A gripping device for a battery module

Abstract

The utility model discloses a kind of grabbing device for battery module, comprising: base frame, clamping mechanism and first anti-falling mechanism, the base frame is used to be connected with the end of mechanical arm, the clamping mechanism and first anti-falling mechanism are all installed on base frame, the clamping mechanism is used to clamp battery module, the first anti-falling mechanism is used to clamp battery module, can cooperate with mechanical arm to automatically realize grabbing battery module, no longer need artificial excessive intervention, greatly promote handling efficiency.

Description

Technical Field

[0001] This utility model relates to the field of battery material handling equipment technology, specifically to a gripping device for battery modules. Background Technology

[0002] The current production method involves manually using hooks and manual guide rail locks to grab battery modules, which are then moved away using overhead rails. However, this method still has problems: battery modules typically weigh around 700 kg, and their position may deviate when manually handling and stacking them; furthermore, the handling process requires coordination with the overhead rails, and personnel must constantly observe around the battery modules for obstacles before slowly placing them down. To ensure personnel safety, a large workspace is required, and this method of handling is inefficient and unsafe.

[0003] Therefore, it is necessary to provide a gripping device for battery modules to overcome the above-mentioned defects. Utility Model Content

[0004] The purpose of this invention is to provide a gripping device for battery modules, which can work with a robotic arm to automatically grip battery modules without requiring much human intervention, thus greatly improving handling efficiency.

[0005] To achieve the above objectives, this utility model provides a gripping device for battery modules, comprising: a base frame, a clamping mechanism, and a first anti-fall mechanism. The base frame is used to connect to the end of a robotic arm. The clamping mechanism and the first anti-fall mechanism are both mounted on the base frame. The clamping mechanism is used to clamp the battery module, and the first anti-fall mechanism is used to clamp the battery module.

[0006] Preferably, it further includes an end-effector floating mechanism, which is mounted on the base frame and is used to connect to the robotic arm.

[0007] Preferably, the end-floating mechanism further includes a mounting base plate, a floating plate, a floating top plate, a first linear guide rail, a second linear guide rail, a first positioning cylinder, and a second positioning cylinder. The mounting base is fixedly mounted on the top surface of the base frame. The first linear guide rail is mounted on the top surface of the mounting base. The second linear guide rail is mounted on the top surface of the floating plate. The cylinder body of the first positioning cylinder is fixedly mounted on the top surface of the mounting base. The piston of the first positioning cylinder passes through the floating plate and connects to the floating top plate. The bottom surface of the floating plate is connected to the first linear guide rail. The cylinder body of the second positioning cylinder is fixedly mounted on the bottom surface of the floating top plate. The piston of the second positioning cylinder passes through the floating plate and connects to the top surface of the mounting base. The bottom surface of the floating top plate is connected to the second linear guide rail.

[0008] Preferably, the end floating mechanism further includes a first buffer device and a second buffer device. The first buffer device includes a first hydraulic buffer and a first stop. The first hydraulic buffer is mounted on the mounting base plate via a mounting block, and the first stop is mounted on the mounting base plate and distributed close to the first hydraulic buffer. The second buffer device includes a second hydraulic buffer and a second stop block. The second hydraulic buffer is mounted on the floating plate by a mounting block, and the second stop block is mounted on the floating plate and distributed close to the second hydraulic buffer.

[0009] Preferably, the clamping mechanism includes a first clamping component and a second clamping component, which are located on both sides of the base frame. When the first clamping component and the second clamping component are brought close together, they can clamp the battery module.

[0010] Preferably, the first fall protection mechanism includes a first fall protection component and a second fall protection component, which are respectively installed on the other two sides of the base frame. When the first fall protection component and the second fall protection component are close to each other, they can clamp the battery module.

[0011] Preferably, the gripping device for the battery module further includes a second anti-fall mechanism, which includes a third anti-fall component and a fourth anti-fall component. The third and fourth anti-fall components are respectively installed on both sides of the base frame. When the third and fourth anti-fall components are close together, they can clamp and support the battery module.

[0012] Preferably, the gripping device for the battery module further includes an overvoltage protection mechanism. The overvoltage protection mechanism includes an anti-collision bar, an anti-collision bracket, a top anti-collision pad, a mounting bracket, a bottom anti-collision pad, and a proximity switch. The anti-collision bar is movably inserted and installed on the anti-collision bracket, and the anti-collision bar is longitudinally distributed. The anti-collision bracket is installed on a base frame. The top anti-collision pad is fixedly installed on the top of the anti-collision bar. The mounting bracket is installed on the base frame and is arranged adjacent to the anti-collision bracket. The bottom anti-collision pad is fixedly installed on the bottom of the anti-collision bar. The proximity switch is installed on the mounting bracket and is higher than the installation position of the top anti-collision pad.

