CN114161461B

CN114161461B - Clamp for square battery module

Info

Publication number: CN114161461B
Application number: CN202111339244.9A
Authority: CN
Inventors: 刘作斌; 刘永; 吴锦宇
Original assignee: Fujian Nebula Electronics Co Ltd
Current assignee: Fujian Nebula Electronics Co Ltd
Priority date: 2021-11-12
Filing date: 2021-11-12
Publication date: 2025-05-23
Anticipated expiration: 2041-11-12
Also published as: CN114161461A

Abstract

The present invention provides a fixture for a square battery module, comprising: a support frame; an X-axis pitch-changing mechanism; a Y-axis pitch-changing mechanism; an X-axis transfer rail; four first hook parts, including a first hook floating along the Z axis, the first hook part is movably connected to the X-axis transfer rail along the X axis, and each of the X-axis transfer rails is correspondingly connected to two first hook parts, and the four first hook parts are arranged in a rectangular shape; two second hook parts, including a second hook floating along the Z axis, the second hook parts are fixed one by one to the center position of the X-axis transfer rail; a side push mechanism fixed to one side of the support frame; a visual part; and a detection device. It has two sets of hooks, double insurance to avoid falling; it has a side push mechanism, no need to stop and wait, and can automatically handle abnormalities; each hook can float to ensure that the battery module is placed in place, and will not fall into place due to errors.

Description

Clamp for square battery module

[ Field of technology ]

The invention relates to square battery module grabbing equipment, in particular to a clamp for square battery modules.

[ Background Art ]

With the rising and strong supporting development of new energy sources in China, the automobile power battery manufacturing industry also has to develop at high speed, and the automobile power battery manufacturing is urgently required to break through the product management and control bottlenecks of improvement of productivity, quality and safety.

In the process of putting the square battery module into the box, the square battery module is clamped by a grabbing clamp for improving efficiency and ensuring safety, and then the square battery module is put into the box. While existing gripping jigs suffer from several drawbacks:

(one), current clamp that snatchs can only judge whether the battery module is predetermined in the box places to accord with the requirement usually. When the battery module is put into the box, in order to fix the battery module, the position in the box where the battery module is placed is coated with glue in advance, then the grabbing clamp clamps the battery module to be put into a preset position, because the glue needs time to solidify, the glue is easy to slide, the battery module easily slides on the glue to be misplaced after the battery module is put into the box, so that the battery module is caused to encroach on the position where the peripheral battery module is put, the adjacent battery module cannot be put in, the position where the adjacent battery module is caused to be put in the box is not in accordance with the requirement, in the prior art, workers are usually waited to deal with abnormality, and thus production stopping and waiting are needed, and time is wasted.

And (two) the grabbing clamp of the existing battery module usually grabs the battery module through a group of hooks or grippers on two sides, and the phenomenon that the battery module loosens in the moving process can occur.

(III) since the battery modules are subject to errors in the manufacturing and assembly processes, even if the battery modules of the same batch are subject to variations in size, the following safety hazards may occur:

When the battery module is placed in the box, the robot drives the grabbing clamp to move according to a preset track, the thickness of the battery module is assumed to be H1 when the preset program is debugged, the battery module can be just placed at a preset position when the preset program is placed in the box, the height coordinate of the grabbing clamp is Z1, and the battery module of the model is kept unchanged by adopting Z1 in subsequent production. However, since there is a difference in the thickness H1 of the battery module due to manufacturing and assembly errors, it may occur that the thickness H1 of the existing battery module is greater or smaller than that of the battery module for debugging the setup procedure. If smaller, then can appear when coordinate Z1, battery module is unsettled, and at this moment according to predetermined procedure work, snatchs anchor clamps and unclamps battery module, and that battery module falls into the box in, falls the battery module easily and breaks, and battery module is electrified, causes the potential safety hazard easily.

[ Invention ]

The invention aims to solve the technical problems of providing a clamp for a square battery module, which is provided with two groups of hooks and double insurance, and is provided with a side pushing mechanism, so that the clamp can automatically handle abnormality without stopping and waiting, and each hook can float to ensure that the battery module is placed in place and cannot hang down to fall into place due to errors.

