CN115123810B - Battery module grabbing device - Google Patents
Battery module grabbing device Download PDFInfo
- Publication number
- CN115123810B CN115123810B CN202210699960.6A CN202210699960A CN115123810B CN 115123810 B CN115123810 B CN 115123810B CN 202210699960 A CN202210699960 A CN 202210699960A CN 115123810 B CN115123810 B CN 115123810B
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- battery module
- clamping
- mounting frame
- assembly
- width direction
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- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 230000000712 assembly Effects 0.000 claims abstract description 50
- 238000000429 assembly Methods 0.000 claims abstract description 50
- 239000010445 mica Substances 0.000 claims description 48
- 229910052618 mica group Inorganic materials 0.000 claims description 48
- 230000001105 regulatory effect Effects 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 2
- 239000003292 glue Substances 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 239000000306 component Substances 0.000 description 26
- 230000000694 effects Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000004964 aerogel Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/04—Construction or manufacture in general
- H01M10/0404—Machines for assembling batteries
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M2220/00—Batteries for particular applications
- H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The application belongs to the technical field of battery package and distribution, and relates to a battery module grabbing device, which comprises a length direction clamping jaw variable-pitch driving mechanism, a length direction clamping jaw and a width direction clamping bottom covering mechanism, wherein two length direction clamping jaws are arranged; the two clamping jaws in the length direction can clamp or unclamp two sides of the battery module in the length direction; the width direction clamping bottom covering mechanism comprises a first driving assembly, a width direction clamping assembly and bottom covering assemblies, wherein two width direction clamping assemblies are arranged, and the first driving assembly is used for driving the two width direction clamping assemblies to move oppositely or reversely along the Y-axis direction so as to clamp or loosen two sides of the battery module in the width direction. The battery module grabbing device solves the problem that the battery module cannot return to the specified length size due to the fact that glue between the electric cores cannot rebound to the original size after clamping jaws at two ends are loosened in the prior art, and has little influence on a subsequent series of processes.
Description
Technical Field
The application belongs to the technical field of battery pack assembly and relates to a battery module grabbing device.
Background
Along with the strong support of the country to the new energy industry, the development of new energy automobiles is also vigorous. One of the core components of new energy automobiles is a battery PACK, namely PACK, which is commonly known in the art. Different PACKs are composed of different types of battery modules and battery boxes for accommodating the battery modules, and supports are arranged between the battery modules and are separated from each other, and the height of each support is generally 3/4 of the height of each battery module. How to smoothly place each battery module in the corresponding position in the battery box is a great difficulty in design.
In order to smoothly put the battery module into the battery box, the common practice is to design a set of unique clamping jaw structure according to the specific style of the battery module, and control the clamping jaw through manpower or a robot to realize that the battery module is put into the battery box. Although the battery modules are different in style, the shape is mostly cuboid-like. The clamping jaw structures made according to different types of battery modules are different, but the principles of the clamping jaw structures are different. The two most commonly used battery module box-in modes at present are as follows: the first mode is that four corresponding tensioning mechanisms are designed according to four pin holes above the battery module, when the battery module is grabbed, the tensioning mechanisms extend into the four pin holes of the battery module, tensioning is carried out after the battery module reaches a certain position, and the battery module is grabbed and placed into a battery box through tensioning force provided by the tensioning mechanisms; the second mode is that the two sides of the battery module are clamped in the length direction, the corresponding clamping mechanisms are designed in the length direction according to the specific end shape of the battery module, and the clamping force provided by an air cylinder or a motor and a ball screw is converted into friction force to grab the battery module and put the battery module into a battery box.
The current clamping jaw structure generally adopts one of the two modes to realize that the battery module is put into the battery box body. Both of these approaches have corresponding limitations and disadvantages. In the first way, the tension mode has a certain limitation, and can only be suitable for small battery modules with lighter mass. For some battery modules with larger length and width and heavier mass (more than 60 Kg), in this way, the four tensioning mechanisms cannot provide sufficient tensioning force. In the second mode, the clamping jaws are used for directly clamping the two sides of the battery module in the length direction, so that certain defects exist. Because, the battery module is generally left for a period of time before being placed in the battery box, the adhesive stuck in the middle of the battery module is completely cured. However, if the battery module is not allowed to stand or the glue between the battery modules is not completely cured before being placed into the battery box, the battery module is held up Chi Mozu by clamping the two ends of the battery module in the length direction, and this way is likely to shorten the whole length of the battery module due to too large clamping force (the length direction of the battery module is the stacking direction of the battery cells, the width direction of the battery module is the width direction of the battery cells), and the two ends of the clamping jaws cannot rebound to the original size due to the glue between the battery cells after being released, so that the battery module cannot return to the specified length size. Therefore, the subsequent series of processes can be greatly influenced, even the whole PACK is scrapped, and the product yield is reduced.
Content of the application
The technical problem to be solved by the application is as follows: the battery module grabbing device is provided for solving the problem that in the prior art, clamping jaws are directly used for clamping two sides of the length direction of a battery module, and after the clamping jaws at two ends are loosened, the battery module cannot return to the specified length size due to the fact that glue between electric cores cannot rebound to the original size.
In order to solve the technical problems, the embodiment of the application provides a battery module grabbing device, which comprises a length direction clamping jaw variable-pitch driving mechanism, a length direction clamping jaw and a width direction clamping bottom covering mechanism, wherein two length direction clamping jaws are arranged;
the length direction clamping jaw variable-distance driving mechanism is used for driving the two length direction clamping jaws to move along the X-axis direction so as to adjust the distance between the two length direction clamping jaws; the two clamping jaws in the length direction can clamp or unclamp two sides of the battery module in the length direction;
the width direction clamping bottom covering mechanism comprises a first driving assembly, a width direction clamping assembly and a bottom covering assembly, wherein two width direction clamping assemblies are arranged, and the first driving assembly is used for driving the two width direction clamping assemblies to move oppositely or oppositely along the Y-axis direction of a plane coordinate system so as to clamp or unclamp two sides of the battery module in the width direction; after the two width direction clamping assemblies are clamped on two sides of the battery module in the width direction, the bottom covering assembly can be switched from an initial state to a bottom covering state so as to support the bottom of the battery module; before the two width direction clamping assemblies loosen the two sides of the battery module in the width direction, the bottom covering assembly can return to the initial state from the bottom covering state so as to be separated from the battery module;
The clamping force of the two clamping jaws in the length direction on the battery module is smaller than the clamping force of the two clamping assemblies in the width direction on the battery module.
Optionally, the width direction clamping bottom covering mechanism further comprises a first mounting frame and a moving assembly, wherein the first driving assembly is mounted on the first mounting frame, and the moving assembly is connected to the first mounting frame in a sliding manner;
the two first driving assemblies are arranged, the two moving assemblies are arranged, each moving assembly is connected with one width direction clamping assembly, and each first driving assembly is used for driving the corresponding moving assembly to move so as to drive the width direction clamping assembly to move along the Y-axis direction.
Optionally, the first mounting frame includes first mounting frame first crossbeam, first mounting frame second crossbeam, first mounting frame first longeron and first mounting frame second longeron, first mounting frame first crossbeam is connected between the first end of first mounting frame first longeron and the first end of first mounting frame second longeron, first mounting frame second crossbeam is connected between the second end of first mounting frame first longeron and the second end of first mounting frame second longeron, remove subassembly sliding connection and be in on first mounting frame first longeron and the first mounting frame second longeron.