[0013] Preferably, the gripping device for the battery module further includes a plurality of first laser ranging sensors, which are installed at the corners of the base frame; It also includes a second laser rangefinder sensor, which is mounted on the base frame; It also includes a third laser ranging sensor, which is installed on both the first clamping assembly and the second clamping assembly; It also includes a fourth laser ranging sensor, which is installed on the second adapter plates of both the first clamping assembly and the second clamping assembly.

[0014] Preferably, the gripping device for the battery module further includes a vision camera mounted on one side of the base frame.

[0015] Compared with existing technologies, the advantages are: when installed on a robotic arm, it can automatically grasp battery modules without requiring much human intervention, greatly improving handling efficiency; and because of the reduction in human intervention, the occurrence of safety accidents can be reduced. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A perspective view of the battery module gripping device provided by this utility model.

[0018] Figure 2 for Figure 1 The diagram shows a partial structural schematic of the gripping device for battery modules.

[0019] Figure 3 for Figure 1 The diagram shows the structure of the second clamping assembly of the gripping device for the battery module.

[0020] Figure 4 for Figure 1 The diagram shows the structure of the first anti-fall component of the gripping device for the battery module.

[0021] Figure 5 for Figure 1 The diagram shows the structure of the second anti-fall component of the gripping device for the battery module. Figure 6 for Figure 1 The diagram shows a structural schematic of the end-floating mechanism for the battery module.

[0022] Figure 7 for Figure 6 The diagram shows a top view of the end-floating mechanism for the battery module.

[0023] Figure 8 for Figure 6 The diagram shows a partial structural schematic of the end-floating mechanism.

[0024] Figure 9 for Figure 6 The diagram shows a partial structural schematic of the end-floating mechanism.

[0025] Figure 10 for Figure 1 The diagram shows the structure of the overvoltage protection mechanism for the battery module gripping device.

[0026] Reference numerals: 1. Base frame; 2. Clamping mechanism; 21. First clamping assembly; 211. First telescopic cylinder; 212. First guide rail assembly; 213. First slide rail mounting plate; 214. First connecting plate; 215. First adapter plate; 216. First clamping block; 217. First pneumatic guide rail lock; 22. Second clamping assembly; 221. Second telescopic cylinder; 222. Second guide rail assembly; 223. Second slide rail mounting plate; 224. Second connecting plate; 225. Second adapter plate; 226. Second clamping block; 227. Second pneumatic guide rail lock; 3. First anti-fall mechanism 31. First anti-fall component; 311. First anti-fall cylinder; 312. First guide component; 313. First guide mounting plate; 314. First side plate; 315. First clamping plate; 32. Second anti-fall component; 321. Second anti-fall cylinder; 322. Second guide component; 323. Second guide mounting plate; 324. Second side plate; 325. Second clamping plate; 4. End floating mechanism; 41. Mounting base plate; 42. Floating plate; 43. Floating top plate; 44. First linear guide rail; 441. First slide rail; 442. First slider; 45. Second linear guide rail; 6. First positioning cylinder; 47. Second positioning cylinder; 48. First buffer device; 481. First hydraulic buffer; 482. First stop block; 49. Second buffer device; 491. Second hydraulic buffer; 492. Second stop block; 5. Second anti-fall mechanism; 51. Third anti-fall assembly; 511. Third anti-fall cylinder; 512. Third guide assembly; 513. Third guide mounting plate; 514. Third connecting plate; 515. Third adapter plate; 516. Third clamping block; 52. Fourth anti-fall assembly; 521. Fourth anti-fall cylinder; 522. Fourth guide assembly; 523. Fourth guide mounting plate; 524. Fourth connecting plate; 525. Fourth adapter plate; 526. Fourth clamping block; 6. Overpressure protection mechanism; 61. Anti-collision bar; 62. Anti-collision bracket; 63. Top anti-collision pad; 64. Mounting bracket; 65. Bottom anti-collision pad; 66. Proximity switch; 67. Limit buffer pad; 68. Linear bearing; 69. Spring; 7. First laser rangefinder sensor; 8. Second laser rangefinder sensor; 9. Vision camera; 10. Third laser rangefinder sensor; 11. Fourth laser rangefinder sensor; 12. Battery module; 121. Slide rail. Detailed Implementation

[0027] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are merely for explaining the present utility model and are not intended to limit the present utility model.