The invention is realized in that the fixture of the square battery module comprises:

a support frame;

The X-axis distance changing mechanism is connected with the supporting frame;

the Y-axis distance changing mechanism is connected with the X-axis distance changing mechanism;

The X-axis transfer guide rails are two and are connected with the Y-axis distance changing mechanism and symmetrically arranged;

The first hook parts comprise four first hook parts floating along the Z axis, the first hook parts are movably connected with the X axis switching guide rail along the X axis, each X-axis transfer guide rail is correspondingly connected with two first hook claw parts, and four first hook claw parts are arranged in a rectangular shape;

The two second hook parts comprise second hook parts floating along the Z axis, and the second hook parts are fixed at the center positions of the X axis transfer guide rail in a one-to-one correspondence manner;

The side pushing mechanism is fixed on one side of the supporting frame;

a vision part fixed to the support frame and disposed downward;

The detection device is fixed on the supporting frame and used for detecting the distance between the first hook claw and the second hook claw and the battery module.

Further, the X-axis pitch mechanism includes:

the first driving motor is fixed on the supporting frame;

the first adapter is provided with two;

the first transmission assembly is respectively connected with the first driving motor and the two first adapter seats;

The first guide rails are fixed on the supporting frame at intervals in parallel along the X axis, each first guide rail is respectively and slidably connected with two symmetrically arranged first sliding blocks, and six first sliding blocks are arranged in a rectangular shape;

The first driving motor drives the first transmission assembly to drive the two first adapter seats to synchronously move in opposite directions or in opposite directions along the X axis.

Further, the first transmission assembly includes:

The first positive and negative tooth screw rod is rotationally connected with the supporting frame and is arranged along the X axis;

a first belt wheel fixed on an output shaft of the first driving motor;

The second belt wheel is fixed on the first positive and negative screw rod;

A first belt connected to the first pulley and the second pulley;

the first left-handed nut is connected with the left-handed external thread part of the first positive and negative screw rod and is fixedly connected with one of the first adapter seats;

The first right-handed nut is connected with the right-handed external thread part of the first positive and negative tooth screw rod and is fixedly connected with the other first adapter.

Further, the Y-axis pitch change mechanism includes:

the second driving motor is fixed on the supporting frame;

two second adapter seats are arranged and are correspondingly fixed at the center position of the X-axis transfer guide rail one by one;

the second transmission assembly is respectively connected with the second driving motor and the two second adapter seats;

The second guide rails are two and are arranged along the Y axis, each second guide rail is respectively and slidably connected with two second sliding blocks which are symmetrically arranged, and the four second sliding blocks are arranged in a rectangular shape; each second guide rail is also fixedly connected with two first sliding blocks;

The X-axis transfer guide rail is connected with two third sliding blocks in a sliding manner, and the four third sliding blocks are arranged in a rectangular manner; the first hook parts are fixedly connected with the third sliding blocks in one-to-one correspondence, and the third sliding blocks are also fixedly connected with the second sliding blocks in one-to-one correspondence;

the second driving motor drives the second transmission assembly to drive the two second adapter seats to synchronously move in opposite directions or in opposite directions along the Y axis.

Further, each of the first hooking portions further includes:

the first fixing seats are fixedly connected to the third sliding blocks in a one-to-one correspondence manner;

the first cylinder is fixed on the first fixing seat, and the piston rod is arranged along the Y axis;

The second fixing seat is movably connected with the first fixing seat along the Y axis and is fixed on a piston rod of the first cylinder;

The guide shaft is fixed on the second fixing seat and is arranged along the Z axis, and the first hook claw movably penetrates through the guide shaft along the Z axis;

the spring is sleeved on the guide shaft, the top end of the spring abuts against the second fixing seat, and the bottom end of the spring abuts against the first hook claw.