Optionally, the first mounting frame further comprises a first mounting frame third beam, and the first mounting frame third beam is connected between the middle part of the first mounting frame first longitudinal beam and the middle part of the first mounting frame second longitudinal beam;
the first driving assembly comprises a first motor and a first screw rod, the first screw rod comprises a first screw rod and a first screw rod nut, the first screw rod extends along the Y-axis direction, one end of the first screw rod is connected with an output shaft of the first motor, the other end of the first screw rod is rotatably supported on a third cross beam of the first mounting frame, and the first screw rod nut is fixed on the moving assembly;
the first motor drives the first screw rod to rotate so as to drive the first screw rod nut and the moving assembly to move.
Optionally, the width-direction clamping pocket bottom mechanism further includes a first wire gauge, the first mounting frame extends along the Y-axis direction, and the first wire gauge is connected between the moving assembly and the first mounting frame to guide the movement of the moving assembly relative to the first mounting frame along the Y-axis direction.
Optionally, two bottom covering assemblies are provided, each bottom covering assembly comprises a first air cylinder, a second air cylinder and a supporting plate, the first air cylinder is used for driving the supporting plate to move along the Y-axis direction, and the second air cylinder is used for driving the supporting plate to move up and down;
After the two width direction clamping assemblies are clamped on two sides of the width direction of the battery module, the second air cylinder drives the bearing plate to be lowered to be flush with the bottom of the battery module, the first air cylinder drives the bearing plate to be inserted into the bottom of the battery module, and the bottom covering assembly is switched from an initial state to a bottom covering state so as to support the bottom of the battery module; before the two width direction clamping assemblies loosen the two sides of the battery module in the width direction, the first air cylinder drives the bearing plate to be separated from the bottom of the battery module outwards, the second air cylinder drives the bearing plate to ascend and reset, and the bottom covering assembly returns to the initial state from the bottom covering state so as to be separated from the battery module.
Optionally, the bottom covering assembly further comprises a first connecting plate and a second wire gauge, the second wire gauge extends along the vertical direction, the first connecting plate is fixed on the supporting plate, and the second wire gauge is connected between the first connecting plate and the moving assembly so as to guide the supporting plate to move along the vertical direction relative to the moving assembly.
Optionally, the length direction clamping jaw distance changing driving mechanism comprises a second mounting frame, a second driving assembly and a moving assembly, wherein the second driving assembly is mounted on the second mounting frame, and the moving assembly is connected to the second mounting frame in a sliding manner;
The two second driving assemblies are arranged, the two moving assemblies are arranged, each moving assembly is connected with one clamping jaw in the length direction, and each second driving assembly is used for driving the corresponding moving assembly to move.
Optionally, the second mounting frame includes a second mounting frame first beam, a second mounting frame second beam, a second mounting frame middle beam assembly, a second mounting frame first stringer, and a second mounting frame second stringer, where the second mounting frame first beam is connected between a first end of the second mounting frame first stringer and a first end of the second mounting frame second stringer, the second mounting frame second beam is connected between a second end of the second mounting frame first stringer and a second end of the second mounting frame second stringer, the second mounting frame middle beam assembly is connected between a middle of the second mounting frame first stringer and a middle of the second mounting frame second stringer, and the motion assembly is slidably connected on the second mounting frame first stringer and the second mounting frame second stringer;
and a robot connecting flange for connecting the robot is arranged on the middle beam assembly of the second mounting frame.
Optionally, the second driving assembly comprises a second motor and a second screw rod, the second screw rod comprises a second screw rod and a second screw rod nut, the second screw rod extends along the X-axis direction, one end of the second screw rod is connected with an output shaft of the second motor, the other end of the second screw rod is rotatably supported on the middle beam assembly of the second mounting frame, and the second screw rod nut is fixed on the moving assembly;
the second motor drives the second screw rod to rotate so as to drive the second screw rod nut, the moving assembly and the clamping jaw in the length direction to move along the X-axis direction.
Optionally, the length direction clamping jaw includes clamping cylinder and clamping plate, clamping cylinder installs on the length direction clamping jaw displacement actuating mechanism, clamping cylinder is used for the drive the clamping plate removes along the X axis direction to make two the clamping plate of length direction clamping jaw can centre gripping or loosen the both sides of the length direction of battery module.
Optionally, the length direction clamping jaw further includes a locating pin, the locating pin is arranged at the bottom side of the clamping plate and faces the battery module, and when the clamping plates of the two length direction clamping jaws clamp the two sides of the length direction of the battery module, the locating pin is inserted into a lifting hole on an end plate of the length direction of the battery module so as to support the bottom of the battery module.
Optionally, the length direction clamping jaw further comprises a cylinder mounting seat, a cylinder connector, a second connecting plate and a third wire gauge, the clamping plate is fixed on the second connecting plate, the cylinder mounting seat is used for mounting a cylinder body of the clamping cylinder on the length direction clamping jaw variable-pitch driving mechanism, the cylinder connector is connected between the second connecting plate and a piston rod of the clamping cylinder, and the third wire gauge is connected between the length direction clamping jaw variable-pitch driving mechanism and the second connecting plate;
the clamping cylinder drives the second connecting plate and the clamping plate to synchronously move through the cylinder joint.
Optionally, the length direction clamping jaw further comprises a pressure regulating valve assembly for regulating the input air pressure of the clamping cylinder, and the pressure regulating valve assembly is connected between the clamping cylinder and an air source.
Optionally, the battery module grabbing device further comprises a mica plate bottom covering mechanism, and when the two clamping claws in the length direction are clamped on two sides of the battery module in the length direction, the mica plate bottom covering mechanism can support the bottom of the mica plate of the battery module.
Optionally, the mica plate bottom covering mechanism comprises a third cylinder, a fourth cylinder, a third connecting plate and a mica plate supporting plate, wherein the third connecting plate is connected between the third cylinder and the fourth cylinder;
The third cylinder is connected to the clamping jaw in the length direction and is used for driving the mica plate bearing plate to move up and down; the fourth cylinder is used for driving the mica plate bearing plate to move along the X-axis direction;
when the two clamping jaws in the length direction are clamped on two sides of the battery module in the length direction, the mica plate bearing plate is driven by the third cylinder to descend to be flush with the bottom of the battery module, and the mica plate bearing plate is driven by the fourth cylinder to be inserted into the bottom of the battery module to support the mica plate.
Optionally, the battery module grabbing device further comprises a visual assembly, wherein the visual assembly is used for addressing and positioning when the battery module grabs and addressing and positioning when the battery module is placed in the battery box body.
Optionally, the battery module grabbing device further comprises a length direction clamping jaw limiting assembly, and the length direction clamping jaw limiting assembly is used for limiting the maximum displacement of the length direction clamping jaw.