[0028] It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Additionally, "multiple" or "several" means two or more, unless otherwise explicitly specified.

[0031] Please see Figure 1 This utility model provides a gripping device for battery modules, including: a base frame 1, a clamping mechanism 2, and a first anti-fall mechanism 3. The base frame 1 is used to connect to the end of a robotic arm. The clamping mechanism 2 and the first anti-fall mechanism 3 are both mounted on the base frame 1. The clamping mechanism 2 is used to clamp the battery module 12, and the first anti-fall mechanism 3 is used to clamp the battery module 12 to prevent the battery module 12 from shaking or falling.

[0032] It should be noted that the frame has a hollow design, is roughly rectangular, and is made of metal (such as stainless steel), which can reduce its own weight while ensuring the load-bearing capacity.

[0033] When the robotic arm moves the gripping device for the battery module above the battery module 12, the clamping mechanism 2 clamps the two sides of the battery module 12, and the first anti-fall mechanism 3 clamps the other two sides of the battery module 12. The robotic arm then uses the gripping device for the battery module to grab the battery module 12 and place it on a pallet for stacking.

[0034] Please refer to the following: Figures 2 to 9 In one specific embodiment, the gripping device for the battery module further includes an end-effector floating mechanism 4, which is installed in the central region of the top surface of the base frame 1 and is used to connect with the robotic arm. Thus, when the robotic arm is connected to the end-effector floating mechanism 4, the center of gravity of the base frame 1 can be kept balanced.

[0035] In one specific embodiment, the end-floating mechanism 4 further includes a mounting base plate 41, a floating plate 42, a floating top plate 43, a first linear guide rail 44, a second linear guide rail 45, a first positioning cylinder 46, and a second positioning cylinder 47. The mounting base plate 41 is fixedly mounted on the central area of ​​the top surface of the base frame 1. The first linear guide rail 44 is mounted on the top surface of the mounting base plate 41. The second linear guide rail 45 is mounted on the top surface of the floating plate 42. The cylinder body of the first positioning cylinder 46 is fixedly mounted on the top surface of the mounting base plate 41. The piston of the first positioning cylinder 46 passes through the floating plate 42 and is connected to the floating top plate 43. The bottom surface of the floating plate 42 is connected to the first linear guide rail 44. The cylinder body of the second positioning cylinder 47 is fixedly mounted on the bottom surface of the floating top plate 43. The piston of the second positioning cylinder 47 passes through the floating plate 42 and is connected to the top surface of the mounting base plate 41. The bottom surface of the floating top plate 43 is connected to the second linear guide rail 45.

[0036] It should be noted that the first linear guide rail 44 and the second linear guide rail 45 are distributed in a vertical direction. The first linear guide rail 44 includes a first slide rail 441 and a first slider 442. The first slide rail 441 is fixedly mounted on the top surface of the mounting base plate 41, and the first slider 442 is slidably connected to the first slide rail 441 and connected to the bottom surface of the floating plate 42. The second linear guide rail 45 includes a second slide rail and a second slider. The second slide rail is fixedly mounted on the top surface of the floating plate 42 and is perpendicular to the first slide rail 441. The second slider is slidably connected to the second slide rail and connected to the bottom surface of the floating top plate 43.

[0037] Thus, when the first positioning cylinder 46 and the second positioning cylinder 47 extend and retract, the distance between the mounting base plate 41, the floating plate 42, and the floating top plate 43 is variable, and the floating plate 42 and the floating top plate 43 can float up and down, avoiding the battery module 12 being directly damaged due to excessive force when grabbing the battery module 12.

[0038] In one specific embodiment, the end floating mechanism 4 further includes a first buffer device 48 and a second buffer device 49. The first buffer device 48 and the second buffer device 49 are distributed vertically. The first buffer device 48 includes a first hydraulic buffer 481 and a first stop block 482. The first hydraulic buffer 481 is mounted on the top surface of the mounting base plate 41 by a mounting block. The first stop block 482 is fixedly mounted on the top surface of the mounting base plate 41 and distributed close to the first hydraulic buffer 481. The second buffer device 49 includes a second hydraulic buffer 491 and a second stop block 492. The second hydraulic buffer 491 is mounted on the top surface of the floating plate 42 by a mounting block, and the second stop block 492 is fixedly mounted on the top surface of the floating plate 42 and distributed close to the second hydraulic buffer 491.