Further, each of the second hooking portions further includes:

the third fixing seat is fixed at the center of the X-axis transfer guide rail;

the second cylinder is fixed on the third fixing seat, and the piston rod is arranged along the Y axis;

The fourth fixing seat is movably connected with the third fixing seat along the Y axis and is fixed on a piston rod of the second cylinder;

The third cylinder is fixed on the fourth fixing seat, and the piston rod faces downwards along the Z axis and is fixed on the second hook claw;

the fifth fixing seat is fixed on the third fixing seat;

The fourth cylinder is fixed on the fifth fixing seat, and the piston rod is arranged along the Y axis;

and the steel belt pressing piece is fixed on a piston rod of the fourth cylinder.

Further, the side pushing mechanism includes:

the sixth fixing seat is fixed on one side of the supporting frame;

The fifth cylinder is fixed on the sixth fixing seat, and the piston rod is downwards arranged along the Z axis;

the insulation push plate is fixed on a piston rod of the fifth cylinder and is vertically arranged along the Z axis.

Further, the vision portion includes:

A visual support fixed to the support frame;

An industrial camera fixed on the vision bracket, wherein the lens is downwards arranged along the Z axis;

And the light source is fixed on the visual support and is downwards arranged along the Z axis.

Further, the detection device is a laser ranging sensor.

The invention has the advantages that:

(1) The invention has two groups of hook claws, namely a first hook claw and a second hook claw, which play a double role in safety when grabbing the battery module and avoid falling;

(2) The device is provided with a side pushing mechanism, does not need to be stopped for waiting, and can automatically process the abnormality;

(3) The first hook claw and the second hook claw can float, can be compressed in the Z-axis direction, and can be adjusted downwards by a certain distance on the basis of a reference debugging position when a program is preset, so that the battery module is ensured to be placed in place, and the battery module cannot be suspended and fall into place due to errors.

[ Description of the drawings ]

The invention will be further described with reference to examples of embodiments with reference to the accompanying drawings.

Fig. 1 is a perspective view of a fixture for a prismatic battery module according to the present invention.

Fig. 2 is a perspective view of a fixture for a prismatic battery module according to the present invention.

Fig. 3 is a front view of a fixture for a square battery module according to the present invention.

Fig. 4 is a top view of a fixture for a prismatic battery module according to the present invention.

Fig. 5 is a left side view of a fixture for a square battery module according to the present invention.

Fig. 6 is a bottom view of a fixture for a prismatic battery module according to the present invention.

Fig. 7 is a perspective view of the side-pushing mechanism of the present invention.

Fig. 8 is a second perspective view of the side-pushing mechanism of the present invention.

Fig. 9 is a perspective view of a first hook portion and a second hook portion of the present invention.

Fig. 10 is a second perspective view of the first hook portion and the second hook portion of the present invention.

Fig. 11 is a perspective view of a first hook portion and a second hook portion of the present invention.

Fig. 12 is an exploded view of the first and second hooking portions of the present invention.

Fig. 13 is a front view of a clamp for clamping a square battery module according to the present invention.

Fig. 14 is a perspective view of the battery module clamped by the first and second hooking portions of the present invention.

Reference numerals illustrate:

a fixture 100 of a square battery module;

A support frame 1;

The X-axis distance changing mechanism 2, a first driving motor 21, a first adapter 22, a first transmission assembly 23, a first positive and negative screw 231, a first pulley 232, a second pulley 233, a first belt 234, a first left-handed nut 235, a first right-handed nut 236, a first guide rail 24 and a first sliding block 25;

The Y-axis distance changing mechanism 3, a second driving motor 31, a second adapter seat 32, a second transmission assembly 33, a second guide rail 34, a second slide block 35 and a third slide block 36;

An X-axis transfer guide rail 4;

the device comprises a first hook claw 5, a first hook claw 51, a first fixing seat 52, a first air cylinder 53, a second fixing seat 54, a guide shaft 55 and a spring 56;

The second hook claw 6, the second hook claw 61, the third fixing seat 62, the second cylinder 63, the fourth fixing seat 64, the third cylinder 65, the fifth fixing seat 66, the fourth cylinder 67 and the steel belt pressing piece 68;

a side pushing mechanism 7, a sixth fixing seat 71, a fifth cylinder 72 and an insulating push plate 73;

A vision part 8, a vision support 81, an industrial camera 82, a light source 83;

A detection device 9.

