Grabbing device, grabbing apparatus, battery production line and control method

Abstract

A grabbing device (1), a grabbing apparatus, a battery production line and a control method. The grabbing device (1) comprises a frame (11), a clamping plate mechanism (12), and a distance changing mechanism (13). The frame (11) is used for connecting to a mechanical arm; the clamping plate mechanism (12) comprises two clamping plate assemblies spaced apart from each other, and is used for clamping a plurality of battery cells (2); the distance changing mechanism (13) is arranged on the frame (11), and is separately in driving connection to the two clamping plate assemblies so as to adjust the distance between the two clamping plate assemblies; the two clamping plate assemblies are a reference clamping plate assembly (122) and a floating clamping plate assembly (121); the reference clamping plate assembly (122) can provide a clamping reference for the plurality of battery cells (2); the floating clamping plate assembly (121) can clamp each battery cell (2). The grabbing device (1), the grabbing apparatus, the battery production line and the control method can stably grab battery cells (2).

Description

Grabbing device, grabbing equipment, battery production line and control method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on the Chinese patent application with application number 202311323991.2, application date October 13, 2023, and invention name “A gripping device, gripping equipment, battery production line and control method”, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this disclosure as a reference. Technical Field

[0003] The present disclosure relates to the field of battery technology, and in particular to a gripping device, gripping equipment, a battery production line, and a control method. Background Art

[0004] New energy batteries are being used more and more widely in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also being increasingly used in energy storage fields.

[0005] To meet the needs of the rapidly developing battery industry, gripping devices for automatically loading battery cells play a key role in the fully automated manufacturing process. However, conventional gripping devices often struggle to maintain a stable grip on battery cells.

[0006] Summary of the Invention

[0007] In view of this, embodiments of the present disclosure are intended to provide a gripping mechanism, a gripping device, a battery production line, and a control method that can stably grip battery cells.

[0008] To achieve the above objectives, the present disclosure provides, in one aspect, a gripping device, comprising: a frame for connecting to a manipulator; a clamping mechanism comprising two spaced-apart clamping assemblies for clamping a plurality of battery cells; and a distance-changing mechanism, disposed on the frame and drivingly connected to the two clamping assemblies to adjust the distance between the two clamping assemblies.

[0009] The two clamping plate assemblies are divided into a reference clamping plate assembly and a floating clamping plate assembly. The reference clamping plate assembly can provide a clamping reference for the plurality of battery cells, and the floating clamping plate assembly can clamp each battery cell.

[0010] In the above technical solution, by setting up a frame and connecting it to the manipulator's mechanical arm, the frame can be driven to move and / or rotate to complete the subsequent loading operation. By setting up a reference clamp assembly and a floating clamp assembly, when grabbing a battery cell, the reference clamp assembly can provide a clamping reference for the battery cell, reduce the shaking of the battery cell, and improve the clamping stability. Then, in conjunction with the floating clamp assembly, it can flexibly clamp multiple battery cells to reduce damage to the battery cells. By setting up a variable distance mechanism that is respectively driven and connected to the floating clamp assembly and the reference clamp assembly, the distance between the floating clamp assembly and the reference clamp assembly and the battery cell can be adjusted simultaneously by driving the variable distance mechanism, thereby achieving the grabbing and releasing of the battery cell. On the one hand, it can apply a balanced and stable force to both sides of the battery cell, reducing the risk of the battery cell losing balance or slipping; on the other hand, the floating clamping plate assembly and the reference clamping plate assembly move simultaneously, which can speed up the grabbing and releasing of the battery cell and is highly efficient; on the other hand, by adjusting the distance between the floating clamping plate assembly and the reference clamping plate assembly through the variable distance mechanism, battery cells of different sizes can be grabbed, and it is infinitely compatible with battery cells of different sizes, with strong adaptability and versatility.

