CN210150252U

CN210150252U - Self-adaptive clamp of battery module

Info

Publication number: CN210150252U
Application number: CN201920533815.4U
Authority: CN
Inventors: 刘作斌; 汤平; 涂广森; 欧兆锴; 黄国勇; 张飞
Original assignee: Fujian Nebula Electronics Co Ltd
Current assignee: Fujian Nebula Electronics Co Ltd
Priority date: 2019-04-18
Filing date: 2019-04-18
Publication date: 2020-03-17
Anticipated expiration: 2029-04-18

Abstract

The utility model provides a self-adaptive clamp of a battery module, which comprises a robot quick-change female head, a clamping jaw supporting seat and a clamping jaw group; female head of robot quick change can connect in with the clamping jaw supporting seat, clamping jaw group can connect in with sliding in the clamping jaw supporting seat. Will self-adaptation anchor clamps install on the robot, snatch, carry the in-process of battery module, through inciting somebody to action female head of robot quick change and clamping jaw supporting seat carry out sliding connection, cushion, absorb the vibrations in the robot handling to reach flexible connection, improve the stationarity of snatching or handling, and can prevent that original rigid connection from having the risk of shaking bad spare part, thereby improve the security.

Description

Self-adaptive clamp of battery module

[ technical field ] A method for producing a semiconductor device

The utility model relates to a new energy automobile, electric bicycle or electric motorcycle car's battery equipment technical field, especially a self-adaptation anchor clamps of battery module.

[ background of the invention ]

In the field of new energy automobiles, electric bicycles or electric motorcycles, a battery pack assembled by battery modules is used as new energy power. In a battery pack distribution line, it is necessary to carry battery modules to a battery pack case. At present often use semi-automatization frock, use the frock by the manual work and snatch, press from both sides tightly, lift by crane, action such as translation, this kind of mode through manual work use frock has inefficiency, dangerous height and the poor shortcoming of precision.

Therefore, chinese patent application No. 201710366093.3, publication No. 106981678a, announcement day 2017.07.25 specifically disclose a tongs anchor clamps for power battery module case, including the female head of robot quick change, backup pad, first drive actuating cylinder, second drive actuating cylinder and size detection board etc. and can adopt industrial robot cooperation tongs anchor clamps to snatch the module to work efficiency has been improved, has reduced danger, has improved work accuracy. However, there are also the following disadvantages: (1) the robot has self vibration during working, vibration or shaking is also generated during the grabbing and moving process, and the grabbing clamp and the robot are in non-flexible connection and cannot buffer or absorb the vibration, so that grabbing and placing actions are not stable enough, and grabbing risk is high; (2) the size detection plate is adopted for detection, so that the precision is not accurate enough, the recognition error of the grabbing module is large, and the precision is not high enough; (3) the hook is driven by the air cylinder, the adjusting range is small, the universality is low, the position adjusting precision is low, and the position of the hook is adjusted by readjusting the travel switch of the air cylinder aiming at different battery modules, so that the adjustment is inconvenient; (4) the clamp has the advantages of exposed wiring, large occupied space, non-compact structure and easy risk of loosening or hooking the cable of the clamp or the module due to hooking of the module or other workpieces in the use process.

[ Utility model ] content

For overcoming the defect that existing equipment exists, the utility model provides a self-adaptation anchor clamps of battery module has buffering, function of moving away to avoid possible earthquakes, and the position of clamping jaw can be adjusted, adapts to different modules, and application range is wide, and the regulation precision of clamping jaw is higher.

The utility model discloses a realize like this: a self-adaptive clamp of a battery module comprises a robot quick-change female head, a clamping jaw supporting seat and a clamping jaw set; female head of robot quick change can connect in with the clamping jaw supporting seat, clamping jaw group can connect in with sliding in the clamping jaw supporting seat.

Further, the quick-change female head of the robot can be connected to the clamping jaw supporting seat in a front-back sliding manner.

Further, the female head of robot quick change can also connect in the left and right side slip ground clamping jaw supporting seat.

Further, the device also comprises a first supporting plate and a second supporting plate; female head of robot quick change is installed on the first backup pad, first backup pad through first slider and first slide rail connect in the second backup pad, the second backup pad through second slider and second slide rail connect in the clamping jaw supporting seat.

The first sliding block and the first sliding rail are arranged between the first supporting plate and the second supporting plate in the front-back horizontal direction; the second sliding block and the second sliding rail are arranged between the first supporting plate and the second supporting plate in the left-right horizontal direction, and the second sliding block is fixedly connected to the clamping jaw supporting seat through the connecting piece.

Furthermore, at least one first buffer group is respectively arranged on the front side and the rear side of the first supporting plate, and the first supporting plate is flexibly connected with the second supporting plate through each first buffer group; the left side and the right side of the second supporting plate are respectively provided with at least one second buffer group, and the second supporting plate is flexibly connected with the clamping jaw supporting seat through every second buffer group.

Furthermore, each first buffer group comprises a first fixed seat, a first bolt and a first spring; first counter bores are formed in the front side and the rear side of the first supporting plate respectively, the first counter bores correspond to first bolts one by one, the first fixing seat is fixedly connected to the second supporting plate, the first bolts are connected to the first fixing seat through threads, the first bolts sequentially penetrate through the first fixing seat and the first springs and then extend into the first counter bores, and the first springs respectively abut against the first supporting plate and the first fixing seat;

each second buffer group comprises a second fixed seat, a second bolt and a second spring; second counter bores have been seted up respectively to both sides around the second backup pad, second counter bore and second bolt one-to-one, second fixing base fixed connection in on the clamping jaw supporting seat, the second bolt pass through threaded connection in the second fixing base, just the second bolt still passes in proper order stretch into behind second fixing base, the second spring in the second counter bore, the second spring supports respectively the second backup pad with the second fixing base.