The battery module 200, the steel belt 201, the diagonal bolt hole 202, the first positioning hole 203 and the second positioning hole 204.

[ Detailed description ] of the invention

In the description of the present invention, it should be understood that the description of indicating the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention.

In the description of the present invention, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The general concept of the invention is as follows:

(1) Full-automatic snatch, according to product automatically regulated and compatible different battery module product size, automatic snatch is stable, safe, reliable.

(2) Two sets of different collude the claw and carry out the centre gripping to the battery module, increased the secondary protection, avoided causing the battery module risk that drops because of the quick travel in-process.

(3) When putting second battery module and follow-up battery module, pass first battery module or adjacent battery module with side pushing mechanism and can be safe put into battery module, avoid causing the battery module to overlap the risk, the battery short circuit that causes need not to shut down simultaneously and wait for the manual work to handle unusually, improve work efficiency.

(4) The first hook claw 51 and the second hook claw 61 are floatable and compressible in the Z-axis direction, so that when a program is preset, a certain distance can be adjusted downwards on the basis of the reference debugging position, thereby ensuring that the battery module is placed in place without hanging down to fall into place due to errors.

The words explain that the positive and negative screw rod is also called a left-right screw rod and a bidirectional ball screw rod.

Please refer to fig. 1 to 14.

A jig 100 of a square battery module, comprising:

A support frame 1;

an X-axis distance changing mechanism 2 connected to the support frame 1;

the Y-axis distance changing mechanism 3 is connected with the X-axis distance changing mechanism 2, and the distance between the first hook claw part 5 and the second hook claw part 6 is adjusted through the X-axis distance changing mechanism 2 and the Y-axis distance changing mechanism 3, so that the battery module is compatible with different battery module product sizes.

The X-axis transfer guide rails 4 are two and are connected with the Y-axis distance changing mechanism 3 and symmetrically arranged;

The first hook parts 5 comprise four first hook parts 51 floating along the Z axis, the first hook parts 5 are movably connected with the X axis switching guide rails 4 along the X axis, each X axis switching guide rail 4 is correspondingly connected with two first hook parts 5, and the four first hook parts 5 are arranged in a rectangular shape;

Two second hook parts 6 are provided, each second hook part comprises a second hook 61 floating along the Z axis, and the second hook parts 6 are fixed at the center position of the X axis transfer guide rail 4 in a one-to-one correspondence manner;

a side pushing mechanism 7 fixed to one side of the support frame 1;

A vision part 8 fixed to the support frame 1 and disposed downward;

and the detection device 9 is fixed on the support frame 1 and is used for detecting the distance between the first hook claw 5 and the second hook claw 6 and the battery module 200.

The visual part 8 shoots the plane position of the preset placement position in the battery module 200 or the box body, and the detection device 9 detects the distance between the first hook part 5 and the second hook part 6 and the battery module 200 to adjust the X\Y\Z three-axis coordinates of each hook;

The distance between the first hook claw part 5 and the second hook claw part 6 is adjusted through the X-axis distance changing mechanism 2 and the Y-axis distance changing mechanism 3 to match the size of the battery module, so as to clamp the battery module 200;

When the predetermined placement position in the case is not satisfactory, the adjacent battery modules 200 are pushed apart by the side pushing mechanism 7, and the position is vacated.

The X-axis distance changing mechanism 2 comprises:

A first drive motor 21 fixed to the support frame 1;

the first adapter 22 has two;

the first transmission assembly 23 is respectively connected to the first driving motor 21 and the two first adapter seats 22;

The first guide rails 24 are three, are fixed on the support frame 1 at intervals in parallel along the X axis, and each first guide rail 24 is respectively and slidably connected with two symmetrically arranged first sliding blocks 25, and six first sliding blocks 25 are arranged in a rectangular shape;

the first driving motor 21 drives the first transmission assembly 23 to drive the two first adapter seats 22 to synchronously move towards or away from each other along the X axis.