[0011] In some embodiments, the pitch changing mechanism includes: a pitch changing assembly, which is arranged on the frame; two first seat plates, which are spaced apart at both ends of the pitch changing assembly along the pitch changing direction, and the pitch changing assembly is respectively driven and connected to the two first seat plates to adjust the distance between the two first seat plates; and a clamping assembly, which is arranged on the first seat plate and driven and connected to the corresponding clamping plate assembly to adjust the distance between the two clamping plate assemblies.

[0012] In the above technical solution, when grabbing a battery, the variable distance assembly drives the two first seat plates toward each other, thereby driving the floating clamping plate assembly and the reference clamping plate assembly toward each other in the front-to-back direction toward the battery cell. After the floating clamping plate assembly and the reference clamping plate assembly have moved to a preset distance from the battery cell, the variable distance assembly stops, and the clamping assembly then adjusts the distance between the two clamping plate assemblies to clamp the battery cell. In other words, the variable distance assembly first moves the floating clamping plate assembly and the reference clamping plate assembly to a preset distance from the battery cell, and then uses the clamping assembly to adjust the floating clamping plate assembly and the reference clamping plate assembly to clamp the battery cell, ensuring consistent clamping force for battery cells of different sizes. On the one hand, by setting a preset distance, it means that regardless of the size of the battery cell, the same clamping quality and safety can be obtained, so as to reduce the damage or unsafe situation of the battery cell caused by insufficient clamping or excessive clamping; on the other hand, the operator does not need to frequently adjust the clamping force of the clamping assembly, which helps to simplify the operation process, improve operation efficiency and reduce the possibility of errors; on the other hand, by clamping the battery cell with the variable distance assembly and the clamping assembly, when clamping the same model of battery cells, the floating clamping plate assembly and the reference clamping plate assembly can be moved to the preset distance unchanged. Subsequently, only the clamping assembly needs to be adjusted, and there is no need to frequently adjust the variable distance assembly, which can reduce the maintenance cost of the variable distance assembly.

[0013] In some embodiments, the pitch changing assembly includes: a pitch changing motor, which is arranged on the frame; a pitch changing screw, which is driven and connected to the pitch changing screw; two screw nuts, which are respectively driven and connected to the pitch changing screw, and each of the screw nuts is connected to the corresponding first seat plate; a pitch changing rail, which is arranged on the frame; and a pitch changing slider, which is provided on each first seat plate or on each screw nut, and can slide in cooperation with the pitch changing rail under the drive of the screw nut.

[0014] In the above technical solution, through the coordination of the variable pitch lead screw and the lead screw nut, on the one hand, the threaded coordination method can make the variable pitch lead screw and the lead screw nut achieve a good match, reduce the gap and friction, and achieve high-precision movement of the floating clamp assembly and the reference clamp assembly; on the other hand, the coordination of the variable pitch lead screw and the rod nut has a high load capacity, can withstand large forces and torques, and has a strong load-bearing capacity. By driving the lead screw with a variable pitch motor, a high rotation accuracy can be achieved, thereby ensuring a high movement accuracy of the floating clamp assembly and the reference clamp assembly, and ensuring that the floating clamp assembly and the reference clamp assembly reach a preset distance from the battery cell. Through the coordination method of the variable pitch rail and the variable pitch slider, on the one hand, the variable pitch rail can provide a smooth and accurate movement path, and the variable pitch slider can slide easily within the variable pitch rail, making the entire movement process more precise and controllable; on the other hand, the variable pitch rail can provide additional support and stability, avoiding the variable pitch slider from shaking or sliding unsteadily during movement, and the movement is stable.

[0015] In some embodiments, there are two variable pitch slide rails, which are spaced apart on both sides of the frame along the variable pitch direction; two variable pitch sliders are spaced apart on each first seat plate, and each variable pitch slider slides in cooperation with the corresponding variable pitch slide rail.

[0016] In the above technical solution, variable pitch rails and variable pitch sliders are arranged on both sides along the front-to-back direction. In this way, on the one hand, vibration and impact can be reduced, ensuring that the first seat plate remains balanced and stable during movement, thereby improving the smoothness of movement; on the other hand, by arranging variable pitch rails and variable pitch sliders on both sides, the load capacity can be further improved and greater force and torque can be carried.