Further, the device also comprises an air cylinder, a locking pin and a first bushing; the first bushing is mounted on the clamping jaw supporting seat; the air cylinder is arranged on the first supporting plate, and a piston rod of the air cylinder penetrates through the first supporting plate and vertically faces downwards; the locking pin is vertically installed on the piston rod of the cylinder, and the locking pin stretches into the inner hole of the first bushing after extending out of the piston rod of the cylinder.

Further, the clamping jaw set comprises a first clamping jaw module, a second clamping jaw module and a sensor for detecting whether the battery module exists or not and the clamping height; the first clamping jaw module and the second clamping jaw module are respectively connected to the bottom surface of the clamping jaw supporting seat in a sliding manner, and are arranged at intervals; the sensor is installed in the bottom surface of clamping jaw supporting seat.

Further, the first clamping jaw module comprises a first clamping jaw, a first driving motor, a first screw rod, a first nut, a first position sensor for detecting the distance between the first nut and the second nut, a second clamping jaw, a second driving motor, a second screw rod, a second nut, a third guide rail, a third slide block and a fourth slide block; the third guide rail is arranged on the bottom surface of the clamping jaw supporting seat; the first screw rod and the second screw rod are parallel and can be rotatably erected on the bottom surface of the clamping jaw supporting seat, and the first screw rod is parallel to the third guide rail; the first screw rod is connected to an output shaft of the first driving motor through a belt and a belt wheel; the second screw rod is connected to an output shaft of the second driving motor through a belt and a belt wheel, and the first driving motor and the second driving motor are installed on the clamping jaw supporting seat; the first nut is connected to the first screw rod, the first nut is connected to the third guide rail through the third sliding block, the first clamping jaw is fixedly connected to the first nut, and the first position sensor is fixedly connected to the first nut; the second nut is connected to the second screw rod, the second nut is connected to the third guide rail through the fourth sliding block, and the second clamping jaw is fixedly connected to the second nut;

the second clamping jaw module comprises a third clamping jaw, a fourth clamping jaw, a third driving motor, a third screw rod, a third nut, a fourth guide rail, a fifth sliding block and a sixth sliding block; the third screw rod comprises a first threaded part, a middle polished rod part and a second threaded part, the first threaded part and the second threaded part are symmetrically arranged in the middle polished rod part, and the threads of the first threaded part and the second threaded part are reversely arranged; the fourth guide rail is arranged on the bottom surface of the clamping jaw supporting seat; the third screw rod can be rotatably erected on the bottom surface of the clamping jaw supporting seat, the third screw rod, the fourth guide rail and the first screw rod are parallel to each other, the third screw rod is further connected to an output shaft of a third driving motor through a belt and a belt wheel, and the third driving motor is installed on the clamping jaw supporting seat; the third nut and the fourth nut are correspondingly connected to the first thread part and the second thread part respectively; the third nut is connected to the fourth guide rail through the fifth sliding block; the fourth nut is connected to the fourth guide rail through the sixth slider.

Further, the device also comprises a first flexible wiring module and a second flexible wiring module; the first flexible wiring module comprises a first hose, a second hose, a first clamping hook, a second clamping hook, a first supporting rod and a second supporting rod; the first support rod and the second support rod are respectively and fixedly arranged on the bottom surface of the clamping jaw support seat, and the first support rod, the second support rod and the first screw rod are arranged in parallel; the first hose is spirally arranged on the first supporting rod; the first nut is connected to the first support rod in a sliding mode through a first clamping hook, and a cable of the first position sensor penetrates into the first hose from a position where the first clamping hook is adjacent to the first hose and penetrates out of one port of the first hose; the second hose is spirally arranged on the second supporting rod; the second nut is connected to the second supporting rod in a sliding mode through a second clamping hook;

the second flexible wiring module comprises a third hose, a fourth hose, a third clamping hook, a fourth clamping hook, a third supporting rod and a fourth supporting rod; the third support rod and the fourth support rod are respectively and fixedly arranged on the bottom surface of the clamping jaw support seat, and the third support rod, the fourth support rod and the third screw rod are arranged in parallel; the third hose is spirally arranged on the third supporting rod; the third nut is connected to the third supporting rod in a sliding manner through a third clamping hook; the fourth hose is spirally arranged on the fourth supporting rod; the fourth nut is connected to the fourth supporting rod in a sliding mode through a fourth clamping hook.

The utility model has the advantages that: the utility model provides a self-adaptive clamp of a battery module, which comprises a robot quick-change female head, a clamping jaw supporting seat and a clamping jaw group; female head of robot quick change can connect in with the clamping jaw supporting seat, clamping jaw group can connect in with sliding in the clamping jaw supporting seat. Will self-adaptation anchor clamps install on the robot, snatch, carry the in-process of battery module, through inciting somebody to action female head of robot quick change and clamping jaw supporting seat carry out sliding connection, cushion, absorb the vibrations in the robot handling to reach flexible connection, improve the stationarity of snatching or handling, and can prevent that original rigid connection from having the risk of shaking bad spare part, thereby improve the security.

[ description of the drawings ]

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

Fig. 1 is a first perspective view of the adaptive clamp according to the present invention.

Fig. 2 is an exploded schematic view of the quick-change female head and the clamping jaw supporting seat of the robot.

Fig. 3 is a second perspective view of the adaptive clamp of the present invention.

Fig. 4 is a third perspective view of the adaptive clamp of the present invention.