According to the battery module grabbing device, when grabbing the battery module, two length direction clamping jaws clamp two sides of the length direction of the battery module, and a width direction clamping assembly clamps two sides of the width direction of the battery module. After the two width direction clamping assemblies are clamped on two sides of the width direction of the battery module, the bottom covering assembly can be switched from an initial state to a bottom covering state so as to support the bottom of the battery module; before the two width direction clamping assemblies release the two sides of the battery module in the width direction, the bottom covering assembly can return to the initial state from the bottom covering state so as to be separated from the battery module. And the clamping force of the two clamping jaws in the length direction on the battery module is smaller than the clamping force of the clamping assemblies in the width direction on the battery module. Like this, when this battery module grabbing device snatched battery module, width direction clamp assembly played main clamping action, because battery module's width direction is the width direction of electric core, therefore, in width direction, the power that battery module can bear is bigger, and is less to battery module's size influence. The two clamping jaws in the length direction only need to slightly clamp the two sides of the battery module in the length direction. Therefore, the problem that the battery module cannot return to the specified length size due to the fact that glue between the battery cells cannot rebound to the original size after the clamping jaws at the two ends are loosened in the prior art is solved, the influence on a subsequent series of processes is small, and the product yield can be improved.
In addition, the bottom of the battery module is supported by the bottom covering component, so that the bottom covering effect can be guaranteed when the battery module falls under an unexpected state, and the safety is higher. In addition, the occurrence of the phenomenon of the ship bottom caused by overlong and overweight battery modules can be avoided through reliable connection of the bottom covering assembly.
In addition, the distance between the two length direction clamping jaws can be adjusted by the length direction clamping jaw distance-changing driving mechanism, the distance between the two width direction clamping assemblies can also be adjusted, and the grabbing compatibility of the same type of battery modules with different numbers of battery cores can be realized under the condition that parts are not replaced; for changing another type of battery module, under the condition that core parts are unchanged, compatibility can be realized only by changing the clamping jaw in the length direction and the clamping assembly in the width direction, and the universality is stronger. Can fully guarantee before snatching the battery module and battery module put into the battery box the state of battery module unanimous, battery module grabbing device only plays snatchs the transport effect, does not have other influences to the battery module.
Drawings
Fig. 1 is a perspective view of a battery module gripping apparatus according to an embodiment of the present application;
FIG. 2 is another view of FIG. 1;
Fig. 3 is a schematic view of a length direction clamping jaw variable-pitch driving mechanism of a battery module grabbing device according to an embodiment of the present disclosure;
FIG. 4 is another view of FIG. 3;
fig. 5 is a schematic view of a clamping jaw in a length direction of a battery module grabbing device according to an embodiment of the present disclosure;
fig. 6 is a schematic view of a width-direction clamping bottom covering mechanism of a battery module grabbing device according to an embodiment of the present disclosure;
fig. 7 is a schematic view of a bottom covering assembly of a battery module grabbing device according to an embodiment of the present disclosure;
fig. 8 is a schematic view of a mica plate bottom catch mechanism of a battery module grabbing device according to an embodiment of the present disclosure.
Reference numerals in the specification are as follows:
1. a length direction clamping jaw variable-pitch driving mechanism; 11. a second mounting frame; 111. a second mounting frame first beam; 112. a second mounting frame second cross member; 113. a second mounting frame intermediate beam assembly; 1131. a second mounting frame first intermediate beam; 1132. a second mounting frame second intermediate beam; 1133. a second mounting frame third intermediate beam; 114. a second mounting frame first stringer; 115. a second mounting frame second stringer; 116. a robot connecting flange; 12. a second drive assembly; 121. a second motor; 122. a second lead screw; 1221. a second screw rod; 1222. a second lead screw nut; 13. a motion assembly;
2. A lengthwise clamping jaw; 21. a clamping cylinder; 22. a clamping plate; 23. a positioning pin; 24. a cylinder mounting seat; 25. a cylinder joint; 26. a second connecting plate; 27. a third wire gauge; 28. a pressure regulating valve assembly;
3. a bottom clamping mechanism in the width direction; 31. a first drive assembly; 311. a first motor; 312. a first lead screw; 3121. a first screw rod; 3122. a first lead screw nut; 32. a widthwise clamping assembly; 321. a clamp arm; 33. a bottom covering assembly; 331. a first cylinder; 332. a second cylinder; 333. a bearing plate; 3331. a bearing surface; 334. a first connection plate; 335. a second wire gauge; 34. a first mounting frame; 341. a first mounting frame first cross member; 342. a first mounting frame second beam; 343. a first mounting frame first stringer; 344. a first mounting frame second stringer; 345. a first mounting frame third beam; 35. a moving assembly; 351. a movable bottom plate; 352. a nut seat; 36. wire gauge; 37. a first wire gauge; 38. reinforcing ribs;
4. a mica plate bottom covering mechanism; 41. a third cylinder; 42. a fourth cylinder; 43. a third connecting plate; 44. mica plate bearing plate;
5. a vision component;
6. and the clamping jaw limiting assembly is in the length direction.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the application more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The X-axis direction and the Y-axis direction of the planar coordinate system are shown with reference to fig. 1. The X-axis direction and the Y-axis direction of the planar coordinate system in fig. 2 to 8 also coincide with fig. 1.
Referring to fig. 1 to 8, the battery module grabbing device provided by the embodiment of the application includes a length direction clamping jaw distance changing driving mechanism 1, a length direction clamping jaw 2 and a width direction clamping pocket bottom mechanism 3, wherein two length direction clamping jaws 2 are arranged; the length direction clamping jaw variable-distance driving mechanism 1 is used for driving the two length direction clamping jaws 2 to move along the X-axis direction so as to adjust the distance between the two length direction clamping jaws 2; the two clamping jaws 2 in the length direction can clamp or unclamp two sides of the battery module in the length direction; the width direction clamping bottom covering mechanism 3 comprises a first driving component 31, a width direction clamping component 32 and a bottom covering component 33, wherein two width direction clamping components 32 are arranged, and the first driving component 31 is used for driving the two width direction clamping components 32 to move oppositely or reversely along the Y-axis direction so as to clamp or unclamp two sides of the battery module in the width direction; after the two widthwise clamping members 32 are clamped at both widthwise sides of the battery module, the bottom pocket member 33 can be switched from an initial state to a bottom pocket state to support the bottom of the battery module; before both the width direction clamping members 32 release both sides of the battery module in the width direction, the bottom pocket member 33 can be restored to the original state from the bottom pocket state to be separated from the battery module; the clamping force of the two clamping jaws 2 in the length direction on the battery module is smaller than the clamping force of the two clamping assemblies 32 in the width direction on the battery module.
The length direction of the battery module is the stacking direction of the battery cells (namely the thickness direction of the battery cells), the width direction of the battery module is the width direction of the battery cells, and a plurality of battery cells of the battery module are stacked along the thickness direction. The battery module can be divided into a single-row module or a double-row module, and the single-row module is provided with glue between each cell. The double-row modules are formed by dividing all the electric cores into two rows, and the two rows of electric cores are separated by a mica plate.
When the two width direction clamping assemblies 32 are clamped on two sides of the battery module in the width direction, the distance between the lowest point of the clamping area of the width direction clamping assemblies 32 and the top surface of the battery module is 1/4-1/2 of the height of the battery module, so that the width direction clamping assemblies 32 are prevented from interfering with a cross beam in the battery box when the battery module is placed in the battery box.