[0017] In some embodiments, the clamping assembly includes: a clamping drive assembly, which is arranged on the first seat plate; a clamping slide rail, which is arranged on the first seat plate; and a clamping slider, which is connected to the corresponding clamping plate assembly. The clamping drive assembly can drive the clamping slider to slide along the clamping slide rail to adjust the distance between the two clamping plate assemblies.

[0018] In the above technical solution, after the floating clamping plate assembly and the reference clamping plate assembly are adjusted to a preset distance from the battery cell through the variable distance assembly, the clamping drive assembly can be started to drive the clamping slider to slide in the clamping slide rail, so that the clamping plate assembly and the first seat plate can move relative to each other. In this way, the floating clamping plate assembly and the reference clamping plate assembly can clamp or release the battery cell.

[0019] By setting up a clamping drive assembly, the movement accuracy of the clamping plate assembly can be improved, thereby improving the control of the clamping force of the battery cell, reducing the possibility of falling, and also extending the service life of the variable pitch motor.

[0020] Through the combination of the clamping rail and the clamping slider, on the one hand, the clamping rail can provide a smooth and accurate moving path, and the clamping slider can slide easily in the clamping rail, making the entire moving process more precise and controllable; on the other hand, the clamping rail can provide additional support and stability, avoiding shaking or unstable sliding of the clamping slider during movement, and ensuring stable movement.

[0021] In some embodiments, the clamping drive assembly includes: a clamping cylinder, which is arranged on the first seat plate; a transmission slide, which is arranged on the first seat plate; a transmission slider, which is driven and connected to the clamping cylinder, and the transmission slider can slide in cooperation with the transmission slide under the drive of the clamping cylinder; a transmission assembly, which is connected to the transmission slider; and a transmission guide plate, which is arranged on the corresponding clamping plate assembly, and the transmission assembly can move in cooperation with the transmission guide plate to make the clamping slider slide along the clamping slide rail.

[0022] In the above technical solution, the clamping cylinder works to drive the transmission slider to slide in the transmission slide rail. Since the transmission slider is connected to the transmission assembly, it will drive the transmission assembly to move in the same direction, and the other end of the transmission assembly cooperates with the transmission guide plate, which is fixed on the clamping plate assembly. In this way, the transmission assembly and the transmission guide plate can be used to drive the clamping plate assembly to move through the clamping slider and the clamping slide rail to clamp or release the battery cell.

[0023] Here, by setting up a clamping cylinder, on the one hand, the clamping cylinder has a high clamping force and self-locking function, and can maintain the clamping state in sequence when the machine is shut down, thereby improving safety and reliability; on the other hand, the control of the clamping cylinder is relatively simple and can be achieved through devices such as solenoid valves or PLCs (Programmable Logic Controllers). For example, by adjusting the air supply and exhaust control signals of the clamping cylinder, the timing, force and clamping time of clamping or releasing can be accurately controlled.

[0024] The combination of the transmission rail and the transmission slider allows the rail to provide a smooth and accurate movement path, while the transmission slider slides easily within the rail, making the entire movement process more precise and controllable. Furthermore, the rail provides additional support and stability, preventing the transmission slider from shaking or sliding unsteadily during movement, ensuring stable movement. The clamping cylinder indirectly drives the clamping plate assembly through the coordination between the transmission assembly and the transmission guide plate, reducing impact and vibration to the clamping plate assembly and ensuring smoother movement.

[0025] In some embodiments, the transmission guide plate has an obliquely arranged elongated hole, and the transmission assembly includes: a transmission seat connected to the transmission slider, the clamping cylinder connected to the transmission seat; a transmission member connected to the transmission seat; and a transmission wheel connected to the transmission member, the transmission wheel is located in the elongated hole and can move in the elongated hole.

[0026] In the above technical solution, taking the clamping of battery cells as an example, the piston rod of the clamping cylinder extends, pushing the connecting part and driving the fixed part to move the transmission slider in the transmission slide rail. At this time, the transmission part located below the fixed part will also drive the transmission wheel to move in the extension direction of the long hole, and then drive the clamping plate assembly to move to clamp the battery cell.

