A battery gripping mechanism

Abstract

This utility model relates to the field of battery gripping technology and discloses a battery gripping mechanism, including a frame connected to the end of a robotic arm. Two rows of suction cups are inserted through the middle of the frame. Two symmetrical cylinders are fixedly connected to the frame. A round rod is inserted through and slidably connected to both sides of the frame. The end of the round rod inside the frame is fixed to the end of the piston rod of the cylinder. A downwardly extending connecting rod is fixedly connected to one end of the round rod outside the frame. This utility model uses a combination of suction cup adsorption and V-shaped clamping to form a constraint on the blade battery from above and to both sides. The suction cups above prevent the battery from falling out upwards and shaking, while the V-shaped clamps on both sides counteract horizontal displacement and torsional torque, greatly improving the stability and reliability of gripping and effectively preventing the blade battery from slipping or shifting.

Description

Technical Field

[0001] This utility model relates to the field of battery gripping technology, and more specifically to a battery gripping mechanism. Background Technology

[0002] As the global mining industry moves towards green, safe, and efficient development, the electrification of underground mining equipment has become an irreversible trend. Pure electric mining trucks powered by large-capacity lithium-ion batteries are gradually replacing traditional diesel-powered equipment due to their significant advantages such as zero emissions, low noise, low heat radiation, and low operating costs, providing an efficient and reliable battery energy replenishment solution to ensure continuous underground operations.

[0003] In particular, the gripping and transfer of large square aluminum-cased batteries (such as "blade batteries") is a crucial process. These batteries are characterized by their large weight, smooth surface, high value, and extremely high safety requirements, which poses a severe challenge to the stability and reliability of the gripping mechanism.

[0004] A search revealed Chinese patent CN220516847U, which discloses a battery gripping suction cup connector. When this device needs to grip larger objects, the distance between the left and right connectors needs to be increased to the maximum. This increases the distance between the suction cup components, making it easier to stably grip and fix larger objects and preventing them from falling off. However, when the robotic arm is running at high speed, the friction generated by vacuum suction alone is difficult to completely overcome, which can easily cause slight relative sliding or displacement between the battery and the suction cup, affecting the subsequent placement accuracy. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a battery gripping mechanism to solve the problems existing in the background art.

[0006] This utility model provides the following technical solution: a battery gripping mechanism, including a frame, the frame being connected to the end of a robotic arm, two rows of suction cups passing through the middle of the frame, two symmetrical cylinders fixedly connected to the frame, a round rod passing through and slidably connected to both sides of the frame, the end of the round rod inside the frame being fixed to the end of the piston rod of the cylinder, a downwardly extending connecting rod fixedly connected to one end of the round rod outside the frame, a horizontal plate fixedly connected to the bottom end of the connecting rod, four sets of sliding rods passing through and slidably connected in pairs on the horizontal plate, and a V-shaped clamp fixedly connected to one end of each set of sliding rods.

[0007] As a further embodiment of this utility model, a collar is fixedly connected to the outer circumference of the connection between the slide rod and the V-shaped clamp, and a spring is sleeved on the outer side of each slide rod, with the two ends of the spring fixed to one side of the collar and one side of the cross plate, respectively.

[0008] As a further embodiment of this utility model, a sleeve is fixedly connected to one side of the horizontal plate and outside the slide rod, and there is an annular space between the sleeve and the slide rod, and the sleeve wraps around the spring.

[0009] As a further embodiment of this invention, the outer diameter of the sleeve is equal to the diameter of the collar.

[0010] As a further embodiment of this utility model, the upper surface of the horizontal plate is fixedly connected to two connecting rods near both ends, and one side of each connecting rod is fixedly connected to a round rod, one end of which passes through the frame and is slidably connected to the frame.

[0011] As a further embodiment of this utility model, both connecting rod one and connecting rod two are provided with multiple through holes for adjusting the positions of round rod one and round rod two, respectively, for fine-tuning the height of the horizontal plate and the V-shaped clamp.