In one embodiment, referring to fig. 2, 6 and 7, the width-direction clamping bottom mechanism 3 further comprises a first mounting frame 34 and a moving assembly 35, wherein the first driving assembly 31 is mounted on the first mounting frame 34, and the moving assembly 35 is slidably connected on the first mounting frame 34; the two first driving assemblies 31 are provided, the two moving assemblies 35 are provided, each moving assembly 35 is connected with one width direction clamping assembly 32, and each first driving assembly 31 is used for driving the corresponding moving assembly 35 to move along the Y axis direction so as to drive the width direction clamping assembly 32 to move along the Y axis direction.
In an embodiment, referring to fig. 6, the first mounting frame 34 includes a first mounting frame first beam 341, a first mounting frame second beam 342, a first mounting frame first beam 343, and a first mounting frame second beam 344, the first mounting frame first beam 341 is connected between a first end of the first mounting frame first beam 343 and a first end of the first mounting frame second beam 344, the first mounting frame second beam 342 is connected between a second end of the first mounting frame first beam 343 and a second end of the first mounting frame second beam 344, and the moving assembly 35 is slidably connected on the first mounting frame first beam 343 and the first mounting frame second beam 344.
In an embodiment, referring to fig. 6, the first mounting frame 34 further includes a first mounting frame third cross member 345, and the first mounting frame third cross member 345 is connected between a middle portion of the first mounting frame first longitudinal member 343 and a middle portion of the first mounting frame second longitudinal member 344. The first mounting frame first beam 341, the first mounting frame second beam 342, and the first mounting frame third beam 345 extend in the X-axis direction, and the first mounting frame first longitudinal beam 343 and the first mounting frame second longitudinal beam 344 extend in the Y-axis direction.
In an embodiment, referring to fig. 6, the first driving assembly 31 includes a first motor 311 and a first screw rod 312, the first screw rod 312 includes a first screw rod 3121 and a first screw rod nut 3122, the first screw rod 3121 extends along the Y-axis direction, one end of the first screw rod 3121 is connected with the output shaft of the first motor 311, the other end of the first screw rod 3121 is rotatably supported on the first mounting frame third cross beam 345, and the first screw rod nut 3122 is fixed on the moving assembly 35; the first motor 311 drives the first screw 3121 to rotate, so as to drive the first screw nut 3122 and the moving component 35 to move.
The first motor 311 is a servo motor, the servo motor is used for providing driving force, the servo motor can follow-up and stop, and when the width dimension of the battery module is changed, the compatibility can be realized without replacing the first driving component 31, so that the operation amount is reduced.
In an embodiment, referring to fig. 2 and 6, the moving assembly 35 includes a moving base plate 351, and a wire gauge 36 is connected between the moving base plate 351 and the first mounting frame 34. The wire gauge 36 extends in the Y-axis direction for guiding the movement of the moving assembly 35 relative to the first mounting frame 34 in the Y-axis direction.
In one embodiment, referring to fig. 6, the moving assembly 35 further includes a nut seat 352 fixed to the moving base plate 351, and the first lead screw nut 3122 is mounted on the nut seat 352.
In an embodiment, referring to fig. 2 and 6, the width-direction clamping bottom mechanism 3 further includes a first wire gauge 37, the first wire gauge 37 extends along the Y-axis direction, and the first wire gauge 37 is connected between the moving component 35 and the first mounting frame 34 to guide the movement of the moving component 35 relative to the first mounting frame 34 along the Y-axis direction. The first wire gauge 37 is located above the movable floor 351.
In one embodiment, referring to fig. 6, two bottom-holding assemblies 33 are provided, the bottom-holding assemblies 33 include a first cylinder 331, a second cylinder 332 and a supporting plate 333, the first cylinder 331 is used for driving the supporting plate 333 to move along the Y-axis direction, and the second cylinder 332 is used for driving the supporting plate 333 to move up and down; after the two width direction clamping members 32 are clamped at both sides of the width direction of the battery module, the second cylinder 332 drives the support plate 333 to descend to be flush with the bottom of the battery module, the first cylinder 331 drives the support plate 333 to be inserted into the bottom of the battery module, and the bottom covering member 33 is switched from an initial state to a bottom covering state to support the bottom of the battery module; before the two widthwise clamping assemblies 32 release the two widthwise sides of the battery module, the first cylinder 331 drives the support plate 333 to be separated from the bottom of the battery module, the second cylinder 332 drives the support plate 333 to be lifted and reset, and the bottom covering assembly 33 returns to the initial state from the bottom covering state to be separated from the battery module. Because the glue between the battery cells of the battery module is not completely cured, the battery module is too long and too heavy, and the ship bottom is easy to form. The bottom covering assembly 33 is mainly used for covering the bottom of the battery module when the battery module grabbing device is used for holding the battery module, so that the bottom of the battery module is always on the same plane, the ship-shaped bottom is avoided, and the bottom flatness of the battery module is ensured.
The clamping force of the widthwise clamping assembly 32 is sufficiently large to hold the battery module mainly against the clamping force of the widthwise clamping assembly 32 and the bottom of the positioning pin 23 described below. That is, the clamping force of the lengthwise clamping jaw 2 can be very slight, without causing the length of the battery module to be shortened.
When the battery module is held up and the battery module is put into the battery box, the holding plate 333 of the bottom holding assembly 33 is not extended or retracted yet, but the clamping of the battery module by the battery module gripping device on the four sides and the bottom holding effect of the positioning pins 23 described below are all present, and the gripping reliability of the battery module is high.
In an embodiment, referring to fig. 2 and 6, the width direction clamping assembly 32 has a clamping arm 321 extending along the X-axis direction and having a strip shape, the contact area between the clamping arm 321 and two sides of the battery module in the width direction is larger, the friction between the clamping arm 321 and the battery module is larger, and the friction of the clamping arm 321 is fully utilized to clamp and move the battery module. The clamp arm 321 is fixedly connected below the moving base plate 351. Specifically, referring to fig. 2, the clamp arm 321 is connected to the moving base 351 by a triangular reinforcing rib 38.
In one embodiment, referring to fig. 7, the portion of the support plate 333 connected to the battery module is provided with a stepped support surface 3331, and the support surface 3331 extends along the X-axis direction. The stepped bearing surface 3331 can wrap the two corners at the bottom of the battery module in the width direction well, so that a good bottom covering effect is achieved.
In an embodiment, referring to fig. 7, the bottom covering assembly 33 further includes a first connecting plate 334 and a second wire gauge 335, the second wire gauge 335 extends along a vertical direction, the first connecting plate 334 is fixed on the supporting plate 333, and the second wire gauge 335 is connected between the first connecting plate 334 and the moving assembly 35 to guide the movement of the supporting plate 333 relative to the moving assembly 35 along the vertical direction.
The second cylinders 332 are provided in two, and correspondingly the second wire gauges 335 are provided in two, so that the movement of the carrier plate 333 is more balanced.