Fig. 5 is an exploded schematic view of the vision module, the flange plate, the vision protecting cover, and the quick-change male head of the robot according to the embodiment of the present invention.

Fig. 6 is an exploded view of the connection between the adaptive clamp and the robot according to the present invention.

Fig. 7 shows an embodiment of a placement method of the adaptive clamp according to the present invention.

Fig. 8 is a perspective view of the placement device of the present invention.

Fig. 9 is a first embodiment of the battery module according to the present invention.

Fig. 10 shows a second embodiment of the battery module according to the present invention.

Fig. 11 is a partial schematic view of the cable of the present invention penetrating into the first hose.

In the figure: 100. an adaptive clamp, 1, a quick-change robot female head, 2, a clamping jaw supporting seat, 21, a first bushing, 211, an inner hole, 3, a clamping jaw group, 31, a first clamping jaw module, 311, a first clamping jaw, 3111, a third sliding block, 3112, a third guide rail, 3113, a fourth sliding block, 312, a first driving motor, 313, a first screw rod, 314, a first nut, 315, a first position sensor, 316, a second clamping jaw, 317, a second driving motor, 318, a second screw rod, 319, a second nut, 32, a second clamping jaw module, 321, a third clamping jaw, 322, a third nut, 323, a third screw rod, 3231, a first threaded part, 3232, a middle light rod part, 33, a second threaded part, 324, a third driving motor, 325, a fourth clamping jaw, 326, a fourth nut, 327, a fifth sliding block, 328, a sixth sliding block, a fourth guide rail, 33, a sensor, 34, a first flexible wiring module, 341. a first hose, 342, a first support rod, 343, a first hook, 344, a second hose, 345, a second support rod, 346, a second hook, 35, a second flexible wiring module, 351, a third hose, 352, a third support rod, 353, a third hook, 354, a fourth hose, 355, a fourth support rod, 356, a fourth hook, 4, a first support plate, 41, a first counter bore, 5, a second support plate, 51, a second counter bore, 6, a first slider, 7, a first slide rail, 8, a second slider, 9, a second slide rail, 10, a connector, 20, a first buffer group, 201, a first fixing seat, 202, a first bolt, 203, a first spring, 30, a second buffer group, 301, a second fixing seat, 302, a second bolt, 303, a second spring, 40, a second bushing, 50, a cylinder, 60, a locking pin, 70, a second position sensor, 80, a third position sensor, 90. the fourth position sensor, 200, another anchor clamps, 300, the robot, 3001, vision guard shield, 3002, the ring flange, 3003, vision module, 3004, quick change public head, 400, placer, 4001, spacing round pin axle, 4002, spacer, 4003, backup pad, 4004, support frame, 500, hoist and mount fixed pin, 600, battery module, 601, hole for hoist, 700, cable conductor.

[ detailed description ] embodiments

Referring to fig. 1 to 11, the present invention provides an adaptive fixture 100 for a battery module, which includes a robot quick-change female head 1, a clamping jaw support base 2 and a clamping jaw set 3; female head 1 of robot quick change can connect in with clamping jaw supporting seat 2, clamping jaw group 3 can connect in with sliding clamping jaw supporting seat 2. When using, will self-adaptation anchor clamps 100 pass through female head 1 of robot quick change install on the public head of quick change of the arm of robot, snatch, carry battery module 600's in-process, through with female head 1 of robot quick change and clamping jaw supporting seat 2 carry out sliding connection, cushion, absorb the vibrations in the robot handling to reach the flexonics, improve the stationarity of snatching or handling, and can prevent that original rigid connection from having the risk of bad vibrations spare part, thereby improve the security. The robot is an existing device, for example, with a model number of KUKAKR210R2700, and can be wired according to the instruction manual.

In a specific embodiment, the quick-change female robot head 1 can be connected to the clamping jaw supporting seat 2 in a front-back sliding manner, so that the vibration is absorbed in the front-back direction through the front-back sliding manner, the buffering is performed, and the stability and the safety in the grabbing or carrying process are improved.

In another embodiment, the female head of robot quick change 1 can connect in around sliding in the clamping jaw supporting seat 2, the female head of robot quick change 1 can also connect in sliding from left to right in the clamping jaw supporting seat 2, slide in the front and back direction and left and right sides direction through the female head of robot quick change 1 and cushion, the effect of moving away to avoid possible earthquakes compares and only slides in front and back or one direction about, and the effect is better.

In a specific embodiment, the device further comprises a first support plate 4 and a second support plate 5; female head 1 of robot quick change is installed on first backup pad 4, first backup pad 4 through first slider 6 and first slide rail 7 connect in second backup pad 5 to slide around realizing, second backup pad 5 through second slider 8 and second slide rail 9 connect in clamping jaw supporting seat 2, thereby realize the horizontal slip. Of course, the sliding manner is not limited to the sliding block and the sliding rail cooperating, for example, in other embodiments, the sliding block and the sliding groove may be connected, or other sliding manners may be used.