The first transmission assembly 23 includes:

a first positive and negative screw 231 rotatably connected to the support frame 1 and disposed along the X-axis;

a first pulley 232 fixed to an output shaft of the first driving motor 21;

a second pulley 233 fixed to the first positive and negative screw 231;

a first belt 234 connected to the first pulley 232 and the second pulley 233;

a first left-handed nut 235 connected to the left-handed external thread portion of the first positive and negative screw 231 and fixedly connected to one of the first adaptor 22;

a first right-handed nut 236 is connected to the right-handed external thread portion of the first positive and negative screw 231 and is fixedly connected to the other first adaptor 22.

The output shaft of the first driving motor 21 rotates, the bottom first belt pulley 232 rotates, the second belt pulley 233 is driven to rotate by the first belt 234, the first positive and negative screw rod 231 is driven to rotate, the first left-handed nut 235 and the first right-handed nut 236 are driven to synchronously move in opposite directions or deviate from each other, and finally the two first adapter seats 22 are driven to synchronously move in opposite directions or deviate from each other, and the X-axis distance between the two second guide rails 34 is adjusted, so that the battery modules with different widths are adapted. Similarly, the second transmission assembly 33 may have a similar structure to adjust the Y-axis distance between the hook portions, so as to adapt to battery modules with different lengths.

The Y-axis distance changing mechanism 3 comprises:

a second driving motor 31 fixed to the support frame 1;

two second adapter seats 32 are fixed at the center position of the X-axis adapter guide rail 4 in a one-to-one correspondence manner;

The second transmission assembly 33 is connected to the second driving motor 31 and the two second adapter seats 32, respectively, and in a specific embodiment, the second transmission assembly 33 may also have a similar structure to the first transmission assembly.

The two second guide rails 34 are arranged along the Y axis, and each second guide rail 34 is respectively and slidably connected with two second sliding blocks 35 which are symmetrically arranged, and the four second sliding blocks 35 are arranged in a rectangular shape, and each second guide rail 34 is also fixedly connected with the two first sliding blocks 25;

The X-axis transfer guide rail 4 is slidably connected with two third sliding blocks 36, and the four third sliding blocks 36 are arranged in a rectangular shape, the first hook parts 5 are fixedly connected with the third sliding blocks 36 in a one-to-one correspondence manner, and the third sliding blocks 36 are fixedly connected with the second sliding blocks 35 in a one-to-one correspondence manner;

the second driving motor 31 drives the second transmission assembly 33 to drive the two second adapter seats 32 to synchronously move in opposite directions or in opposite directions along the Y axis.

Each of the first hooking portions 5 further comprises:

the first fixing bases 52 are fixedly connected to the third sliding blocks 36 in a one-to-one correspondence manner, and are used for driving the second sliding blocks 35 to move along the X axis when the second guide rails 34 move along the X axis, so as to drive the third sliding blocks 36 to move along the X axis, thereby driving the first fixing bases 52 to move along the X axis and adjusting the X axis coordinates of the first fixing bases 52;

the first cylinder 53 is fixed on the first fixing seat 52, and the piston rod is arranged along the Y axis;

The second fixing seat 54 is movably connected to the first fixing seat 52 along the Y axis and is fixed to a piston rod of the first cylinder 53;

the guide shaft 55 is fixed on the second fixing seat 54 and is arranged along the Z axis, wherein the first hook claw 51 movably penetrates through the guide shaft 55 along the Z axis;

The spring 56 is sleeved on the guide shaft 55, the top end of the spring abuts against the second fixing seat 54, and the bottom end of the spring abuts against the first hook claw 51. The spring 56 allows the first hook claw 51 to float in the Z-axis direction, and compresses the stroke at the preset stroke, ensuring that the battery module is put in place, not dropped into place.

Each of the second hooking portions 6 further includes:

the third fixing seat 62 is fixed at the center of the X-axis transfer guide rail 4;

a second cylinder 63 fixed to the third fixing base 62, and a piston rod disposed along the Y axis;

A fourth fixing base 64 movably connected to the third fixing base 62 along the Y axis and fixed to a piston rod of the second cylinder 63;

The third air cylinder 65 is fixed on the fourth fixing seat 64, and the piston rod faces downwards along the Z axis and is fixed on the second hook claw 61, and the piston rod can be compressed when the third air cylinder 65 is used, so that the second hook claw 61 floats in the Z axis direction, and the battery module is ensured to be placed in place.