[0027] By providing an inclined elongated hole in the transmission guide, which is fixedly mounted on the clamping plate assembly, and the clamping plate assembly and the first base plate above it are slidably engaged via a clamping rail and a clamping slider, when the transmission wheel moves in the elongated hole, the extension direction of the elongated hole is inclined relative to the extension direction of the clamping cylinder, causing the clamping plate assembly to move in the inclined direction to clamp or release the battery cell. By providing a transmission seat, transmission member, transmission wheel, and inclined elongated hole, the movement direction of the clamping cylinder can be changed to push the clamping plate assembly toward or away from the battery cell. This allows the layout of the clamping cylinder and other components to be changed, reducing the size of the gripping device.

[0028] In some embodiments, there are two transmission rails and two transmission sliders, the two transmission rails are spaced apart on the first seat plate, the extension direction of the transmission rail is perpendicular to the extension direction of the clamping rail, the two transmission sliders are spaced apart on the transmission seat, and each transmission slider slides in cooperation with the corresponding transmission rail; and / or,

[0029] The transmission member includes two vertical plates arranged at intervals, a horizontal plate connected between the two vertical plates, a transmission rod and a mounting nut. The transmission wheel is mounted on one end of the transmission rod, and the other end of the transmission rod is passed through the horizontal plate and is located between the two vertical plates. The mounting nut locks the transmission rod on the horizontal plate.

[0030] In the above technical solution, by setting two transmission rails and transmission sliders, on the one hand, vibration and impact can be reduced, ensuring that the transmission component remains balanced and stable during movement, thereby improving the smoothness of movement; on the other hand, the load capacity can be further improved, and it can carry greater force and torque.

[0031] The inclined elongated holes in the transmission assembly and transmission guide plates allow the transmission rail to extend perpendicularly to the clamping rail, allowing the clamping cylinders to be arranged in a horizontal direction. This reduces the front-to-back dimensions of the gripping device, resulting in a more compact structure. The two vertical plates separating the two vertical plates and the horizontal plate connecting them protect the transmission rod in this direction, extending its service life. Furthermore, the two vertical plates and the horizontal plate enhance the structural strength of the transmission rod in this direction, allowing it to withstand greater loads.

[0032] In some embodiments, there are four clamping drive assemblies, with two of them spaced apart on each first seat plate. In the above technical solution, by providing two clamping drive assemblies on each first seat plate, force can be applied to both sides of the clamping plate assembly in the left and right directions, making the clamping plate assembly move more smoothly and the clamping force applied to the battery cells more uniform. Furthermore, providing two clamping drive assemblies on each seat plate can further increase its load capacity, thereby improving the working capacity and reliability of the gripping device.

[0033] In some embodiments, the gripping device further includes: a plurality of travel limiters, each for limiting the travel of the corresponding clamping cylinder. In this technical solution, when the piston rod of the clamping cylinder extends and drives the transmission assembly to move, the travel limiters can resist the transmission assembly to prevent excessive movement of the transmission assembly and thereby excessive clamping force on the battery cell, thereby enhancing safety.

[0034] In some embodiments, the travel limiter includes a hydraulic buffer and / or a rigid limiter. In the above technical solution, the hydraulic limiter partially passes through the abutment member and is located on the side of the connecting portion away from the clamping cylinder in the left-right direction, while the rigid limiter partially passes through the abutment member and is located on the side of the transmission member away from the clamping cylinder in the left-right direction, thereby enhancing safety.

[0035] In some embodiments, the gripping device further comprises: a plurality of position detection mechanisms, each for detecting the position of the corresponding transmission slider. In the above technical solution, the position detection mechanism can ensure the safe detection of the battery cell clamping, which is highly safe.

[0036] In some embodiments, the position detection mechanism includes:

[0037] a plurality of first position sensors, spaced apart on the first seat plate, for detecting the position of the transmission slider; and

[0038] A sensing plate is provided on the transmission assembly or the transmission slider and is used for sensing the first position sensor.

