponge suction cups. The two suction cups 7 are of different sizes. Since the battery modules 6 are of different sizes, different sizes of suction cups 7 are switched to adapt to different sizes of battery modules 6, improving compatibility. Only the suction cups 7 need to be switched to fix different sizes of battery modules 6, without the need to replace the entire gripper, which greatly reduces production costs.

[0021] Specifically, such as Figures 1-7 As shown, in this embodiment, the clamping module includes: a driving component 24, a pressure plate 25, and a guide rail 26; the driving component 24 and the guide rail 26 are mounted on the mounting frame 1; the pressure plate 25 is connected to the output end of the driving component 24 and is slidably connected to the guide rail 26; the driving component 24 drives the pressure plate 25 to move along the guide rail 26 to approach or move away from the battery module 6. In this embodiment, the driving component 24 adopts a servo press and is equipped with a pressure sensor 27 to prevent overpressure during operation and improve the safety factor.

[0022] Specifically, such as Figures 1-7 As shown, in this embodiment, the shape-changing module includes: a base plate 51, a slide rail 52, and a shape-changing cylinder 53; the slide rail 52 and the shape-changing cylinder 53 are fixed on the mounting frame 1; the base plate 51 is slidably connected to the slide rail 52; two suction cups 7 are slidably connected to the base plate 51, and the two suction cups 7 can slide relative to the base plate 51 in the Z direction; the output end of the shape-changing cylinder 53 is connected to the base plate 51, driving the base plate 51 to slide along the slide rail 52, so as to drive the two suction cups 7 to dock with the Z-direction pressing module 23 respectively. The shape-changing cylinder 53 moves the corresponding suction cup 7 to the center position according to the size of the battery module 6 to be gripped, and docks with the Z-direction pressing module 23. In this embodiment, the slide rail 52 is set in the X direction.

[0023] Furthermore, such as Figures 1-7 As shown, in this embodiment, the suction cup 7 is slidably connected to the base plate 51 via a linear bearing 54 and a guide rod 55. The linear bearing 54 is mounted on the base plate 51, and the guide rod 55 cooperates with the linear bearing 54 and is connected to the suction cup 7. The guide rod 55 is arranged along the Z-direction, and the suction cup 7 is guided to move smoothly along the Z-direction via the linear bearing 54 and the guide rod 55.

[0024] Furthermore, such as Figures 1-7 As shown, in this embodiment, at least two self-locking cylinders 56 are installed on the base plate 51. The output ends of the at least two self-locking cylinders 56 are respectively connected to two suction cups 7. The self-locking cylinders 56 drive the suction cups 7 in the non-working state to reset. Since only one suction cup 7 performs adsorption and fixation work in the working state, the other suction cup 7 needs to be lifted upward along the Z direction by the self-locking cylinder 56 to the top and close to the base plate 51 in order not to interfere with the movement of other parts.

[0025] Furthermore, such as Figures 1-7 As shown, in this embodiment, a U-shaped slot 57 is fixed on the top of the suction cup 7. The U-shaped slot 57 is open along the X direction. An I-shaped connector 58 is fixed at the output end of the Z-direction pressing module 23. During operation, the changing cylinder 53 drives the base plate 51 to slide along the X direction, causing the slot of the U-shaped slot 57 on the suction cup 7 to be sleeved on the I-shaped connector 58, thereby realizing the connection between the suction cup 7 and the Z-direction pressing module 23.