[0012] As a further embodiment of this utility model, a rubber pad is adhered to the V-shaped inner wall of the V-shaped clamp.

[0013] As a further embodiment of this utility model, a triangular reinforcing rib is provided at the connection between the cross plate and connecting rod one and connecting rod two.

[0014] The technical effects and advantages of this utility model are as follows: 1. This utility model uses a combination of suction cup adsorption and V-shaped clamping plate mechanical clamping to form a constraint on the blade battery from above and on both sides. The suction cup at the top prevents the battery from falling out upwards and shaking, while the V-shaped clamping plate on both sides cancels out the horizontal displacement and torsional torque, which greatly improves the stability and reliability of gripping and effectively prevents the blade battery from slipping or shifting.

[0015] 2. This utility model uses a spring to pre-clamp the blade battery before fully clamping it, avoiding rigid impacts, effectively absorbing errors, and ensuring that the clamping force is stable within a safe range, thereby protecting the surface and internal structure of the blade battery from pressure damage.

[0016] 3. This utility model adopts a V-shaped clamping plate structure to automatically guide and center the blade battery, which can adapt to a certain positioning error. At the same time, the multiple through holes opened on the first and second connecting rods allow the height of the horizontal plate and the entire clamping unit to be quickly and finely adjusted according to the thickness of different battery models, thus giving the device good adaptability. Attached Figure Description

[0017] Figure 1 This is a perspective view of the present invention.

[0018] Figure 2 This utility model Figure 1 The bottom structure diagram.

[0019] Figure 3 This is an enlarged view of the horizontal plate of this utility model.

[0020] Figure 4 This utility model Figure 3 A magnified structural diagram of part A.

[0021] The attached diagram is labeled as follows: 1. Frame; 2. Suction cup; 3. Cylinder; 4. Round rod one; 5. Connecting rod one; 6. Horizontal plate; 7. Slide rod; 8. V-shaped clamp; 9. Connecting rod two; 10. Round rod two; 11. Collar; 12. Sleeve; 13. Spring. Detailed Implementation

[0022] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. This utility model is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0023] Reference Figures 1-4 This utility model provides a battery gripping mechanism, including a frame 1, which is connected to the end of a robotic arm. Two rows of suction cups 2 are inserted through the middle of the frame 1. Two symmetrical cylinders 3 are fixedly connected to the frame 1 by bolts. Round rods 4 are inserted through and slidably connected to both sides of the frame 1. The end of the round rods 4 located inside the frame 1 is fixed to the end of the piston rod of the cylinder 3. The end of the round rods 4 located outside the frame 1 is fixedly connected to a downwardly extending connecting rod 5 by bolts. The bottom end of the connecting rod 5 is fixedly connected to a horizontal plate 6 by bolts. Four sets of sliding rods 7 are inserted through and slidably connected in pairs on the horizontal plate 6. One end of the multiple sets of sliding rods 7 is fixedly connected to a V-shaped clamping plate 8 by bolts. A rubber pad is adhered to the V-shaped inner wall of the V-shaped clamping plate 8.

[0024] It should be noted that: Cylinder 3 is a power actuator that converts the pressure energy of compressed air into mechanical energy. By controlling the gas in and out, it drives the piston to perform linear reciprocating motion. It can be used in conjunction with a magnetic switch, proximity switch or photoelectric switch to achieve precise control of the extension and retraction displacement of the piston rod of cylinder 3. Those skilled in the art can set it according to actual needs, which will not be elaborated here.

[0025] The entire mechanism is fixed to the industrial robotic arm via the connecting flange of the frame 1. The robotic arm moves the mechanism to directly above the battery to be grasped. At this time, the piston rod of the cylinder 3 is in the extended state, and pushes the horizontal plate 6 and the entire clamping unit below to the "open" position through the round rod 4 and the connecting rod 5. The space between the V-shaped clamping plates 8 is larger than the diameter of the battery, preparing for the lowering and grasping.