[0039] In one specific embodiment, the clamping mechanism 2 includes a first clamping component 21 and a second clamping component 22. The first clamping component 21 and the second clamping component 22 are located on both sides of the base frame 1 (e.g., the left and right sides of the base frame 1), and the first clamping component 21 and the second clamping component 22 are oriented in opposite directions. When the first clamping component 21 and the second clamping component 22 are brought close together, they can clamp the battery module 12.

[0040] Specifically, the first clamping assembly 21 includes a first telescopic cylinder 211, a first guide rail assembly 212, a first slide rail mounting plate 213, a first connecting plate 214, a first adapter plate 215, and a first clamping block 216. The cylinder body of the first telescopic cylinder 211 is fixedly mounted on the bottom of the base frame 1. The first guide rail assembly 212 is mounted on the first slide rail mounting plate 213 and connected to the base frame 1. The first connecting plate 214 is vertically connected to the first slide rail mounting plate 213 and connected to the piston rod of the first telescopic cylinder 211. The first adapter plate 215 is connected to the first connecting plate 214. The first clamping block 216 is mounted on the first adapter plate 215. The second clamping assembly 22 includes a second telescopic cylinder 221, a second guide rail assembly 222, a second slide rail mounting plate 223, a second connecting plate 224, a second adapter plate 225, and a second clamping block 226. The cylinder body of the second telescopic cylinder 221 is fixedly installed on the bottom of the base frame 1. The second guide rail assembly 222 is installed on the second slide rail mounting plate 223 and connected to the base frame 1. The second connecting plate 224 is vertically connected to the second slide rail mounting plate 223 and connected to the piston rod of the second telescopic cylinder 221. The second adapter plate 225 is connected to the second connecting plate 224. The second clamping block 226 is installed on the second adapter plate 225.

[0041] Thus, when the piston rods of the first telescopic cylinder 211 and the second telescopic cylinder 221 retract simultaneously, the piston rod of the first telescopic cylinder 211 can drive the first clamping block 216 on the first adapter plate 215 to move closer to the second clamping assembly 22, and the piston rod of the second telescopic cylinder 221 can drive the second clamping block 226 on the second adapter plate 225 to move closer to the first clamping assembly 21. At this time, the first clamping assembly 21 and the second clamping assembly 22 approach each other, and the first clamping block 216 and the second clamping block 226 respectively clamp the two sides of the battery module 12, thus clamping the battery module 12.

[0042] It should be noted that in this embodiment, there are two of each of the first clamping assembly 21 and the second clamping assembly 22, which can constitute two clamping mechanisms 2; the structure of the first guide rail assembly 212 is consistent with the structure of the first linear navigation and the second linear guide rail 45. The slide rail of the first guide rail assembly 212 is connected to the base frame 1, the slider of the first guide rail assembly 212 is slidably connected to the slide rail, and the slider of the first guide rail assembly 212 is connected to the first slide rail mounting plate 213, so that when the piston rod of the first telescopic cylinder 211 moves in extension and retraction, the first slide rail mounting plate 213, the first connecting plate 214, the first adapter plate 215 and the first clamping block 216 can move accordingly. Similarly, the structure of the second guide rail assembly 222 is consistent with the structure of the first linear navigation and the second linear guide rail 45. The slide rail of the second guide rail assembly 222 is connected to the base frame 1, the slider of the second guide rail assembly 222 is slidably connected to the slide rail, and the slider of the second guide rail assembly 222 is connected to the second slide rail mounting plate 223, so that when the piston rod of the second telescopic cylinder 221 moves in extension and retraction, the second slide rail mounting plate 223, the second connecting plate 224, the second adapter plate 225 and the second clamping block 226 can move accordingly.

[0043] In one specific embodiment, the first clamping assembly 21 further includes a first pneumatic guide rail lock 217, and the second clamping assembly 22 further includes a second pneumatic guide rail lock 227. The first pneumatic guide rail lock 217 is installed on the slide rail of the first guide rail assembly 212 and can be locked on the slide rail of the first guide rail assembly 212 to prevent the slider of the first guide rail assembly 212 from continuing to slide. The second pneumatic guide rail lock 227 is installed on the slide rail of the second guide rail assembly 222 and can be locked on the slide rail of the second guide rail assembly 222 to prevent the slider of the second guide rail assembly 222 from continuing to slide.