The connecting piece 10 is further included, the first sliding block 6 and the first sliding rail 7 are arranged between the first supporting plate 4 and the second supporting plate 5 in a front-back horizontal direction, for example, in the embodiment provided in the drawings, the first sliding block 6 is fixedly connected to the bottom surface of the first supporting plate 4, and the first sliding rail 7 is fixedly connected to the second supporting plate 5, although the positions of the first sliding block 6 and the first sliding rail 7 can be interchanged in other embodiments, or the first sliding block 6 and the first sliding rail 7 can be arranged on the side, as long as front-back sliding can be realized; the second slider 8 and the second slide rail 9 are arranged in the left-right horizontal direction between the first support plate 4 and the second support plate 5, and the second slider 8 is fixedly connected to the clamping jaw support seat 5 through the connecting piece 10. in the embodiment provided in the drawings, the connecting piece 10 is of an L shape, the connecting piece plays a role of fixedly connecting the second slider 8 and the clamping jaw support seat 5, the connecting piece can be designed into other shapes and is not limited to the embodiment provided in the drawings, the second slider 8 is not connected with the first support plate 4, the second slide rail 8 is fixedly arranged on the second support plate 5, so that the second slider 8 and the clamping jaw support seat 5 are kept static during left-right sliding, and the second slide rail 9 performs left-right sliding relative to the second slider 8, thereby realizing the buffer in the left-right direction, And (5) shock absorption function. The utility model discloses it will first slider 6, first slide rail 7, second slider 8, second slide rail 9 are arranged simultaneously between first backup pad 4 and second backup pad 5, are because arranging like this and can reduce the focus of the female first 1 relative clamping jaw supporting seat of robot quick change 5 to make and slide around the horizontal slip or cushion, when moving away to avoid possible earthquakes, can not reduce the risk that leans forward because the focus of the female first 1 of robot quick change is too high, thereby guarantee the stability of buffering, when moving away to avoid possible earthquakes. Of course, in other embodiments, the first slider 6, the first slide rail 7, the second slider 8, and the second slide rail 9 may be arranged in other manners, for example, the first slider 6 and the first slide rail 7 are arranged between the first support plate 4 and the second support plate 5, and the second slider 8 and the second slide rail 9 are arranged between the second support plate 5 and the jaw support base 2, but the center of gravity of the quick-change female robot head 1 may be higher than the embodiment provided in the drawings of the present invention, or may be arranged at the side. On the other hand, in the embodiment provided by the accompanying drawings, two first sliding blocks 6, two first sliding rails 7, two second sliding blocks 8, two second sliding rails 9 and two connecting pieces 10 are respectively arranged symmetrically, so that the movement is more stable and accurate.

At least one first buffer group 20 is respectively arranged on the front side and the rear side of the first support plate 4, the first support plate 4 is flexibly connected with the second support plate 5 through each first buffer group 20, and the front side and the rear side of the first support plate 4 are limited and buffered through the first buffer groups 20, so that the vibration in the process of grabbing or carrying the battery module 600 is absorbed, new impact in the buffering process is avoided, and the whole buffering process is flexible; similarly, the left and right sides of the second supporting plate 5 are respectively provided with at least one second buffer group 30, and the second supporting plate 5 is flexibly connected with the clamping jaw supporting seat 5 through every second buffer group 30, so that the sliding in the left and right directions is buffered, and the flexible operation of the whole left and right sliding is realized. In the embodiment provided in the drawings, the first buffer group 20 and the second buffer group 30 are two, and are arranged diagonally, so that the structure is more compact, and the volume of the second supporting plate 5 is not required to be increased.

Each first buffer group 20 comprises a first fixed seat 201, a first bolt 202 and a first spring 203; first counter bores 41 are respectively formed in the front side and the rear side of the first support plate 4, the first counter bores 41 correspond to first bolts 202 one by one, the first fixing seat 201 is fixedly connected to the second support plate 5, the first bolts 202 are connected to the first fixing seat 201 through threads, the first bolts 202 sequentially penetrate through the first fixing seat 201 and the first spring 203 and then extend into the first counter bores 41, and the first spring 203 respectively supports against the first support plate 4 and the first fixing seat 201 to play roles of buffering and resetting, so that the resetting after buffering is ensured, and the accuracy of movement is ensured;

each second buffer group 30 comprises a second fixed seat 301, a second bolt 302 and a second spring 303; second counter bore 51 has been seted up respectively to both sides around the second backup pad 5, second counter bore 51 and second bolt 302 one-to-one, second fixing base 301 fixed connection in on the clamping jaw supporting seat 2, second bolt 302 through threaded connection in second fixing base 301, just second bolt 302 still passes in proper order stretch into behind second fixing base 301, the second spring 303 in the second counter bore 51, second spring 303 supports respectively second backup pad 5 with second fixing base 301 plays buffering and reset action, guarantees the accuracy nature of motion. Of course, the first buffer group 20 and the second buffer group 30 may be replaced by other elastic materials, and only have to be able to perform buffering and resetting functions. The utility model discloses a combination of spring and bolt, firstly convenient for material collection, it is with low costs, convenient maintenance simultaneously, after the spring damages, only need the corresponding bolt of back of screwing out, change new spring can, easy maintenance, and the maintenance cost is low.