[0026] When gripping the blade battery, the robotic arm drive mechanism descends, and the two rows of suction cups 2 located in the center of the frame 1 first contact the upper surface of the blade battery, and begin to adsorb under the action of the vacuum generator, thus performing preliminary pre-fixation of the battery.

[0027] When cylinder 3 is activated, the piston rod retracts. The piston rod pulls the horizontal plate 6 through the round rod 4 and the connecting rod 5, which drives the slide rod 7 passing through it to move synchronously, thereby driving the V-shaped clamp 8 fixed at the end of the slide rod 7 to retract radially towards the center.

[0028] By combining suction cup 2 for adsorption with V-shaped clamping plate 8 for mechanical clamping, the blade battery is constrained from above and to both sides. The suction cup 2 at the top prevents the battery from falling out or shaking, while the V-shaped clamping plate 8 on both sides counteracts horizontal displacement and torsional torque, greatly improving the stability and reliability of gripping and effectively preventing the blade battery from slipping or shifting.

[0029] In this utility model, a collar 11 is fixedly connected to the outer circumference of the connection between the slide rod 7 and the V-shaped clamping plate 8 by bolts. A spring 13 is sleeved on the outside of each slide rod 7. During the clamping process, the spring 13 is compressed, and its elastic force is converted into clamping force. The two ends of the spring 13 are fixed to one side of the collar 11 and one side of the cross plate 6, respectively.

[0030] The spring 13 pre-clamps the blade battery before it is fully clamped, avoiding rigid impacts, effectively absorbing errors, and ensuring that the clamping force is stable within a safe range, thereby protecting the surface and internal structure of the blade battery from pressure damage.

[0031] Furthermore, a sleeve 12 is bolted to one side of the horizontal plate 6 and located outside the slide rod 7. There is an annular space between the sleeve 12 and the slide rod 7, and the sleeve 12 wraps around the spring 13.

[0032] Furthermore, the outer diameter of the sleeve 12 is equal to the diameter of the collar 11.

[0033] During the retraction of the V-shaped clamp 8, the spring 13 is compressed until the sleeve 12 contacts the collar 11. At this time, the V-shaped clamp 8 clamps the blade battery from both sides.

[0034] In this utility model, the upper surface of the horizontal plate 6 is fixedly connected to the connecting rod 2 9 near both ends by bolts. The two connecting rods 2 9 are fixedly connected to one side by bolts to the round rod 2 10. One end of the round rod 2 10 passes through the frame 1 and is slidably connected to the frame 1. The connection between the horizontal plate 6 and the connecting rod 1 5 and the connecting rod 2 9 is provided with a triangular reinforcing rib plate.

[0035] In this utility model, both connecting rod 5 and connecting rod 9 are provided with multiple through holes for adjusting the positions of round rod 4 and round rod 10, respectively, for fine-tuning the height of the horizontal plate 6 and the V-shaped clamp 8.

[0036] The V-shaped clamping plate 8 structure provides automatic guidance and centering for the blade battery, and can adapt to certain positioning errors. At the same time, the multiple through holes on the connecting rod 1 5 and connecting rod 2 9 allow the height of the horizontal plate 6 and the entire clamping unit to be quickly and finely adjusted according to the thickness of different battery models, thus giving the device good adaptability.

[0037] When the blade battery is reliably secured, its upper end is attracted by the suction cup 2, and its sides are held by the V-shaped clamps 8. Then, the robotic arm can lift the entire mechanism and transport the battery to the target location.