The working principle of the width-direction clamping bottom covering mechanism 3 is as follows:
the first motor 311 converts a rotational motion into a linear motion through the first screw 312, drives the width direction clamping assembly 32 and the bottom pocket assembly 33 to move, and clamps the clamping arms 321 of the two width direction clamping assemblies 32 to both sides of the battery module in the width direction. Since the bottom is only realized after the battery module is held up, the bottom holding operation of the bottom holding assembly 33 needs to be performed by additional driving (i.e., the first cylinder 331 and the second cylinder 332). After the clamping arms 321 of the two widthwise clamping assemblies 32 clamp the two widthwise sides of the battery module, the second air cylinder 332 drives the support plate 333 to descend to be level with the bottom of the battery module, the first air cylinder 331 drives the support plate 333 to insert into the bottom of the battery module, and the bottom covering assembly 33 is switched from the initial state to the bottom covering state to support the bottom of the battery module (i.e. the support surface 3331 supports the bottom of the battery module); before the clamping arms 321 of the two clamping assemblies 32 in the width direction loosen the two sides of the battery module in the width direction in the process of placing the battery module into the electric box, the first air cylinder 331 drives the bearing plate 333 to be separated from the bottom of the battery module outwards, the second air cylinder 332 drives the bearing plate 333 to be lifted and reset, and the bottom covering assembly 33 returns to the initial state from the bottom covering state so as to be separated from the battery module. After the bottom covering member 33 is restored, the two width direction clamping members 32 are still clamped at both sides of the battery module in the width direction, and after the battery module is placed in the correct position of the battery case, the two width direction clamping members 32 are released.
In an embodiment, referring to fig. 3 and 4, the length direction jaw pitch drive mechanism 1 comprises a second mounting frame 11, a second driving assembly 12 and a moving assembly 13, wherein the second driving assembly 12 is mounted on the second mounting frame 11, and the moving assembly 13 is slidably connected on the second mounting frame 11; the number of the second driving assemblies 12 is two, the number of the moving assemblies 13 is two, each moving assembly 13 is connected with one clamping jaw 2 in the length direction, and each second driving assembly 12 is used for driving the corresponding moving assembly 13 to move.
In an embodiment, referring to fig. 3 and 4, the second mounting frame 11 includes a second mounting frame first beam 111, a second mounting frame second beam 112, a second mounting frame middle beam assembly 113, a second mounting frame first stringer 114, and a second mounting frame second stringer 115, the second mounting frame first beam connection 111 is between a first end of the second mounting frame first stringer 114 and a first end of the second mounting frame second stringer 115, the second mounting frame second beam 112 is connected between a second end of the second mounting frame first stringer 114 and a second end of the second mounting frame second stringer 115, the second mounting frame middle beam assembly 113 is connected between a middle of the second mounting frame first stringer 114 and a middle of the second mounting frame second stringer 115, and the motion assembly 13 is slidably connected to the second mounting frame first stringer 114 and the second mounting frame second stringer 115 through rails. The second mounting frame first beam 111, the second mounting frame second beam 112, and the second mounting frame intermediate beam assembly 113 extend in the Y-axis direction. The second mounting frame first side member 114 and the second mounting frame second side member 115 extend in the X-axis direction.
The second mounting frame middle beam assembly 113 is provided with a robot connecting flange 116 for connecting with a robot. The robot can carry the battery module grabbing device through the robot connecting flange 116 to practice the carrying of the battery module. That is, the battery module grasped by the battery module grasping device can be carried to the station where the battery box body is located, and the battery module is placed in the battery box body.
In an embodiment, referring to fig. 3 and 4, the second driving assembly 12 includes a second motor 121 and a second screw 122, the second screw 122 includes a second screw 1221 and a second screw nut 1222, the second screw 1221 extends along the X-axis direction, one end of the second screw 1221 is connected to the output shaft of the second motor 121, the other end of the second screw 1221 is rotatably supported on the second mounting frame middle beam assembly 113, and the second screw nut 1222 is fixed on the moving assembly 13. The second motor 121 drives the second screw rod 1221 to rotate, so as to drive the second screw nut 1222, the moving assembly 13, and the lengthwise clamping jaw 2 to move along the X-axis direction. The moving assembly 13 has a plate shape.
Specifically, referring to fig. 3, the second mounting frame intermediate beam assembly 113 has a second mounting frame first intermediate beam 1131, a second mounting frame second intermediate beam 1132, and a second mounting frame third intermediate beam 1133. The robot connecting flange 116 is connected to the second mounting frame first intermediate beam 1131, the second mounting frame second intermediate beam 1132 and the second mounting frame third intermediate beam 1133 are located at two sides of the second mounting frame first intermediate beam 1131 in the X-axis direction, one of the second lead screws 1221 is rotatably supported on the second mounting frame second intermediate beam 1132, and the other of the second lead screws 1221 is rotatably supported on the second mounting frame third intermediate beam 1133. The second motor 121 is a servo motor, and the servo motor is used for providing driving force, so that the servo motor can follow-up and stop, and the second driving assembly 12 can be not replaced to realize compatibility when the length and the size of the battery module are changed, so that the operation amount is reduced.
In an embodiment, referring to fig. 5, the longitudinal clamping jaw 2 includes a clamping cylinder 21 and a clamping plate 22, the clamping cylinder 21 is mounted on the moving component 13 of the longitudinal clamping jaw pitch-changing driving mechanism 1, and the clamping cylinder 21 is used for driving the clamping plate 22 to move along the X-axis direction, so that the clamping plates 22 of the two longitudinal clamping jaws 2 can clamp or unclamp two sides of the battery module in the longitudinal direction.
In an embodiment, referring to fig. 5, the longitudinal clamping jaw 2 further includes a positioning pin 23, where the positioning pin 23 is disposed at the bottom side of the clamping plate 22 and faces the battery module, and when the clamping plates 22 of the two longitudinal clamping jaws 2 are clamped at two sides of the battery module in the longitudinal direction, the positioning pin 23 is inserted into a lifting hole on the end plate of the battery module in the longitudinal direction so as to support the bottom of the battery module. Thus, the bottom pocket member 33 supports both sides of the bottom width direction of the battery module, and the positioning pins 23 support both sides of the bottom length direction of the battery module. The locating pin 23 and the bottom covering assembly 33 play a role in double insurance, so that the grabbing of the battery module is more stable and the safety is higher. Preferably, two positioning pins 23 are arranged on the clamping plate 22, and when one positioning pin 23 is adopted, the two positioning pins 23 can avoid the relative rotation of the positioning pin 23 and the end plate on the battery module, so that the bottom covering effect of the positioning pin 23 is improved.
In an embodiment, referring to fig. 5, the length direction clamping jaw 2 further includes a cylinder mounting seat 24, a cylinder connector 25, a second connecting plate 26, and a third wire gauge 27, the clamping plate 22 is fixed on the second connecting plate 26, the cylinder mounting seat 24 is used for mounting the cylinder body of the clamping cylinder 21 on the moving component 13 of the length direction clamping jaw pitch varying driving mechanism 1, the cylinder connector 25 is connected between the second connecting plate 26 and the piston rod of the clamping cylinder 21, and the third wire gauge 27 is connected between the moving component 13 of the length direction clamping jaw pitch varying driving mechanism 1 and the second connecting plate 26. The clamping cylinder 21 drives the second connecting plate 26 and the clamping plate 22 to move synchronously through the cylinder joint 25.