In another embodiment, further comprising a cylinder 50, a locking pin 60 and a first bushing 21; the first bushing 21 is mounted on the jaw support base 2; the air cylinder 50 is installed on the first support plate 4, and a piston rod of the air cylinder 50 penetrates through the first support plate 4 and vertically faces downwards; the locking pin 60 is vertically installed on the piston rod of the cylinder 50, so that the cylinder 50 drives the locking pin 60 to perform vertical telescopic motion, the cylinder 50 is only electrically connected to a control system of a robot, automatic control by the robot can be realized, and the locking pin 60 extends into the inner hole of the first bushing 21 after extending out along with the piston rod of the cylinder 50, so that the cylinder 50 drives the locking pin 60 to further limit and fix the first supporting plate 4 and the jaw supporting seat 2, and simultaneously plays a role of auxiliary support or hanging, so as to ensure the safety of the process of grabbing or carrying the battery module 600, because the motion of the arm of the robot may rotate or incline in the process of grabbing or carrying the battery module 600, at this time, the weight of the whole battery module 600 and the weight of the self-adaptive clamp are certainly inclined or rotated, the first buffer group 20 or the second buffer group 30 can only be supported by one side, so that uneven stress is easily caused, and the stress may exceed the elastic limit of the spring, thereby causing the risk of failure of the spring, therefore, the cylinder 50 drives the locking pin 60 to perform auxiliary limiting and supporting, and plays a role of auxiliary supporting or auxiliary hanging, thereby reducing the pressure or tension on the spring, ensuring the safety of the grabbing or carrying process, and prolonging the service life of the spring. The concrete using mode works as clamping jaw group 3 snatchs good battery module 600 back, and control system control cylinder 50 of robot makes cylinder 50's piston rod stretch out, and then drives drive locking pin 60 and insert the hole of first bush 21 will first backup pad 4 and clamping jaw supporting seat 5 carry on spacingly, when battery module 600 transport appointed place, clamping jaw group 3 unclamps behind the battery module 600, control system control cylinder 50 of robot, make cylinder 50's piston rod retract reset can, whole process realizes automatic control. Of course in other embodiments, also can directly be in set up spacing hole on the clamping jaw supporting seat with the locking pin 60 cooperates, and need not to install first bush 21, like this, use the easy wearing and tearing of spacing hole after a period of time, after wearing and tearing to certain degree spacing hole became invalid, can only change whole clamping jaw supporting seat 2, cost of maintenance is high like this, and the utility model discloses an increase first bush 21 can take place to wear out after becoming invalid at the hole of first bush 21, only need change first bush 21 can, cost of maintenance greatly reduced.

The clamping jaw group 3 comprises a first clamping jaw module 31, a second clamping jaw module 32 and a sensor 33 for detecting whether the battery module 600 exists or not and the clamping height; the first clamping jaw module 31 and the second clamping jaw module 32 are respectively connected to the bottom surface of the clamping jaw support base 5 in a sliding manner, so that the clamping jaw set 3 can grab battery modules 600 with different sizes, the application range is wide, and the first clamping jaw module 31 and the second clamping jaw module 32 are arranged at intervals; the sensor 33 is installed on the bottom surface of the jaw support base 2, and in a specific embodiment, the sensor 33 may be a photoelectric sensor. In a specific implementation, the sensor 33 is connected to and controlled by a control system of the robot, and the first clamping jaw module 31 and the second clamping jaw module 32 are also connected to and controlled by the control system of the robot, when the clamping jaw group 3 is butted and used for grabbing the battery module 600, the sensor 33 is used for detecting whether the battery module 600 exists or not and feeding a signal back to the control system of the robot, and when the battery module 600 does not exist, the arm of the robot does not move; when the battery module 600 is detected, the control system controls the arm of the robot to move according to a preset movement track, controls the first clamping jaw module 31 and the second clamping jaw module 32 to move according to a preset track for butt joint, detects the clamping height of the clamping jaw set 3 in real time through the sensor 33, indicates that the clamping is successful when the detected height is consistent with the preset height, moves the robot, carries the battery module 600 to a specified place, controls the first clamping jaw module 31 and the second clamping jaw module 32 to retreat from the clamping position after the battery module is in the specified place, controls the arm of the robot to be far away from the battery module 600, and controls the robot to carry the next battery module 600.

The first jaw module 31 includes a first jaw 311, a first driving motor 312, a first lead screw 313, a first nut 314, a first position sensor 315 for detecting a distance between the first nut 314 and the second nut, a second jaw 316, a second driving motor 317, a second lead screw 318, a second nut 319, a third guide rail 3112, a third slider 3111, and a fourth slider 3113; the third guide rail 3112 is mounted on the bottom surface of the jaw support base 2; the first screw rod 313 and the second screw rod 318 are parallel and can be rotatably erected on the bottom surface of the clamping jaw supporting seat 2, and the first screw rod 313 is parallel to the third guide rail 3112; in the embodiment provided in the drawings, the first lead screw 313 is connected to an output shaft of the first driving motor 312 through a belt and a pulley; the second screw 318 is connected to an output shaft of the second driving motor 317 through a belt and a belt pulley, the first driving motor 313 and the second driving motor 317 are mounted on the jaw support base 2, and in other embodiments, there may be other arrangement manners, which are used to respectively control the first jaw 311 and the second jaw 316 to move independently through the first driving motor 313 and the second driving motor 317, so as to adjust the positions of the first jaw 311 and the second jaw 316, and to achieve eccentric adjustment, and a wider adjustment range, thereby adapting to different battery modules 600; the first nut 314 is connected to the first screw rod 313, the first nut 314 is connected to the third guide rail 3112 through the third slider 3111, the first clamping jaw 311 is fixedly connected to the first nut 314, so that the first driving motor 312 drives the first screw rod 313 to move, and further drives the first nut 314 to rotate, and finally drives the first clamping jaw 311 to perform linear motion, so as to adjust the position of the first clamping jaw 311, and the first position sensor is fixedly connected to the first nut 314 and is used for detecting the direct distance between the first clamping jaw 311 and the second clamping jaw 316, so as to prevent the first clamping jaw 311 and the second clamping jaw 316 from colliding when approaching in opposite directions, thereby playing a safety protection role; the second nut 319 is connected to the second screw rod 318, the second nut 319 is connected to the third guide rail 3112 through the fourth slider 3113, and the second clamping jaw 316 is fixedly connected to the second nut 319, so that the second screw rod 318 is driven by the second driving motor 317 to move, the second nut 319 is driven to rotate, the second clamping jaw 316 is driven to perform linear motion, and the position of the second clamping jaw 316 is adjusted. The utility model discloses a carry out independent control separately with first clamping jaw 311 and second clamping jaw 316 for can realize the position eccentric adjustment, thereby increased the interval and the position control scope of two clamping jaws, and constitute screw-nut pair through first lead screw 313 and first nut 314, compare in adopting the cylinder to control, the utility model discloses an adjusting accuracy is higher, and is more accurate in the position control of snatching the process, makes to snatch more steady, safety, and on the same principle, second lead screw 318 and second nut 319 also have the same function. In a specific implementation, the position of the first clamping jaw 311 is detected by the second position sensor 70 of the ball screw nut pair composed of the first screw 311 and the first nut 314, the position of the second clamping jaw 316 is detected by the third position sensor 80 of the ball screw nut pair composed of the second screw 318 and the second nut 319, and the first driving motor 312, the second driving motor 317, the first screw 311 and the first nut 314, the second screw 318 and the first nut 319 can adopt the ball screw nut pair, which are all existing devices and can be purchased directly from the market, and detailed description is omitted. When in use, the first driving motor 311, the second driving motor 317, the first position sensor 315, the second position sensor 70 and the third position sensor 80 are respectively and electrically connected to a control system of the robot, and are controlled by the control system.