[0044] In one specific embodiment, the first fall protection mechanism 3 includes a first fall protection component 31 and a second fall protection component 32. The first fall protection component 31 and the second fall protection component 32 are respectively installed on the other two sides of the base frame 1 (e.g., the front and rear sides of the base frame 1). When the first fall protection component 31 and the second fall protection component 32 are close to each other, they can clamp the battery module 12.

[0045] Specifically, the first fall arrestor assembly 31 includes a first fall arrestor cylinder 311, a first guide assembly 312, a first guide mounting plate 313, a first side plate 314, and a first clamping plate 315. The cylinder body of the first fall arrestor cylinder 311 is fixedly mounted on the bottom of the base frame 1. The first guide assembly 312 is mounted on the first guide mounting plate 313 and connected to the base frame 1. The first side plate 314 is vertically connected to the first guide mounting plate 313 and connected to the piston rod of the first fall arrestor cylinder 311. The first clamping plate 315 is mounted on the first side plate 314. The second fall arrestor assembly 32 includes a second fall arrestor cylinder 321, a second guide assembly 322, a second guide mounting plate 323, a second side plate 324, and a second clamping plate 325. The cylinder body of the second fall arrestor cylinder 321 is fixedly mounted on the bottom of the base frame 1. The second guide assembly 322 is mounted on the second guide mounting plate 323 and connected to the base frame 1. The second side plate 324 is vertically connected to the second guide mounting plate 323 and connected to the piston rod of the second fall arrestor cylinder 321. The second clamping plate 325 is mounted on the second side plate 324.

[0046] Thus, when the piston rods of the first anti-fall cylinder 311 and the second anti-fall cylinder 321 retract simultaneously, the piston rod of the first anti-fall cylinder 311 can drive the first clamping plate 315 on the first side plate 314 to move closer to the second anti-fall assembly 32, and the piston rod of the second anti-fall cylinder 321 can drive the second clamping plate 325 on the second side plate 324 to move closer to the first anti-fall assembly 31. At this time, the first anti-fall assembly 31 and the second anti-fall assembly 32 approach each other, and the first clamping plate 315 and the second clamping plate 325 respectively clamp the two sides of the battery module 12, thus clamping the battery module 12.

[0047] It should be noted that, in this embodiment, the structure of the first guide component 312 is consistent with the structure of the first linear navigation and the second linear guide rail 45. The slide rail of the first guide component 312 is connected to the base frame 1, the slider of the first guide component 312 is slidably connected to the slide rail, and the slider of the first guide component 312 is connected to the first guide mounting plate 313, so that when the piston rod of the first anti-fall cylinder 311 moves in extension and retraction, the first guide mounting plate 313, the first side plate 314 and the first clamping plate 315 can move accordingly. Similarly, the structure of the second guide component 322 is consistent with the structure of the first linear navigation and the second linear guide rail 45. The slide rail of the second guide component 322 is connected to the base frame 1, the slider of the second guide component 322 is slidably connected to the slide rail, and the slider of the second guide component 322 is connected to the second guide mounting plate 323, so that when the piston rod of the second anti-fall cylinder 321 moves in extension and retraction, the second guide mounting plate 323, the second side plate 324 and the second clamping plate 325 can move accordingly. The first guide component 312 and the second guide component 322 are also provided with pneumatic guide rail locks. The working principle of the pneumatic guide rail locks is consistent with the working principle of the first pneumatic guide rail lock 217 and the second pneumatic guide rail lock 227 mentioned above, and will not be described again here.

[0048] In one specific embodiment, the gripping device for the battery module further includes a second anti-fall mechanism 5, which includes a third anti-fall component 51 and a fourth anti-fall component 52. The third anti-fall component 51 and the fourth anti-fall component 52 are respectively installed on both sides of the base frame 1 (e.g., the left and right sides of the base frame 1). When the third anti-fall component 51 and the fourth anti-fall component 52 are close to each other, they can clamp and support the battery module 12.