In an embodiment, referring to fig. 3, the longitudinal clamping jaw 2 further comprises a pressure regulating valve assembly 28 for regulating the input air pressure of the clamping cylinder 21, wherein the pressure regulating valve assembly 28 is connected between the clamping cylinder 21 and the air source through a pipeline. The pressure regulating valve assembly 28 is used for regulating the output force of the clamping cylinder 21. The problem that aerogel among electric cores after the battery module is loosened due to overlarge clamping force of the clamping jaw 2 in the length direction cannot rebound to the original size, and the length size of the battery module is changed to influence the subsequent process is avoided.
The working principle of the length direction clamping jaw variable-pitch driving mechanism 1 for driving the length direction clamping jaw 2 is as follows:
the second motor 121 converts the rotary motion into the linear motion through the second screw 122, the motion assembly 13 is driven to move, and when the motion assembly 13 moves to a preset position, the second motor 121 stops working, and at this time, the two clamping jaws 2 in the length direction are opposite to the two end plates in the length direction of the battery module. The clamping cylinder 21 moves to move the second connecting plate 26 back and forth (move in the X-axis direction) through the cylinder joint 25, and the clamping plate 22 moves back and forth as a result of the connection of the clamping plate 22 to the second connecting plate 26. When the clamping cylinder 21 moves to the retracted state, the clamping plate 22 contacts with the end plate in the length direction of the battery module to provide clamping force to clamp the two sides in the length direction of the battery module, and in order to avoid the change of the length dimension of the battery module caused by overlarge clamping force, a pressure regulating valve assembly 28 is designed to regulate the air inlet pressure so as to regulate the output force of the clamping cylinder 21, thereby controlling the clamping force. The positioning pins 23 are also moved along with the clamping plate 22 and inserted into the hanging holes of the end plates in the length direction of the battery module to pocket the battery module. Here, the length direction of the battery module is ensured to mainly depend on the positioning pin 23 to be inserted into the lifting hole on the end plate of the battery module to pocket the battery module, and the clamping force provided by the clamping plate 22 only plays an auxiliary role, so that the battery module is safer.
In an embodiment, referring to fig. 1, 2 and 8, the battery module grabbing device further includes a mica plate bottom covering mechanism 4, where the mica plate bottom covering mechanism 4 can support the bottom of the mica plate of the battery module when the two longitudinal clamping jaws 2 are clamped at two sides of the battery module in the longitudinal direction. When the battery module is a double-row module, namely, all the electric cores are divided into two rows, and the two rows of electric cores are separated by the mica plate. That is, the mica board bottom catch mechanism 4 is used to achieve a bottom catch for the intermediate mica boards of the double row module. Like this for battery module grabbing device of this application embodiment can snatch single row module and double module, and application scope is wider, and the commonality is stronger.
In an embodiment, referring to fig. 8, the mica board bottom covering mechanism 4 includes a third cylinder 41, a fourth cylinder 42, a third connection plate 43, and a mica board support plate 44, wherein the third connection plate 43 is connected between the third cylinder 41 and the fourth cylinder 42. The third cylinder 41 is connected to the longitudinal clamping jaw 2 and is positioned at one side of the longitudinal clamping jaw 2 away from the battery module, and is used for driving the mica board supporting plate 44 to move up and down; the fourth cylinder 42 is configured to drive the mica board support plate 44 to move in the X-axis direction. When the two clamping jaws 2 in the length direction are clamped on two sides of the battery module in the length direction, the third air cylinder 41 drives the mica plate supporting plate 44 to be lowered to be flush with the bottom of the battery module, and the fourth air cylinder 42 drives the mica plate supporting plate 44 to be inserted into the bottom of the battery module to support the mica plate. When the battery module (double-row module) does not pass through standing or the glue between the battery cells is still not completely solidified after standing, the mica plate between the two rows of battery cells is likely to slide down for a distance. The mica board bottom catch mechanism 4 can address the risk of the mica board slipping down.
However, the mica board bottom catch mechanism 4 may be eliminated when used for gripping only a single row of modules. The mica board bottom covering mechanism 4 is detachably connected to the lengthwise clamping jaw 2, so that the mica board bottom covering mechanism 4 can be removed when the double-row module is not required to be grabbed.
In an embodiment, referring to fig. 1, the battery module gripping device further comprises a vision component 5, wherein the vision component 5 is used for addressing and positioning when the battery module is gripped and addressing and positioning when the battery module is placed in the battery box body. For example, the vision assembly 5 includes a camera and a mounting bracket for mounting the camera.
In an embodiment, referring to fig. 1, the battery module gripping device further includes a lengthwise clamping jaw limiting assembly 6, and the lengthwise clamping jaw limiting assembly 6 is used for limiting the maximum displacement of the lengthwise clamping jaw 2. In general, when selecting the longitudinal direction gripper 2, the maximum displacement of the longitudinal direction gripper 2 (the maximum extension length of the clamping cylinder 21) is selected to be larger than the design value, but in practical use, the maximum displacement of the longitudinal direction gripper 2 is limited to the design value. Thus, the lengthwise jaw limit assembly 6 needs to be designed to limit the maximum displacement of the lengthwise jaw 2. Such a limiting means is of conventional design in the industry, for example by means of a cylinder.
At least one of the individual cylinders of the above embodiments may be replaced by a hydraulic cylinder or an electric cylinder.
The first screw 312 and the second screw 122 of the above embodiment may be common screws or ball screws. A common screw, i.e. a combination of screw and screw nut. Ball screw also adds balls between the screw and screw nut.
The individual wire gauges in the above embodiments may also be replaced by hard rails. Hard rail, i.e. the combination of guide rail and slider. The wire gauge is characterized in that balls are added between the guide rail and the sliding block.
When the battery module grabbing device of this application embodiment is applied to single row module, its theory of operation is as follows:
before the battery module is held up, the robot finds out characteristic points of the battery module according to addressing and positioning of the visual component 5, and the length direction clamping jaw variable-pitch driving mechanism 1 drives the two length direction clamping jaws 2 to clamp the two sides of the length direction of the battery module; meanwhile, the two width direction clamping assemblies 32 of the width direction clamping bottom holding mechanism 3 clamp the two sides of the width direction of the battery module, after the battery module grabbing device clamps the periphery of the battery module, the battery module is held up, then the bottom holding assembly 33 in the width direction clamping bottom holding mechanism 3 acts to hold the bottom of the battery module (support the bottom of the battery module), and the whole battery module holding process is completed. The robot holds the battery module tightly with the battery module grabbing device to arrive at a station where the battery box is located, before the battery module is placed into the battery box, the vision component 5 addresses and positions to find the corresponding position, the bottom covering component 33 in the bottom covering mechanism 3 is clamped in the width direction to be separated from the battery module, the robot slowly places the battery module into the battery box, after the battery module is placed in place, the length direction clamping jaw variable-pitch driving mechanism 1 drives the length direction clamping jaw 2 to loosen, meanwhile, the width direction clamping component 32 in the width direction clamping bottom covering mechanism 3 also loosens, and the battery module is successfully placed at the correct position of the battery box. Then, the robot returns to the initial state (the station where the battery module is grasped) with the battery module grasping device.