The second jaw module 32 comprises a third jaw 321, a fourth jaw 325, a third driving motor 324, a third screw 323, a third nut 322, a fourth nut 326, a fourth guide rail 329, a fifth slider 327 and a sixth slider 328; the third screw rod 323 comprises a first threaded part 3231, an intermediate polished rod part 3232 and a second threaded part 3233, the first threaded part 3231 and the second threaded part 3233 are symmetrically arranged with respect to the intermediate polished rod part 3232, and the threads of the first threaded part 3231 and the second threaded part 3233 are arranged in opposite directions, so that after the third driving motor 324 drives the third screw rod 323 to rotate, the third clamping jaw 321 and the third clamping jaw 325 move towards or away from each other synchronously, and position adjustment is realized; the fourth guide rail 327 is installed on the bottom surface of the jaw support base 5; the third screw rod 324 is rotatably erected on the bottom surface of the jaw support base 2, the third screw rod 323, the fourth guide rail 329 and the first screw rod 313 are parallel to each other, the third screw rod 323 is further connected to an output shaft of the third driving motor 324 through a belt and a belt wheel, and the third driving motor 324 is installed on the jaw support base 2; the third nut 322 and the fourth nut 326 are respectively and correspondingly connected to the first threaded portion 3231 and the second threaded portion 3233, in a preferred embodiment, the third nut 322 and the fourth nut 326 are symmetrically arranged, so as to ensure that the third jaw 321 and the fourth jaw 325 are also symmetrically arranged; the third nut 322 is connected to the fourth rail 329 through the fifth slider 327; the fourth nut 326 is connected to the fourth rail 329 by the sixth slider 328. The third jaw 321 and the fourth jaw 325 use the fourth position sensor 90 matched with the ball screw nut pair to detect the position, and are electrically connected to the control system of the robot when in use. In the embodiment provided in the drawings, the first clamping jaw 311, the second clamping jaw 316, the third clamping jaw 321 and the fourth clamping jaw 325 are respectively provided with a hoisting fixing pin 500 in a protruding manner, the lifting fixing pins 500 on the first clamping jaw 311 and the second clamping jaw 316 are symmetrically arranged on the side surfaces which are opposite to each other, the lifting and fixing pins 500 of the third clamping jaw 321 and the fourth clamping jaw 325 are also symmetrically arranged at the side surfaces of the third clamping jaw and the fourth clamping jaw which are opposite, the lifting fixing pins 500 of the first clamping jaw 311 and the third clamping jaw 321 are arranged in parallel in the same direction, the second jaw 316 and the fourth jaw 325 have their respective lifting and securing pins 500 arranged in parallel and in the same direction, when in use, the battery module 600 is provided with corresponding hoisting holes 601, the hoisting fixing pins 500 pass through the hoisting holes 601 from the inner side to the outer side, and then hoist battery module 600, this kind by inside outside hoist and mount fixed pin design for hoist and mount more firm, be difficult to drop. In other embodiments, the hoisting fixing pin 500 may not be provided, and the clamping jaw holding manner may be directly adopted, but since the battery module is formed by connecting a plurality of single batteries in series or in parallel and then adhering, the risk of clamping the battery module 600 may exist in the holding process.

Further comprises a first flexible trace module 34 and a second flexible trace module 35; the first flexible routing module 34 includes a first hose 341, a second hose 344, a first hook 343, a second hook 346, a first support rod 342, and a second support rod 345; the first support rod 342 and the second support rod 346 are respectively and fixedly installed on the bottom surface of the clamping jaw support base 2, and the first support rod 342, the second support rod 346 and the first screw rod 313 are arranged in parallel, so that the moving directions of the first clamping hook 343 and the second clamping hook 346 are ensured to be parallel to the first clamping jaw 311 and the second clamping jaw 316, and therefore, after wiring is ensured, electric wires cannot interfere; the first hose 341 is spirally mounted on the first supporting rod 346 and spirally arranged, so that after the cable is threaded into the first hose, the cable is pushed by the first hook 343, and when the cable in the first hose 341 moves along with the cable, the cable has enough margin to stretch or compress without being pulled apart, thereby generating interference, and the number of spirally wound turns of the first hose 341 can be set according to specific use requirements to ensure that the margin has enough length; the first nut 314 is slidably connected to the first supporting rod 342 through the first hook 343, and the cable of the first position sensor 315 is inserted into the first hose from a position where the first hook 343 is adjacent to the first hose 341, in a specific embodiment, a port is formed at a position where the first hook 343 is adjacent to the first hose 341 for inserting the cable, and the cable is extended out from a port of the first hose, so that the cable is wrapped in the first hose, and the cable exposed at a distance from the first position sensor 315 to the first hose 341 can be fixed on the first hook 343 by a cable tie or a wire clamp, so that during the movement of the first jaw 311, the first hose 341 and the cable inside thereof move in the same direction along with the first jaw 311, thereby ensuring that the cable does not interfere with the movement of the jaws, and cannot be pulled apart, and certainly during the wiring, cables of other electronic components can also penetrate into the first hose, so that the cables are not exposed outside to cause the risk of interference movement; similarly, the second flexible tube 344 is spirally mounted on the second support rod 345; the second nut 319 is slidably connected to the second support rod 345 through a second hook 346, so that a cable of an electronic component in the movement area of the second clamping jaw 316 can be inserted into the second hose 346, and the cable can be specifically arranged in a penetrating manner according to actual conditions;