[0049] Specifically, the third fall protection mechanism includes a third fall protection cylinder 511, a third guide assembly 512, a third guide mounting plate 513, a third connecting plate 514, a third adapter plate 515, and a third clamping block 516. The cylinder body of the third fall protection cylinder 511 is fixedly mounted on the bottom of the base frame 1. The third guide assembly 512 is mounted on the third guide mounting plate 513 and connected to the base frame 1. The third connecting plate 514 is vertically connected to the third guide mounting plate 513 and connected to the piston rod of the second fall protection cylinder 321. The third adapter plate 515 is connected to the third connecting plate 514. The third clamping block 516 is mounted on the third adapter plate 515. The fourth fall protection mechanism includes a fourth fall protection cylinder 521, a fourth guide assembly 522, a fourth guide mounting plate 523, a fourth connecting plate 524, a fourth adapter plate 525, and a fourth clamping block 526. The cylinder body of the fourth fall protection cylinder 521 is fixedly mounted on the bottom of the base frame 1. The fourth guide assembly 522 is mounted on the fourth guide mounting plate 523 and connected to the base frame 1. The fourth connecting plate 524 is vertically connected to the fourth guide mounting plate 523 and connected to the piston rod of the fourth fall protection cylinder 521. The fourth adapter plate 525 is connected to the fourth connecting plate 524. The fourth clamping block 526 is mounted on the fourth adapter plate 525.

[0050] Thus, when the piston rods of the third anti-fall cylinder 511 and the fourth anti-fall cylinder 521 retract simultaneously, the piston rod of the third anti-fall cylinder 511 can drive the third clamping block 516 on the third adapter plate 515 to move closer to the fourth anti-fall assembly 52, and the piston rod of the fourth anti-fall cylinder 521 can drive the fourth clamping block 526 on the fourth adapter plate 525 to move closer to the third anti-fall assembly 51. At this time, the third anti-fall assembly 51 and the fourth anti-fall assembly 52 move closer to each other, and the first clamping plate 315 and the second clamping plate 325 respectively clamp and support the two sides of the battery module 12. With the cooperation of the clamping mechanism 2, the first anti-fall mechanism 3 and the second anti-fall mechanism 5, the battery module 12 is not easy to shake or fall.

[0051] It should be noted that, in this embodiment, the structure of the third guide component 512 is consistent with the structure of the first linear navigation and the second linear guide rail 45. The slide rail of the third guide component 512 is connected to the base frame 1, the slider of the third guide component 512 is slidably connected to the slide rail, and the slider of the third guide component 512 is connected to the third guide mounting plate 513, so that when the piston rod of the third anti-fall cylinder 511 moves in extension and retraction, the third guide mounting plate 513, the third adapter plate 515 and the third clamping block 516 can move accordingly. Similarly, the structure of the fourth guide component 522 is consistent with the structure of the first linear navigation and the second linear guide rail 45. The slide rail of the fourth guide component 522 is connected to the base frame 1, the slider of the fourth guide component 522 is slidably connected to the slide rail, and the slider of the fourth guide component 522 is connected to the fourth guide mounting plate 523, so that when the piston rod of the fourth anti-fall cylinder 521 moves in extension and retraction, the fourth guide mounting plate 523, the fourth adapter plate 525 and the fourth clamping plate can move accordingly; the third guide component 512 and the fourth guide component 522 are also provided with pneumatic guide rail locks. The working principle of the pneumatic guide rail locks is consistent with the working principle of the first pneumatic guide rail lock 217 and the second pneumatic guide rail lock 227 mentioned above, and will not be described again here.

[0052] In one specific embodiment, the gripping device for the battery module further includes an overvoltage protection mechanism 6. The overvoltage protection mechanism 6 includes an anti-collision rod 61, an anti-collision bracket 62, a top anti-collision pad 63, a mounting bracket 64, a bottom anti-collision pad 65, and a proximity switch 66. The anti-collision rod 61 is movably inserted and mounted on the anti-collision bracket 62, and the anti-collision rod 61 is longitudinally distributed. The anti-collision bracket 62 is mounted on the base frame 1. The top anti-collision pad 63 is fixedly mounted on the top of the anti-collision rod 61. The mounting bracket 64 is mounted on the base frame 1 and is arranged adjacent to the anti-collision bracket 62. The bottom anti-collision pad 65 is fixedly mounted on the bottom of the anti-collision rod 61. The proximity switch 66 is mounted on the mounting bracket 64 and is slightly higher than the mounting position of the top anti-collision pad 63.