When the battery module grabbing device of this application embodiment is applied to double module, its theory of operation is as follows:
before the battery module is held up, the robot finds out characteristic points of the battery module according to addressing and positioning of the visual component 5, and the length direction clamping jaw variable-pitch driving mechanism 1 drives the two length direction clamping jaws 2 to clamp the two sides of the length direction of the battery module; meanwhile, the two width direction clamping assemblies 32 of the width direction clamping bottom holding mechanism 3 clamp the two sides of the width direction of the battery module, after the battery module grabbing device clamps the periphery of the battery module, the battery module is held up, then the bottom holding assembly 33 in the width direction clamping bottom holding mechanism 3 holds the bottom of the battery module (holds the bottom of the battery module), the mica plate bottom holding mechanism 4 acts to hold the mica plate in the middle of the double-row module (holds the bottom of the mica plate), and the whole battery module holding process is completed. The robot holds the battery module tightly with the battery module grabbing device to arrive at a station where the battery box is located, before the battery module is placed in the battery box, the vision component 5 addresses and positions to find out the corresponding position, the bottom holding component 33 in the bottom holding mechanism 3 is separated from the battery module, the mica plate bottom holding mechanism 4 is separated from the mica plate, the robot slowly places the battery module in the battery box, after the battery module is placed in place, the length direction clamping jaw variable-pitch driving mechanism 1 drives the length direction clamping jaw 2 to loosen, meanwhile, the width direction clamping component 32 in the bottom holding mechanism 3 is also loosened, and the battery module is successfully placed in the correct position of the battery box. Then, the robot returns to the initial state (the station where the battery module is grasped) with the battery module grasping device.
According to the battery module grabbing device of the embodiment of the application, when grabbing the battery module, two length direction clamping jaws 2 clamp the two sides of the length direction of the battery module, and the width direction clamping assemblies 32 clamp the two sides of the width direction of the battery module. After the two width direction clamping members 32 are clamped at both sides of the width direction of the battery module, the bottom covering member 33 can be switched from an initial state to a bottom covering state to support the bottom of the battery module; before the two widthwise clamping members 32 release the both sides of the battery module in the widthwise direction, the bottom pocket member 33 can be restored to the original state from the bottom pocket state to be separated from the battery module. And, the clamping force of the two length direction clamping jaws 2 to the battery module is smaller than the clamping force of the two width direction clamping assemblies 32 to the battery module. Like this, when this battery module grabbing device snatches the battery module, width direction clamp assembly 32 plays main clamping action, because the width direction of battery module is the width direction of electric core, therefore, in the width direction, the power that the battery module can bear is bigger, and is less to the size influence of battery module. The two clamping jaws 2 in the length direction only need to slightly clamp the two sides of the battery module in the length direction. Therefore, the problem that the battery module cannot return to the specified length size due to the fact that glue between the battery cells cannot rebound to the original size after the clamping jaws at the two ends are loosened in the prior art is solved, the influence on a subsequent series of processes is small, and the product yield can be improved.
In addition, the bottom of the battery module is supported by the bottom covering component 33, so that the bottom covering effect can be ensured when the battery module falls under an unexpected state, and the safety is higher. In addition, the occurrence of the ship-shaped bottom phenomenon caused by the excessively long and heavy battery module can be avoided by the reliable connection of the bottom covering assembly 33.
In addition, the length direction clamping jaw variable-pitch driving mechanism 1 can adjust the distance between the two length direction clamping jaws 2, the distance between the two width direction clamping assemblies can also be adjusted, and the grabbing compatibility of the same type of battery modules with different numbers of battery cores can be realized under the condition that parts are not replaced; for changing another type of battery module, under the unchangeable condition of this core spare part, only need change length direction clamping jaw and width direction clamping assembly and can realize compatibility, the commonality is stronger. Can fully guarantee before snatching the battery module and battery module put into the battery box the state of battery module unanimous, battery module grabbing device only plays snatchs the transport effect, does not have other influences to the battery module.
The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.
Claims (14)
1. The battery module grabbing device is characterized by comprising a length direction clamping jaw variable-pitch driving mechanism, a length direction clamping jaw and a width direction clamping bottom covering mechanism, wherein two length direction clamping jaws are arranged;
the length direction clamping jaw variable-distance driving mechanism is used for driving the two length direction clamping jaws to move along the X-axis direction of the plane coordinate system so as to adjust the distance between the two length direction clamping jaws; the two clamping jaws in the length direction can clamp or unclamp two sides of the battery module in the length direction;
the width direction clamping bottom covering mechanism comprises a first driving assembly, a width direction clamping assembly and a bottom covering assembly, wherein two width direction clamping assemblies are arranged, and the first driving assembly is used for driving the two width direction clamping assemblies to move oppositely or oppositely along the Y-axis direction of a plane coordinate system so as to clamp or unclamp two sides of the battery module in the width direction; after the two width direction clamping assemblies are clamped on two sides of the battery module in the width direction, the bottom covering assembly can be switched from an initial state to a bottom covering state so as to support the bottom of the battery module; before the two width direction clamping assemblies loosen the two sides of the battery module in the width direction, the bottom covering assembly can return to the initial state from the bottom covering state so as to be separated from the battery module;
The clamping force of the two clamping jaws in the length direction on the battery module is smaller than the clamping force of the clamping assemblies in the width direction on the battery module;
the clamping cylinder is arranged on the length direction clamping jaw distance-changing driving mechanism and is used for driving the clamping plates to move along the X-axis direction so that the two clamping plates of the two length direction clamping jaws can clamp or unclamp two sides of the length direction of the battery module;
the pressure regulating valve assembly is connected between the clamping cylinder and the air source;
the battery module grabbing device further comprises a mica plate bottom covering mechanism, and when the two clamping claws in the length direction are clamped on two sides of the battery module in the length direction, the mica plate bottom covering mechanism can be supported at the bottom of a mica plate of the battery module;
the mica plate bottom covering mechanism comprises a third cylinder, a fourth cylinder, a third connecting plate and a mica plate supporting plate, wherein the third connecting plate is connected between the third cylinder and the fourth cylinder;
the third cylinder is connected to the clamping jaw in the length direction and is used for driving the mica plate bearing plate to move up and down; the fourth cylinder is used for driving the mica plate bearing plate to move along the X-axis direction;
When the two clamping jaws in the length direction are clamped on two sides of the battery module in the length direction, the mica plate bearing plate is driven by the third cylinder to descend to be flush with the bottom of the battery module, and the mica plate bearing plate is driven by the fourth cylinder to be inserted into the bottom of the battery module to support the mica plate.
2. The battery module gripping apparatus according to claim 1, wherein the width direction clamping pocket bottom mechanism further comprises a first mounting frame on which the first driving assembly is mounted and a moving assembly slidably connected to the first mounting frame;
the two first driving assemblies are arranged, the two moving assemblies are arranged, each moving assembly is connected with one width direction clamping assembly, and each first driving assembly is used for driving the corresponding moving assembly to move so as to drive the width direction clamping assembly to move along the Y-axis direction.
3. The battery module grasping device according to claim 2, wherein the first mounting frame includes a first mounting frame first cross member, a first mounting frame second cross member, a first mounting frame first longitudinal member, and a first mounting frame second longitudinal member, the first mounting frame first cross member is connected between a first end of the first mounting frame first longitudinal member and a first end of the first mounting frame second longitudinal member, the first mounting frame second cross member is connected between a second end of the first mounting frame first longitudinal member and a second end of the first mounting frame second longitudinal member, and the moving assembly is slidably connected to the first mounting frame first longitudinal member and the first mounting frame second longitudinal member.