the second flexible routing module 35 includes a third hose 351, a fourth hose 354, a third hook 353, a fourth hook 356, a third support bar 352 and a fourth support bar 355; the third support bar 352 and the fourth support bar 355 are respectively and fixedly mounted on the bottom surface of the clamping jaw support base 2, and the third support bar 352, the fourth support bar 353 and the third screw rod 323 are arranged in parallel; the third hose 351 is spirally mounted on the third supporting rod 352; the third nut 322 is slidably connected to the third support bar 352 through a third hook 353; the fourth flexible pipe 354 is spirally mounted on the fourth supporting rod 355; the fourth nut 326 is slidably connected to the fourth support rod 355 by a fourth hook 356. The second hose 344, the third hose 351 and the third hose 354 are used in the same manner and function as the first hose 341, and the description thereof will not be repeated, referring to the description of the first hose.

One embodiment is as follows: the self-adaptive clamp comprises a placing device 400, the placing device is used for placing the self-adaptive clamp 100, and simultaneously placing other clamps, such as another clamp 200 in the embodiment provided by the drawing, so that the clamps are placed together, and the robot can be conveniently butted and used; the placing device comprises a supporting plate 4003 and a supporting frame 4004, a limiting pin shaft 4001 and a supporting cushion block 4002 are arranged on the supporting plate 4003, a second bushing 40 matched with the limiting pin shaft 4001 is arranged at the bottom of a clamping jaw supporting seat 2 of the self-adaptive clamp 100, the self-adaptive clamp 100 is placed by penetrating the second bushing 40 through the limiting pin shaft 4001, and is supported by the supporting cushion block 4002 and fixedly installed on other objects through the supporting frame 4004. When the self-adaptive clamp is used, the robot is in butt joint with the self-adaptive clamp, and after the self-adaptive clamp is used, other clamps are in butt joint according to products, so that the moving stroke of the robot is shortened, and the working efficiency is improved;

still include vision module 3003, robot 300, install vision guard shield 3001 on robot 300's the arm, the ring flange 3002 that is connected with vision guard shield 3001, ring flange 3002 is connected in quick change public head 3004, vision module 3003 includes CCD vision detector and supporting bulb, these two also are existing equipment, directly purchase on the market can, vision module 3003 installs in vision guard shield 3001, and the camera lens is arranged downwards, robot and CCD vision detector are existing equipment, wherein the model of robot is KUKA KR210R 2700.

When the self-adaptive clamp is used, the first driving motor 311, the second driving motor 317, the third driving motor 324 and the sensor 33 of the self-adaptive clamp are respectively and electrically connected with a control system of the robot through a photoelectric sensor, a first position sensor 315, a second position sensor 70, a third position sensor 80, a fourth position sensor 90, the air cylinder 50, the CCD visual detector and the lamp bulb, and are controlled by the control system. When the self-adaptive clamp is used, a processing program is set in a control system of the robot, the control system controls the robot to move, the robot is connected with the quick-change female head 1 of the robot through the quick-change male head 3004, so that the self-adaptive clamp is connected well, then the control system controls the robot to move to the position above a battery module to be carried, when the sensor 33 detects that the battery module 600 is arranged below the self-adaptive clamp, the control system controls the arm of the robot to move, the position of the robot is adjusted, the first driving motor 311, the second driving motor 317 and the third driving motor 324 are controlled to rotate, so that the positions of the four clamping jaws are adjusted, then the robot is controlled to move downwards, the hoisting fixing pins 500 on the four clamping jaws are opposite to the hoisting holes 601 of the battery module 600, then the control system controls the first driving motor 311, the second driving motor 317 and the third driving motor 324 to rotate, so that the, thereby inserting the four hoisting fixing pins 500 into the hoisting holes 601 of the battery module 600, when the sensor 33 detects that the clamping height is consistent with the preset height, feeding back a signal to the control system to indicate that the hoisting is in place, then the control system controls the cylinder 50 to work, and inserts the locking pin 60 into the inner hole of the first bush 21 to assist the limiting support or the left and right suspension, thereby improving the safety, then the control system controls the robot to move to the target area, puts down the battery module 600, then controls the first driving motor 311, the second driving motor 317 and the third driving motor 324 to rotate, withdraws the hoisting fixing pins 500 from the hoisting holes 601, detects the high position and position adjustment precision of the self-adaptive clamp, the high position butt joint precision of the quick-change male head and the quick-change female head 1 of the robot through a visual detector, and detects the higher precision of the butt joint of the self-adaptive clamp 100 and the battery module compared with the precision of the detection plate and the battery module adopting the size in the, the precision of whole process of snatching is improved, guarantees to snatch and the stationarity and the security of transport, and the vibrations of whole process are passed through clamping jaw supporting seat 2 and are slided around or remove about and realize buffering and move away to avoid possible earthquakes to realize the buffering through first buffering group 20 and second buffering group 30 and reset, then continue the transport of next battery module. When another fixture 200 needs to be replaced, the control system controls the robot to place the adaptive fixture 100 on the placement device 400, and the robot for docking another fixture is capable of quickly replacing the female head through the quick-replacing male head 3004.