[0053] If the gripping device used for the battery module presses down too hard on the battery module 12, the bottom anti-collision pad 65 on the anti-collision bar 61 will contact the top surface of the battery module 12, raising the height of the top anti-collision pad 63 on the anti-collision bar 61. When the top anti-collision pad 63 is flush with the proximity switch 66, the proximity switch 66 can detect the position of the top anti-collision pad 63 and send a detection signal to the industrial control computer or control panel electrically connected to the proximity switch 66. The industrial control computer or control panel will then issue an alarm.

[0054] In one specific embodiment, the overpressure protection mechanism 6 further includes a limiting buffer pad 67, a linear bearing 68, and a spring 69. The limiting buffer pad 67 is sleeved on the anti-collision rod 61 and positioned near the top anti-collision pad 63. The linear bearing 68 is sleeved on the anti-collision rod 61 and fixed to the anti-collision bracket 62, so that the anti-collision rod 61 is movably inserted and mounted on the anti-collision bracket 62, facilitating the lifting and lowering movement of the anti-collision rod 61. The spring 69 is sleeved on the anti-collision rod 61 and located between the anti-collision bracket 62 and the bottom anti-collision pad 65.

[0055] In one specific embodiment, the battery module gripping device further includes multiple first laser rangefinders 7, which are installed at the corners of the base frame 1. The multiple first laser rangefinders are used to simultaneously detect the distance between the gripped battery module 12 and the base frame 1. If the detected distance of one first laser rangefinder 7 is inconsistent with the detected distances of the other first laser rangefinders 7, it indicates that the battery module 12 gripped by the battery module gripping device is tilted. It should be noted that in this embodiment, the number of multiple first laser rangefinders 7 is three, and the three first laser rangefinders 7 are installed at any three corners of the base frame 1; in other embodiments, the number of multiple first laser rangefinders 7 can also be four.

[0056] In one specific embodiment, the gripping device for the battery module further includes a second laser rangefinder 8, which is mounted on the base frame 1 and distributed near the first anti-fall mechanism 3. The second laser rangefinder 8 is used to detect the distance between the fourth clamping block 526 and the parts below the gripping device for the battery module, so as to detect the downward movement distance of the gripping device for the battery module.

[0057] In one specific embodiment, the gripping device for the battery module further includes a vision camera 9, which is mounted on one side of the base frame 1 and electrically connected to an industrial control computer or control panel. The vision camera 9 captures and detects the position of the battery module 12 and captures and uploads the barcode information on the battery module 12 to be gripped.

[0058] In one specific embodiment, the gripping device for the battery module further includes a third laser ranging sensor 10. The third laser ranging sensor 10 is installed on the first adapter plate 215 of the first clamping assembly 21 and the second adapter plate 225 of the second clamping assembly 22. The third laser ranging sensor 10 is used to detect whether the first clamping block 216 and the second clamping block 226 clamp the battery module 12.

[0059] In one specific embodiment, the gripping device for the battery module further includes a fourth laser ranging sensor 11. The fourth laser ranging sensor 11 is installed on the first adapter plate 215 of the first clamping assembly 21 and the second adapter plate 225 of the second clamping assembly 22. The fourth laser ranging sensor 11 emits a laser to illuminate the bottom of the battery module 12 to detect whether there is a slide rail 121 on the bottom surface of the battery module 12.

[0060] It should be noted that a normal and qualified battery module 12 will have a slide rail 121 installed at the bottom. The first laser ranging sensor 7, the second laser ranging sensor 8, the third laser ranging sensor 10 and the fourth laser ranging sensor 11 mentioned above can all be electrically connected to an industrial control computer or control panel to upload the detection signal to the industrial control computer or control panel, so that relevant personnel can view information and issue control commands on the industrial control computer or control panel.

[0061] This invention is not limited to the description and embodiments described herein, and thus other advantages and modifications can be readily realized by those skilled in the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, this invention is not limited to the specific details, representative devices and examples shown and described herein.

Claims

1. A gripping device for battery modules, characterized in that, include: The base frame (1), the clamping mechanism (2) and the first anti-fall mechanism (3) are provided. The base frame (1) is used to connect to the end of the robotic arm. The clamping mechanism (2) and the first anti-fall mechanism (3) are both mounted on the base frame (1). The clamping mechanism (2) is used to clamp the battery module (12). The first anti-fall mechanism (3) is used to clamp the battery module (12).

2. The gripping device for battery modules as described in claim 1, characterized in that, It also includes an end-floating mechanism (4), which is mounted on the base frame (1) and is used to connect to the robotic arm.