A fifth fixing base 66 fixed to the third fixing base 62;

a fourth cylinder 67 fixed to the fifth fixed base 66, and a piston rod disposed along the Y axis;

and a steel belt pressing member 68 fixed to a piston rod of the fourth cylinder 67. At a preset position, the fourth cylinder 67 drives the steel belt pressing member 68 to press the steel belt 201 of the battery module, so as to prevent the deformation of the steel belt 201 caused by the upstream production process from affecting the second hook claw 61 to grasp the battery module 200.

The side pushing mechanism 7 includes:

a sixth fixing base 71 fixed to one side of the support frame 1;

a fifth cylinder 72 fixed to the sixth fixing base 71, and a piston rod disposed downward along the Z axis;

An insulating push plate 73 fixed to a piston rod of the fifth cylinder 72 and vertically arranged along the Z axis. For example, in one embodiment, the insulating pushing plate 73 is made of polyurethane, and is insulating, and meanwhile, has a certain buffering function due to the softer material, so as to avoid hard contact with the battery module 200.

The Z-axis coordinate of the insulating push plate 73 is adjusted by driving the insulating push plate 73 by the fifth cylinder 72.

The vision part 8 includes:

A visual bracket 81 fixed to the support frame 1;

And an industrial camera 82 fixed on the visual support 81 and having a lens arranged downward along the Z axis, wherein the industrial camera 82 is used for shooting the position coordinates of X, Y axes.

A light source 83 fixed to the visual support 81 and disposed downward along the Z-axis.

The detection device 9 is a laser ranging sensor. The detection device 9 is used for detecting the position coordinates in the Z-axis direction.

The specific application mode is as follows:

the supporting frame 1 is fixed on a robot, and the robot drives the clamp 100 to move.

The robot, the first cylinder 53, the second cylinder 63, the third cylinder 65, the fourth cylinder 67, the fifth cylinder 72, the first driving motor 21, the second driving motor 31, the industrial camera 82, the light source 83, and the detection device 9 are connected to a PLC, respectively, and are controlled by the PLC.

The working procedure is preset.

When the device works, the PLC controls the robot to drive the clamp 100 to translate to the position above the battery module 200 to be put into the box;

secondly, the PLC controls the industrial camera 82 to take a picture, detects the position of the diagonal bolt hole 202 of the battery module 200, and in other embodiments, other parts on the battery module 200 can be set as reference positions to determine the position of the battery module X, Y in the axial direction;

Thirdly, the PLC control detection device 9 detects the height distance between the first hook claw 51 and the battery module 200;

fourthly, the PLC controls the industrial camera 82 to scan codes on the battery module 200, reads product information of the battery module 200, and identifies the preset space between the first 203 and the second 204 positioning holes of the battery module 200;

(V) the PLC controls the first driving motor 21 and the second driving motor 31 to work according to the information of the products, automatically adjusts the interval between the first hooking claws 51 and the interval between the second hooking claws 61, and automatically changes the clamping size of the battery module 200 required by the automatic distance changing;

The PLC controls the robot to drive the whole fixture 100 to descend, and stops at the upper position of the set battery module 200 to be used as coarse positioning, and the first hook claw 51 is opposite to the first positioning hole 203;

then the PLC controls the piston rod of the fourth cylinder 67 to extend out, and drives the steel belt pressing piece 68 to press the steel belt 201 of the battery module;

the PLC controls the piston rod of the third air cylinder 65 to extend downwards so that the second hook claw 61 is opposite to the second positioning hole 204, then controls the piston rod of the second air cylinder 63 to retract so as to drive the second hook claw 61 to move oppositely to hook the second positioning hole 204, and after the second hook claw is in place, the PLC controls the robot to drive the clamp 100 to lift so as to lift the battery module 200 to a preset height, such as 20mm, so that the battery module 200 is kept horizontal;