[0039] In the above technical solution, the sensing plate can be installed on the transmission base or the transmission slider. Each transmission slider is provided with two first position sensors, which are spaced apart in the left-right direction on the side of the first base plate away from the battery cell in the front-to-back direction. Each first position sensor has a sensing slot. When the sensing plate moves into the sensing slot along with the transmission slider, the movement of the transmission slider is determined, and then the clamping force applied to the battery cell is determined. This prevents excessive clamping force on the battery cell caused by excessive movement, thereby improving safety.

[0040] In some embodiments, the first position sensor is divided into a loosening limit position sensor and a clamping limit position sensor;

[0041] The loosening limit position sensor is used to detect the maximum limit position of the transmission slider, and the clamping limit position sensor is used to detect the minimum limit position of the transmission slider.

[0042] In the above technical solution, the clamping limit position sensor and the release limit position sensor can be used to determine whether the clamping plate assembly is in a clamping state of clamping the battery cell and a release state of maintaining a preset distance from the battery cell, thereby realizing the clamping detection of the battery cell and avoiding the situation where the battery cell is not clamped and falls.

[0043] In some embodiments, the reference clamping plate assembly includes: a second seat plate, drivingly connected to the pitch changing mechanism; a first back plate, connected to the second seat plate; and a plurality of first clamping plates, installed side by side on the first back plate, fixed in position relative to the first back plate, for clamping the battery cells.

[0044] In the above technical solution, the first clamping plate is fixed relative to the first back plate, which can rigidly support the battery cell and reduce the shaking of the battery cell.

[0045] In some embodiments, the gripping device further includes: a plurality of battery cell sensors, spaced apart on the first back plate, for detecting the battery cells.

[0046] In the above technical solution, a plurality of battery cell sensors are provided to detect information such as the size, dimensions and position of the plurality of battery cells thereunder, so as to stably grasp the battery cells.

[0047] In some embodiments, the floating clamp assembly includes: a third seat plate, drivingly connected to the pitch changing mechanism; a second back plate, connected to the third seat plate; and a plurality of floating clamp kits, installed side by side on the second back plate, capable of moving relative to the second back plate in the pitch changing direction, for clamping the battery cells.

[0048] In the above technical solution, the variable pitch mechanism works by driving the third seat plate and driving the second back plate and multiple floating clamping plate kits to move along the variable pitch direction. After the floating clamping plate kit contacts the battery cell, the floating clamping plate kit can move relative to the second back plate along the variable pitch direction to further clamp the battery, with a good clamping effect.

[0049] In some embodiments, the floating clamp kit includes: a floating clamp for clamping the battery cell; a floating backplate, which is located on both sides of the second backplate respectively with the floating clamp; a connecting screw, which passes through the floating backplate and connects the floating clamp; an elastic member, which is located between the floating clamp and the second backplate; and a sleeve, which is located between the floating backplate and the second backplate.

[0050] In the above technical solution, an elastic member is provided between the floating clamping plate and the second back plate. After the variable pitch motor pushes the two clamping plate assemblies to a preset distance from the battery cell, the clamping cylinder is activated. When the clamping cylinder pushes the floating clamping plate assembly to move in the front-to-back direction toward the battery cell, the floating clamping plate will first contact the battery cell, and the floating clamping plate assembly will continue to move. At this time, the floating clamping plate cannot move further due to the obstruction of the battery cell, while the connecting screw and the second back plate and the floating back plate are movable. Therefore, the second back plate can continue to move to compress the elastic member between the second back plate and the floating clamping plate. The elastic member is compressed and stores elastic potential energy. When the sensing plate is located in the sensing groove of the clamping limit position sensor, the clamping cylinder stops. At this time, the elastic member recovers its deformation in the front-to-back direction. Due to the resistance of the second back plate from the rear, the elastic potential energy stored in the elastic member is converted into kinetic energy, which applies a force to the floating clamping plate in the front-to-back direction toward the battery cell. In this way, the battery cell can be flexibly clamped between the first clamping plate and the floating clamping plate under the action of the elastic member.