[0038] The use of this utility model involves the following steps: S1: The entire mechanism is fixed to the industrial robotic arm via the connecting flange of the frame 1. The robotic arm moves the mechanism to directly above the battery to be grasped. At this time, the piston rod of the cylinder 3 is in the extended state. The horizontal plate 6 and the entire clamping unit below are pushed into the "open" position through the round rod 4 and the connecting rod 5. The space between the V-shaped clamping plates 8 is larger than the diameter of the battery, which is ready for the lowering and grasping. S2: When gripping the blade battery, the robotic arm drive mechanism descends. The two rows of suction cups 2 located at the center of the frame 1 first contact the upper surface of the blade battery and begin to adsorb under the action of the vacuum generator, pre-fixing the battery. As the mechanism continues to descend, the V-shaped clamps 8 in the open state fall from both sides of the battery. When the suction cups 2 stably adsorb and the battery is centered, the cylinder 3 moves and the piston rod retracts. The piston rod pulls the horizontal plate 6 through the round rod 4 and the connecting rod 5, which drives the sliding rod 7 passing through it to move synchronously, thereby driving the V-shaped clamps 8 fixed at the end of the sliding rod 7 to retract radially towards the center. During the retraction process, the spring 13 is compressed until the sleeve 12 contacts the collar 11. At this time, the V-shaped clamps 8 clamp the blade battery from both sides. S3: At this point, the battery is reliably fixed, with the upper end being attracted by the suction cup 2 and the sides being held by the V-shaped clamps 8. The robotic arm can then lift the entire mechanism and transport the battery to the target location.

[0039] Finally, the following points should be noted: In the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change. The electronic components and modules used in this utility model can all be parts that are commonly used in the market and can achieve the specific functions in this case. The specific models and sizes can be selected and adjusted according to actual needs. The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

Claims

1. A battery gripping mechanism, comprising a frame (1) connected to the end of a robotic arm, characterized in that: Two rows of suction cups (2) are inserted through the middle of the frame (1). Two symmetrical cylinders (3) are fixedly connected to the frame (1). Round rods (4) are inserted through and slidably connected to both sides of the frame (1). The end of the round rod (4) inside the frame (1) is fixed to the end of the piston rod of the cylinder (3). One end of the round rod (4) outside the frame (1) is fixedly connected to a downward extending connecting rod (5). A horizontal plate (6) is fixedly connected to the bottom of the connecting rod (5). Four sets of sliding rods (7) are inserted through and slidably connected in pairs on the horizontal plate (6). One end of the multiple sets of sliding rods (7) is fixedly connected to a V-shaped clamp (8).

2. A battery gripping mechanism according to claim 1, wherein: A collar (11) is fixedly connected to the outer circumference of the connection between the slide rod (7) and the V-shaped clamp (8). A spring (13) is sleeved on the outside of each slide rod (7). The two ends of the spring (13) are fixed to one side of the collar (11) and one side of the cross plate (6), respectively.

3. The battery gripping mechanism according to claim 2, characterized in that: A sleeve (12) is fixedly connected to one side of the horizontal plate (6) and outside the slide rod (7). There is an annular space between the sleeve (12) and the slide rod (7). The sleeve (12) wraps the spring (13).

4. A battery gripping mechanism according to claim 3, wherein: The outer diameter of the sleeve (12) is equal to the diameter of the collar (11).

5. The battery gripping mechanism of claim 1, wherein: The upper surface of the horizontal plate (6) is fixedly connected to two connecting rods (9) near both ends. One side of each connecting rod (9) is fixedly connected to a round rod (10). One end of the round rod (10) passes through the frame (1) and is slidably connected to the frame (1).

6. The battery gripping mechanism of claim 1, wherein: Both connecting rod one (5) and connecting rod two (9) are provided with multiple through holes for adjusting the position of round rod one (4) and round rod two (10) respectively, and for fine-tuning the height of the horizontal plate (6) and V-shaped clamp (8).

7. The battery gripping mechanism according to claim 1, characterized in that: A rubber pad is adhered to the V-shaped inner wall of the V-shaped clamp (8).

8. The battery gripping mechanism of claim 5, wherein: The connection between the horizontal plate (6) and connecting rod one (5) and connecting rod two (9) is provided with a triangular reinforcing rib.

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