3. The gripping device for battery modules as described in claim 2, characterized in that, The end floating mechanism (4) further includes a mounting base plate (41), a floating plate (42), a floating top plate (43), a first linear guide rail (44), a second linear guide rail (45), a first positioning cylinder (46), and a second positioning cylinder (47). The mounting base plate (41) is fixedly mounted on the top surface of the base frame (1). The first linear guide rail (44) is mounted on the top surface of the mounting base plate (41). The second linear guide rail (45) is mounted on the top surface of the floating plate (42). The cylinder body of the first positioning cylinder (46) is fixedly mounted on the top surface of the mounting base plate (41). The piston of the first positioning cylinder (46) passes through the floating plate (42) and connects to the floating top plate (43). The bottom surface of the floating plate (42) is connected to the first linear guide rail (44). The cylinder body of the second positioning cylinder (47) is fixedly mounted on the bottom surface of the floating top plate (43). The piston of the second positioning cylinder (47) passes through the floating plate (42) and connects to the top surface of the mounting base plate (41). The bottom surface of the floating top plate (43) is connected to the second linear guide rail (45).

4. The gripping device for a battery module as described in claim 2, characterized in that, The end floating mechanism (4) further includes a first buffer device (48) and a second buffer device (49). The first buffer device (48) includes a first hydraulic buffer (481) and a first stop (482). The first hydraulic buffer (481) is mounted on the mounting base plate (41) by a mounting block. The first stop (482) is mounted on the mounting base plate (41) and distributed close to the first hydraulic buffer (481). The second buffer device (49) includes a second hydraulic buffer (491) and a second stop (492). The second hydraulic buffer (491) is mounted on the floating plate (42) by a mounting block, and the second stop (492) is mounted on the floating plate (42) and distributed close to the second hydraulic buffer (491).

5. The gripping device for a battery module as described in claim 1, characterized in that, The clamping mechanism (2) includes a first clamping component (21) and a second clamping component (22). The first clamping component (21) and the second clamping component (22) are located on both sides of the base frame (1). When the first clamping component (21) and the second clamping component (22) come close to each other, they can clamp the battery module (12).

6. The gripping device for a battery module as described in claim 1, characterized in that, The first fall protection mechanism (3) includes a first fall protection component (31) and a second fall protection component (32). The first fall protection component (31) and the second fall protection component (32) are respectively installed on the other two sides of the base frame (1). When the first fall protection component (31) and the second fall protection component (32) come close to each other, they can clamp the battery module (12).

7. The gripping device for a battery module as described in claim 1, characterized in that, The gripping device for the battery module also includes a second anti-fall mechanism (5), which includes a third anti-fall component (51) and a fourth anti-fall component (52). The third anti-fall component (51) and the fourth anti-fall component (52) are respectively installed on both sides of the base frame (1). When the third anti-fall component (51) and the fourth anti-fall component (52) come close to each other, they can clamp and support the battery module (12).

8. The gripping device for a battery module as described in claim 1, characterized in that, The gripping device for the battery module also includes an overvoltage protection mechanism (6). The overvoltage protection mechanism (6) includes a collision protection rod (61), a collision protection bracket (62), a top collision protection pad (63), a mounting bracket (64), a bottom collision protection pad (65), and a proximity switch (66). The collision protection rod (61) is movably inserted into the collision protection bracket (62) and is longitudinally distributed. The collision protection bracket (62) is mounted on the base frame (1). The top collision protection pad (63) is fixedly mounted on the top of the collision protection rod (61). The mounting bracket (64) is mounted on the base frame (1) and is adjacent to the collision protection bracket (62). The bottom collision protection pad (65) is fixedly mounted on the bottom of the collision protection rod (61). The proximity switch (66) is mounted on the mounting bracket (64) and is higher than the mounting position of the top collision protection pad (63).

9. The gripping device for a battery module as described in claim 5, characterized in that, The gripping device for the battery module also includes a plurality of first laser ranging sensors (7), which are installed at the corners of the base frame (1). It also includes a second laser rangefinder (8), which is mounted on the base frame (1); It also includes a third laser rangefinder (10), which is installed on both the first clamping assembly (21) and the second clamping assembly (22). It also includes a fourth laser rangefinder (11), which is installed on the second adapter plate (225) of the first clamping assembly (21) and the second clamping assembly (22).

10. The gripping device for a battery module as described in claim 1, characterized in that, The gripping device for the battery module also includes a vision camera (9), which is mounted on one side of the base frame (1).

Images