[0051] By providing a sleeve on the part of the connecting screw between the second back plate and the floating back plate, the elastic member between the second back plate and the floating clamping plate can maintain a certain pre-tightening force to reduce the shaking of the floating clamping plate when the battery cell is not clamped, and the stability is high.

[0052] In some embodiments, there are multiple second backplates, each of which is arranged side by side on the third base plate; each second backplate is provided with multiple floating clamping plate assemblies. In the above technical solution, the provision of multiple floating clamping plate assemblies and second backplates allows for simultaneous gripping and clamping of multiple battery cells, resulting in high efficiency.

[0053] In some embodiments, the third seat plate is provided with a plurality of mounting slots arranged side by side, the second back plate is provided with a mounting slide plate, the mounting slide plate is arranged in the mounting slots, and the mounting slide plate is fastened to the third seat plate; and / or,

[0054] The floating clamping plate assembly further includes a handle disposed on the second back plate.

[0055] In the above technical solution, the second back plate and the third seat plate can be moved in the front-to-back direction by sliding cooperation between the mounting slide and the mounting groove. On the one hand, when the floating splint kit and / or the second back plate need to be inspected or replaced, the second back plate can be pulled out in the front-to-back direction away from the battery cell direction by the mounting slide and the mounting groove. When the replacement or repair is completed, the second back plate can be pushed in in the front-to-back direction close to the battery cell direction by the mounting slide and the mounting groove. The installation and removal rate is high. On the other hand, the mounting groove can provide a smooth and accurate movement path, and the mounting slide can slide easily in the mounting groove, making the entire movement process more precise and controllable. On the other hand, the mounting groove can provide additional support and stability to prevent the mounting slide from shaking or sliding unsteadily during movement. When the floating splint kit needs to be repaired and replaced, the handle can provide a stable support point for the operator, thereby improving the efficiency of replacement and repair.

[0056] In some embodiments, the floating plates are configured such that each battery cell is clamped by at least two floating plates.

[0057] In the above technical solution, each battery cell is clamped by at least two floating clamping plates, which can avoid the situation where the battery cell is clamped unstable.

[0058] In some embodiments, the grasping device further includes: an anti-fall mechanism, disposed on the pitch-changing mechanism, having a first transverse position, a second transverse position, a third vertical position, and a fourth vertical position; the anti-fall mechanism is located at the first transverse position and the fourth vertical position, and is used to prevent the mounting bolts of the clamping plate assembly from falling; the anti-fall mechanism is located at the first transverse position and the third vertical position, and is used to press the foam used for the battery cell when grasping the battery cell;

[0059] The anti-falling mechanism is located at the second position in the horizontal direction and the fourth position in the vertical direction, and is used to prevent the battery cell from falling.

[0060] In the above technical solution, when the grasping device is in the initial state, the anti-fall mechanism thereon is located in the first horizontal position and the fourth vertical position. At this time, the anti-fall mechanism can press upward on the mounting bolt located below the receiving portion to prevent the mounting bolt from falling and causing the first clamping plate to shake. When the grasping device grasps the battery cell, the anti-fall mechanism thereon is located in the first horizontal position and the third vertical position. At this time, the anti-fall mechanism can press downward on the foam containing the battery cell to prevent the foam from being lifted up when grasping the battery cell. When the grasping mechanism grasps the battery cell for loading, the anti-fall mechanism thereon is located in the second horizontal position and the fourth vertical position. In this way, the battery cell can be supported from below to prevent the battery cell from falling.

[0061] In some embodiments, the anti-fall mechanism includes: a bottom support rod; and two transverse lifting assemblies, respectively provided at both ends of the pitch-changing mechanism, each of the transverse lifting assemblies being connected to one end of the bottom support rod; wherein the transverse lifting assemblies include:

[0062] A sliding seat; a transverse slide rail, disposed on the pitch-changing mechanism; a transverse slider, disposed on the sliding seat; a transverse cylinder, disposed on the sliding seat and drivingly connected to the transverse slide rail so that the transverse slider can slide in conjunction with the transverse slide rail;

[0063] A lifting cylinder is arranged on the sliding seat, and the lifting cylinder is driven and connected to the bottom support rod to enable the bottom support rod to move up and down; and two second position sensors are arranged on the sliding seat, respectively used to detect the lowest position and the highest position of the bottom support rod.