[0026] Furthermore, such as Figures 1-7 As shown, in this embodiment, it further includes: a pair of anti-drop mechanisms 3, which are respectively disposed on a pair of X-direction pressing modules 21, and the anti-drop mechanisms 3 support the bottom of the battery module 6 after adsorption and fixation. The anti-drop mechanism 3 includes: an L-shaped bracket 31 and a pair of cylinders 32; the pair of cylinders 32 are respectively disposed on both sides of the X-direction pressing module 21 and hinged to the X-direction pressing module 21, and the output ends of the pair of cylinders 32 are respectively hinged to both sides of the L-shaped bracket 31; the L-shaped bracket 31 has a first end and a second end, and the first ends of both sides of the L-shaped bracket 31 are hinged to the X-direction pressing module 21; the pair of cylinders 32 extend and drive the second end of the L-shaped bracket 31 to rotate around the first end to support the bottom of the battery module 6. Before the suction cup 7 adsorbs the battery module 6, the cylinder 32 is in a retracted state, and the L-shaped bracket 31 is in an open state. After the suction cup 7 adsorbs the battery module 6, in order to prevent the battery module 6 from falling during movement, a pair of cylinders 32 extend and drive the second end of the L-shaped bracket 31 to rotate to the bottom of the battery module 6 for support, thereby improving safety.

[0027] Specifically, such as Figures 1-7As shown, in this embodiment, it also includes: a detection module 4, which is mounted on the mounting frame 1. The detection module 4 is used to detect the position of the battery module 6 and the box, as well as the distance between the battery module 6 and the box. The detection module 4 is used to perform addressing and distance measurement of the battery module 6 before it is placed into the box, thereby improving the accuracy of the placement. In this embodiment, the detection module 4 includes a ranging sensor 43 and three vision camera modules 41. The laser ranging sensor 43 is used. Each vision camera module 41 includes a vision camera 41 and a light source 42. The light source 42 supplements the image positioning of the vision camera 41, improving the accuracy of identification and positioning. The three vision camera modules 41 are respectively arranged on both sides of the mounting frame 1. One vision camera module 41 takes an image to position the battery module 6 for use when grasping the battery module 6. The other two vision camera modules 41 take images to position the housing. Since the housing has two positioning points, two vision camera modules 41 are needed for image positioning to facilitate moving the battery module 6 to the accurate position. The number of vision camera modules 41 can be set according to actual usage. The ranging sensor 43 is set on the mounting frame 1 and detects the distance between the battery module 6 and the bottom of the housing, ensuring accurate placement of the battery module 6 into the housing.

[0028] When gripping the battery module 6, external transfer mechanisms, such as robotic arms or gantry robots, move the gripper to a set position. One of the vision camera modules 41 takes a picture of the battery module 6 for positioning. The type-changing cylinder 53 switches the corresponding suction cup 7 to the center position according to the type of the battery module 6. The gripper moves to the gripping position of the battery module 6. A pair of Y-axis clamping modules 22 clamp the battery module 6 to perform Y-axis dimensional alignment, and a pair of X-axis clamping modules 21 clamp the battery module 6 to perform X-axis dimensional alignment. The self-locking cylinder 56 on the corresponding suction cup 7 is released, and the Z-axis clamping module 23 drives the corresponding suction cup 7 to move down to adsorb and fix the top of the battery module 6. A pair of anti-drop mechanisms 3 flip to support the bottom of the battery module 6 to prevent it from falling.

[0029] Then, the battery module 6 is inserted into the box. The gripper moves the battery module 6 to the top of the box. The other two vision camera modules 41 take pictures of the positioning point of the box to achieve positioning in the X and Y directions. The distance sensor 43 is used to measure the height in the Z direction and calculate the insertion depth. The gripper moves to the top of the box and resets a pair of anti-drop mechanisms 3. The Z-direction pressing module 23 works to drive the suction cup 7 to press the module down into the box. During the insertion process, the pressure sensor 27 monitors the pressure in real time. After completion, all mechanisms are reset.

[0030] Above, refer to Figures 1-7The present invention describes an automatically interchangeable battery module loading gripper according to an embodiment of the present invention, which can realize automatic switching of different suction cups, facilitate subsequent compatibility, and effectively reduce production costs; it uses a camera and a distance sensor for addressing and distance measurement before loading into the box, with high positional accuracy.

[0031] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes that element.