4. The battery module gripping apparatus according to claim 3, wherein the first mounting frame further includes a first mounting frame third cross member connected between a middle portion of the first mounting frame first side member and a middle portion of the first mounting frame second side member;
the first driving assembly comprises a first motor and a first screw rod, the first screw rod comprises a first screw rod and a first screw rod nut, the first screw rod extends along the Y-axis direction, one end of the first screw rod is connected with an output shaft of the first motor, the other end of the first screw rod is rotatably supported on a third cross beam of the first mounting frame, and the first screw rod nut is fixed on the moving assembly;
the first motor drives the first screw rod to rotate so as to drive the first screw rod nut and the moving assembly to move.
5. The battery module gripping apparatus according to claim 2, wherein the width-direction clamping pocket bottom mechanism further includes a first wire gauge extending in the Y-axis direction, the first wire gauge being connected between the moving assembly and the first mounting frame to guide movement of the moving assembly relative to the first mounting frame in the Y-axis direction.
6. The battery module grabbing device according to claim 2, wherein two bottom pocket assemblies are arranged, each bottom pocket assembly comprises a first air cylinder, a second air cylinder and a supporting plate, the first air cylinder is used for driving the supporting plate to move along the Y-axis direction, and the second air cylinder is used for driving the supporting plate to move up and down;
after the two width direction clamping assemblies are clamped on two sides of the width direction of the battery module, the second air cylinder drives the bearing plate to be lowered to be flush with the bottom of the battery module, the first air cylinder drives the bearing plate to be inserted into the bottom of the battery module, and the bottom covering assembly is switched from an initial state to a bottom covering state so as to support the bottom of the battery module; before the two width direction clamping assemblies loosen the two sides of the battery module in the width direction, the first air cylinder drives the bearing plate to be separated from the bottom of the battery module outwards, the second air cylinder drives the bearing plate to ascend and reset, and the bottom covering assembly returns to the initial state from the bottom covering state so as to be separated from the battery module.
7. The battery module gripping apparatus of claim 6, wherein the bottom covering assembly further comprises a first connecting plate and a second gauge extending in a vertical direction, the first connecting plate being fixed to the support plate, the second gauge being connected between the first connecting plate and the moving assembly to guide movement of the support plate relative to the moving assembly in the vertical direction.
8. The battery module gripping apparatus according to claim 1, wherein the lengthwise jaw pitch drive mechanism includes a second mounting frame, a second drive assembly mounted on the second mounting frame, and a moving assembly slidably connected to the second mounting frame;
the two second driving assemblies are arranged, the two moving assemblies are arranged, each moving assembly is connected with one clamping jaw in the length direction, and each second driving assembly is used for driving the corresponding moving assembly to move.
9. The battery module gripping apparatus of claim 8, wherein the second mounting frame includes a second mounting frame first cross member connected between a first end of the second mounting frame first cross member and a first end of the second mounting frame second cross member, a second mounting frame second cross member connected between a second end of the second mounting frame first cross member and a second end of the second mounting frame second cross member, a second mounting frame middle cross member assembly connected between a middle of the second mounting frame first cross member and a middle of the second mounting frame second cross member, and a second mounting frame first cross member connected to the second mounting frame first cross member and the second mounting frame second cross member;
And a robot connecting flange for connecting the robot is arranged on the middle beam assembly of the second mounting frame.
10. The battery module grabbing device according to claim 9, wherein the second driving assembly comprises a second motor and a second screw rod, the second screw rod comprises a second screw rod and a second screw rod nut, the second screw rod extends along the X-axis direction, one end of the second screw rod is connected with an output shaft of the second motor, the other end of the second screw rod is rotatably supported on the second mounting frame middle beam assembly, and the second screw rod nut is fixed on the moving assembly;
the second motor drives the second screw rod to rotate so as to drive the second screw rod nut, the moving assembly and the clamping jaw in the length direction to move along the X-axis direction.
11. The battery module gripping device according to claim 1, wherein the lengthwise clamping jaw further comprises a positioning pin, the positioning pin is disposed at the bottom side of the clamping plate and faces the battery module, and when the clamping plates of the two lengthwise clamping jaws are clamped at both sides of the lengthwise direction of the battery module, the positioning pin is inserted into a lifting hole in an end plate of the lengthwise direction of the battery module to support the bottom of the battery module.
12. The battery module gripping device according to claim 1, wherein the lengthwise clamping jaw further comprises a cylinder mount, a cylinder joint, a second connecting plate, and a third wire gauge, the clamping plate is fixed on the second connecting plate, the cylinder mount is used for mounting a cylinder body of the clamping cylinder on the lengthwise clamping jaw displacement driving mechanism, the cylinder joint is connected between the second connecting plate and a piston rod of the clamping cylinder, and the third wire gauge is connected between the lengthwise clamping jaw displacement driving mechanism and the second connecting plate;
the clamping cylinder drives the second connecting plate and the clamping plate to synchronously move through the cylinder joint.
13. The battery module gripping apparatus according to claim 1, further comprising a vision module for addressing positioning when the battery module is gripped and for addressing positioning when the battery module is placed in the battery case.
14. The battery module gripping apparatus of claim 1, further comprising a lengthwise jaw limit assembly for limiting a maximum displacement of the lengthwise jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210699960.6A CN115123810B (en) | 2022-06-20 | 2022-06-20 | Battery module grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210699960.6A CN115123810B (en) | 2022-06-20 | 2022-06-20 | Battery module grabbing device |
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| Publication Number | Publication Date |
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| CN115123810A CN115123810A (en) | 2022-09-30 |
| CN115123810B true CN115123810B (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210699960.6A Active CN115123810B (en) | 2022-06-20 | 2022-06-20 | Battery module grabbing device |
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| CN115847465A (en) * | 2022-12-12 | 2023-03-28 | 宁德思客琦智能装备有限公司 | Module side seam welding feeding and discharging gripper |
| CN115676370B (en) * | 2022-12-30 | 2023-04-25 | 江苏烽禾升智能科技有限公司 | Variable-pitch grabbing mechanism of battery module |
| CN117059871B (en) * | 2023-10-12 | 2024-03-29 | 宁德时代新能源科技股份有限公司 | Bottom covering device, grabbing equipment, production line and method for replacing type of bottom covering device |
| CN117049163B (en) * | 2023-10-13 | 2024-03-29 | 宁德时代新能源科技股份有限公司 | Grabbing device, grabbing equipment, battery production line and control method |
| CN117141818B (en) * | 2023-10-31 | 2024-02-27 | 江苏烽禾升智能科技有限公司 | Battery module reverse box-placing machine and use method thereof |
| CN117799934B (en) * | 2024-02-29 | 2024-05-31 | 江苏烽禾升智能科技有限公司 | Method, equipment and processing line for transferring box under PACK |
| CN118143999B (en) * | 2024-05-11 | 2024-07-26 | 宁波朗达科技有限公司 | Prefabricated member self-adaptive grabber and working method thereof |
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