[0064] In the above technical solution, when the grasping device is in the initial state, the piston rod of the transverse cylinder extends and the piston rod of the lifting cylinder retracts, so that the bottom support rod is located in the first transverse position and the fourth vertical position respectively. At this time, the anti-fall mechanism can press the mounting bolt located below the receiving part upward to prevent the mounting bolt from falling and causing the first clamping plate to shake; when the grasping device grasps the battery cell, the piston rod of the transverse cylinder extends and the piston rod of the lifting cylinder extends, so that the bottom support rod is located in the first transverse position and the third vertical position respectively. At this time, the anti-fall mechanism can press the foam containing the battery cell downward to prevent the foam from being lifted up when grasping the battery cell; when the grasping mechanism grasps the battery cell for loading, the piston rod of the transverse cylinder retracts and the piston rod of the lifting cylinder retracts, so that the bottom support rod is located in the second transverse position and the fourth vertical position respectively. In this way, the battery cell can be supported from below to prevent the battery cell from falling.

[0065] By setting two second position sensors, the position of the bottom support rod can be determined, and the safety detection of the bottom support can be achieved, which is highly safe.

[0066] In some embodiments, the gripping device further includes: a correction device, disposed on the rack, for identifying the model, size, and position of the battery cell.

[0067] In the above technical solution, the battery cell can be inspected to obtain the model, size and position of the battery cell, which is convenient for subsequent positioning of the grasping device and accurate grasping of the battery cell.

[0068] On the other hand, an embodiment of the present disclosure provides a grasping device, including a manipulator and the grasping device in the above embodiment, wherein the manipulator is configured to drive the grasping device to rotate and / or move.

[0069] On the other hand, the embodiments of the present disclosure provide a battery production line, including a first conveyor line, a second conveyor line and the grasping device of the above embodiment, wherein the first conveyor line is used to convey battery cells to be grasped, and the grasping device is used to grasp the battery cells of the first conveyor line and place them on the second conveyor line.

[0070] On the other hand, an embodiment of the present disclosure provides a control method, which is applied to the grasping device in the above embodiment, and the control method includes: controlling the movement of the grasping device so that the clamping mechanism is located above the battery cell; obtaining parameter information of the battery cell; based on the parameter information of the battery cell, controlling the movement of the grasping device so that the clamping mechanism is aligned with the battery cell; based on the parameter information of the battery cell, controlling the movement of the variable distance mechanism so that the clamping mechanism clamps the battery cell.

[0071] In one embodiment, the step of obtaining the parameter information of the battery cell specifically includes: controlling a deviation correction device to obtain the parameter information of the battery cell.

[0072] In one embodiment, based on the parameter information of the battery cell, the step of controlling the movement of the distance-changing mechanism so that the clamping mechanism clamps the battery cell specifically includes: based on the parameter information of the battery cell, controlling the movement of the distance-changing component of the distance-changing mechanism so that the two clamping components of the clamping mechanism are at a first spacing; controlling the movement of the clamping component of the distance-changing mechanism so that the two clamping components are at a second spacing for clamping the battery cell, and the second spacing is smaller than the first spacing.