Then the PLC controls the piston rod of the first cylinder 53 to extend out to drive the first hooking claw 51 to be hooked into the first positioning hole 203 of the battery module 200, and the battery module is firmly clasped by the six hooking claws at the moment to ensure the safety of the battery;

And (seventh), the PLC controls the robot to lift up with the battery module, translate to the upper part of the box body placement position, then controls the industrial camera 82 to photograph and detect whether the predetermined placement position has foreign matters, controls the detection device 9 to measure whether the size gap below the distance measurement is enough to place the battery module 200, if one battery module 200 is in the box body and has generated offset, and does not have enough space to place the second module, then the PLC controls the piston rod of the fifth air cylinder 72 to extend downwards, drives the insulation push plate 73 to descend, then controls the robot to drive the clamp 100 to move, pushes the first battery module 200 to the designated position by the push plate and then lifts back, controls the piston rod of the fifth air cylinder 72 to reset and retract, and controls the industrial camera 82 to photograph and re-judge until the second module can be safely placed in the box body.

The PLC controls the piston rod of the second cylinder 63 to extend out to drive the second hook claw 61 to move away from the second positioning hole 204, and the battery module 200 is firstly loosened;

then the piston rod of the first air cylinder 53 is controlled to retract to drive the first hook claw 51 to withdraw from the first positioning hole 203, and the battery module 200 is loosened, so that the battery module 200 can be placed in place;

And (nine) finally, the PLC controls the robot to lift with the clamp 100, and finally drives the clamp 100 and all mechanisms on the clamp 100 to return to the initial position.

And (ten) the PLC controls the robot to return to the original position with the clamp 100, and the subsequent grabbing operation is repeated.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the invention, and that equivalent modifications and variations of the invention in light of the spirit of the invention will be covered by the claims of the present invention.

Claims

1. A fixture of a square battery module is characterized by comprising:

a support frame;

The X-axis distance changing mechanism is connected with the supporting frame;

The side pushing mechanism is fixed on one side of the supporting frame;

a vision part fixed to the support frame and disposed downward;

The detection device is fixed on the support frame and used for detecting the distance between the first hook claw and the second hook claw and the battery module;

The X-axis distance changing mechanism comprises:

the first driving motor is fixed on the supporting frame;

the first adapter is provided with two;

The first driving motor drives the first transmission assembly to drive the two first adapter seats to synchronously move in opposite directions or in opposite directions along the X axis;

The first transmission assembly includes:

a first belt wheel fixed on an output shaft of the first driving motor;

The second belt wheel is fixed on the first positive and negative screw rod;

A first belt connected to the first pulley and the second pulley;

the first right-handed nut is connected with the right-handed external thread part of the first positive and negative tooth screw rod and is fixedly connected with the other first adapter seat;

the Y-axis distance changing mechanism comprises:

the second driving motor is fixed on the supporting frame;

The second guide rails are two and are arranged along the Y axis, each second guide rail is respectively and slidably connected with two second sliding blocks which are symmetrically arranged, and the four second sliding blocks are arranged in a rectangular shape; each second guide rail is also fixedly connected with two first sliding blocks, and the second guide rails are also fixedly connected with the first adapter in a one-to-one correspondence manner;

The second driving motor drives the second transmission assembly to drive the two second adapter seats to synchronously move in opposite directions or in opposite directions along the Y axis;

each of the second hooking portions further includes:

the third fixing seat is fixed at the center of the X-axis transfer guide rail;

the fifth fixing seat is fixed on the third fixing seat;

2. The fixture of a prismatic battery module according to claim 1, wherein each of said first hooking portions further comprises:

3. The fixture of a prismatic battery module according to claim 1, wherein said side pushing mechanism comprises:

the sixth fixing seat is fixed on one side of the supporting frame;

4. The fixture of a prismatic battery module according to claim 1, wherein the vision part comprises:

A visual support fixed to the support frame;

5. The fixture of square battery modules as set forth in claim 1, wherein the detecting device is a laser ranging sensor.