[0032] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above content. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A battery module loading gripper with automatic interchangeability, characterized in that, Include: Mounting framework; Five clamping modules are mounted on the mounting frame. The five clamping modules are a Z-axis clamping module, a pair of X-axis clamping modules, and a pair of Y-axis clamping modules. The pair of X-axis clamping modules clamp the battery module along the X-axis, the pair of Y-axis clamping modules clamp the battery module along the Y-axis, and the Z-axis clamping module drives the battery module to move along the Z-axis. A changeover module is mounted on the mounting frame and connected to two suction cups. The suction cups are engaged with the output end of the Z-axis clamping module. The changeover module switches the two suction cups to engage with the output end of the Z-axis clamping module respectively, and the suction cups adsorb and fix the battery module.

2. The automatically changeable battery module loading gripper as described in claim 1, characterized in that, The clamping module includes: a driving component, a pressure plate, and a guide rail; The drive component and the guide rail are mounted on the mounting frame; The pressure plate is connected to the output end of the drive component and is slidably connected to the guide rail; The driving component drives the pressure plate to move along the guide rail to move closer to or further away from the battery module.

3. The automatically interchangeable battery module loading gripper as described in claim 1, characterized in that, The type-changing module includes: a base plate, a slide rail, and a type-changing cylinder; The slide rail and the changing cylinder are fixed on the mounting frame; The base plate is slidably connected to the slide rail; The two suction cups are slidably connected to the base plate, and the two suction cups can slide relative to the base plate in the Z direction; The output end of the changing cylinder is connected to the base plate, driving the base plate to slide along the slide rail, so that the two suction cups respectively dock with the Z-axis pressing module.

4. The automatically interchangeable battery module loading gripper as described in claim 3, characterized in that, The suction cup is slidably connected to the base plate via a linear bearing and a guide rod. The linear bearing is mounted on the base plate, and the guide rod cooperates with the linear bearing and is connected to the suction cup.

5. The automatically interchangeable battery module loading gripper as described in claim 3 or 4, characterized in that, At least two self-locking cylinders are installed on the base plate. The output ends of the at least two self-locking cylinders are respectively connected to the two suction cups. The self-locking cylinders drive the suction cups that are in a non-working state to reset.

6. The automatically interchangeable battery module loading gripper as described in claim 3, characterized in that, The top of the suction cup is fixed with a U-shaped slot, and the output end of the Z-axis clamping module is fixed with an I-shaped connector. The changing cylinder drives the base plate to slide, causing the U-shaped slot on the suction cup to engage with the I-shaped connector.

7. The automatically interchangeable battery module loading gripper as described in claim 1, characterized in that, It also includes: a pair of anti-drop mechanisms, which are respectively disposed on the pair of X-axis clamping modules, and the anti-drop mechanisms support the bottom of the battery module after it is adsorbed and fixed.

8. The automatically interchangeable battery module loading gripper as described in claim 7, characterized in that, The anti-fall mechanism includes: an L-shaped bracket and a pair of cylinders; The pair of cylinders are respectively disposed on both sides of the X-axis clamping module and hinged to the X-axis clamping module. The output ends of the pair of cylinders are respectively hinged to both sides of the L-shaped bracket. The L-shaped bracket has a first end and a second end, and the first ends on both sides of the L-shaped bracket are hinged to the X-direction clamping module; The pair of cylinders extend and drive the second end of the L-shaped bracket to rotate around the first end to support the bottom of the battery module.

9. The automatically interchangeable battery module loading gripper as described in claim 1, characterized in that, It also includes: a detection module, which is mounted on the mounting frame and is used to detect the position of the battery module and the housing, as well as the distance between the battery module and the housing.

10. The automatically interchangeable battery module loading gripper as described in claim 9, characterized in that, The detection module includes: a ranging sensor and three vision camera modules; The three vision camera modules are respectively arranged on both sides of the mounting frame. One of the vision camera modules takes pictures to locate the battery module, and the other two vision camera modules take pictures to locate the housing. The distance sensor is mounted on the mounting frame and detects the distance between the battery module and the bottom of the housing.

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