Although specific embodiments of the present invention have been described, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the claims appended hereto.

Claims

1. The utility model provides a self-adaptation anchor clamps of battery module, includes the female head of robot quick change, its characterized in that: the clamping jaw supporting seat and the clamping jaw group are further included; female head of robot quick change can connect in with the clamping jaw supporting seat, clamping jaw group can connect in with sliding in the clamping jaw supporting seat.

2. The adaptive clamp of a battery module according to claim 1, wherein: the quick-change female head of the robot can be connected to the clamping jaw supporting seat in a front-back sliding manner.

3. The adaptive clamp of a battery module according to claim 2, wherein: the quick-change female head of the robot can be connected to the clamping jaw supporting seat in a left-right sliding mode.

4. The adaptive clamp of a battery module according to claim 3, wherein: the device also comprises a first supporting plate and a second supporting plate; female head of robot quick change is installed on the first backup pad, first backup pad through first slider and first slide rail connect in the second backup pad, the second backup pad through second slider and second slide rail connect in the clamping jaw supporting seat.

5. The adaptive clamp of a battery module according to claim 4, wherein: the first sliding block and the first sliding rail are arranged between the first supporting plate and the second supporting plate in the front-back horizontal direction; the second sliding block and the second sliding rail are arranged between the first supporting plate and the second supporting plate in the left-right horizontal direction, and the second sliding block is fixedly connected to the clamping jaw supporting seat through the connecting piece.

6. The adaptive clamp of a battery module according to claim 5, wherein: at least one first buffer group is respectively arranged on the front side and the rear side of the first supporting plate, and the first supporting plate is flexibly connected with the second supporting plate through each first buffer group; the left side and the right side of the second supporting plate are respectively provided with at least one second buffer group, and the second supporting plate is flexibly connected with the clamping jaw supporting seat through every second buffer group.

7. The adaptive clamp of a battery module according to claim 6, wherein: each first buffer group comprises a first fixed seat, a first bolt and a first spring; first counter bores are formed in the front side and the rear side of the first supporting plate respectively, the first counter bores correspond to first bolts one by one, the first fixing seat is fixedly connected to the second supporting plate, the first bolts are connected to the first fixing seat through threads, the first bolts sequentially penetrate through the first fixing seat and the first springs and then extend into the first counter bores, and the first springs respectively abut against the first supporting plate and the first fixing seat;

8. The adaptive clamp of a battery module according to claim 4, wherein: the cylinder, the locking pin and the first bushing are further included; the first bushing is mounted on the clamping jaw supporting seat; the air cylinder is arranged on the first supporting plate, and a piston rod of the air cylinder penetrates through the first supporting plate and vertically faces downwards; the locking pin is vertically installed on the piston rod of the cylinder, and the locking pin stretches into the inner hole of the first bushing after extending out of the piston rod of the cylinder.

9. The adaptive clamp of a battery module according to claim 1, wherein: the clamping jaw set comprises a first clamping jaw module, a second clamping jaw module and a sensor for detecting whether a battery module exists or not and the clamping height; the first clamping jaw module and the second clamping jaw module are respectively connected to the bottom surface of the clamping jaw supporting seat in a sliding manner, and are arranged at intervals; the sensor is installed in the bottom surface of clamping jaw supporting seat.

10. The adaptive clamp of a battery module according to claim 9, wherein: the first clamping jaw module comprises a first clamping jaw, a first driving motor, a first screw rod, a first nut, a first position sensor for detecting the distance between the first nut and the second nut, a second clamping jaw, a second driving motor, a second screw rod, a second nut, a third guide rail, a third slide block and a fourth slide block; the third guide rail is arranged on the bottom surface of the clamping jaw supporting seat; the first screw rod and the second screw rod are parallel and can be rotatably erected on the bottom surface of the clamping jaw supporting seat, and the first screw rod is parallel to the third guide rail; the first screw rod is connected to an output shaft of the first driving motor through a belt and a belt wheel; the second screw rod is connected to an output shaft of the second driving motor through a belt and a belt wheel, and the first driving motor and the second driving motor are installed on the clamping jaw supporting seat; the first nut is connected to the first screw rod, the first nut is connected to the third guide rail through the third sliding block, the first clamping jaw is fixedly connected to the first nut, and the first position sensor is fixedly connected to the first nut; the second nut is connected to the second screw rod, the second nut is connected to the third guide rail through the fourth sliding block, and the second clamping jaw is fixedly connected to the second nut;

11. The adaptive clamp of a battery module according to claim 10, wherein: the flexible wiring module also comprises a first flexible wiring module and a second flexible wiring module; the first flexible wiring module comprises a first hose, a second hose, a first clamping hook, a second clamping hook, a first supporting rod and a second supporting rod; the first support rod and the second support rod are respectively and fixedly arranged on the bottom surface of the clamping jaw support seat, and the first support rod, the second support rod and the first screw rod are arranged in parallel; the first hose is spirally arranged on the first supporting rod; the first nut is connected to the first support rod in a sliding mode through a first clamping hook, and a cable of the first position sensor penetrates into the first hose from a position where the first clamping hook is adjacent to the first hose and penetrates out of one port of the first hose; the second hose is spirally arranged on the second supporting rod; the second nut is connected to the second supporting rod in a sliding mode through a second clamping hook;