[0073] In one embodiment, after the step of controlling the movement of the variable distance mechanism based on the parameter information of the battery cell so that the clamping mechanism clamps the battery cell, the control method includes: controlling the movement of the grasping device so that the grasping device is at a safe height; controlling the movement of the anti-fall mechanism so that the anti-fall mechanism extends to the bottom of the battery cell; controlling the grasping device to move above the discharge position; controlling the movement of the anti-fall mechanism so that the anti-fall mechanism retracts to its original position; controlling the movement of the clamping mechanism to release the battery cell to the discharge position; and controlling the grasping device to move to a safe position to wait for a signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] FIG1 is a schematic structural diagram of a gripping device provided in one embodiment of the present disclosure;

[0075] FIG2 is a schematic diagram of the structure of FIG1 from another perspective;

[0076] FIG3 is a schematic structural diagram of the frame, pitch-changing assembly, and first seat plate in FIG1 ;

[0077] FIG4 is a schematic diagram of the structure of FIG1 from another perspective, wherein the frame is not shown;

[0078] FIG5 is a schematic structural diagram of the pitch-variable assembly in FIG1 ;

[0079] FIG6 is a schematic structural diagram of the clamping assembly in FIG1 , wherein the clamping assembly is located on the floating clamping plate assembly;

[0080] FIG7 is a schematic structural diagram of the transmission assembly and the transmission guide plate in FIG6 ;

[0081] FIG8 is a schematic structural diagram of the reference clamping plate assembly in FIG1 ;

[0082] FIG9 is a schematic structural diagram of the floating splint assembly in FIG1 ;

[0083] FIG10 is a schematic structural diagram of the anti-fall mechanism in FIG1 ;

[0084] FIG11 is a flow chart of a control method provided in an embodiment of the present disclosure.

[0085] DESCRIPTION OF REFERENCE NUMERALS: Grasping device 1; frame 11; connecting seat 111; mounting frame 112; clamping plate mechanism 12; floating clamping plate assembly 121; third seat plate 1211; mounting slide 12111; second back plate 1212; mounting slide plate 12121; floating clamping plate kit 1213; floating clamping plate 12131; floating back plate 12132; connecting screw 12133; elastic member 12134; sleeve 12135; handle 1214; reference clamping plate assembly 122; second seat plate 1221; first back plate 1222; mounting platform 12221; First clamping plate 1223; mounting portion 12231; receiving portion 12232; pitch-changing mechanism 13; pitch-changing assembly 131; pitch-changing motor 1311; pitch-changing lead screw 1312; lead screw nut 1313; pitch-changing slide rail 1314; pitch-changing slider 1315; mounting plate 1316; mounting seat 1317; first seat plate 132; clamping assembly 133; clamping drive assembly 1331; clamping cylinder 13311; transmission slide rail 13312; transmission slider 13313; transmission assembly 13314; transmission seat 133141; connecting portion 133141 a; clamping groove 133141a1; fixing portion 133141b; transmission member 133142; vertical plate 1331421; horizontal plate 1331422; transmission rod 1331423; mounting nut 1331424; transmission wheel 133143; transmission guide plate 13315; elongated hole 13315a; abutment member 13316; clamping rail 1332; clamping slider 1333; travel limit member 14; hydraulic buffer 141; rigid limit member 142; position detection mechanism 15; first position sensor 151; release limit position sensor Sensor 1512; clamping limit position sensor 1511; induction plate 152; battery cell sensor 16; anti-fall mechanism 17; bottom support rod 171; transverse lifting assembly 172; sliding seat 1721; first connecting member 17211; second connecting member 17212; third connecting member 17213; transverse slide rail 1722; transverse slider 1723; transverse cylinder 1724; mounting bracket 1724a; lifting cylinder 1725; second position sensor 1726; baffle plate 1727; correction device 18; connecting arm 19; battery cell 2. DETAILED DESCRIPTION

[0086] The following embodiments of the technical solution of the present disclosure are described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present disclosure and are therefore only examples and are not intended to limit the scope of protection of the present disclosure.

[0087] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this disclosure. The terms "including," "having," and any variations thereof in the specification of this disclosure and the accompanying drawings are intended to cover non-exclusive inclusions.

[0088] Currently, new energy batteries are increasingly being used in everyday life and industry. They are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but are also widely used in electric vehicles like electric bicycles, electric motorcycles, and electric cars, as well as in a variety of fields such as aerospace. As the application of power batteries continues to expand, market demand is also growing.

[0089] In the embodiments of the present disclosure, the battery may be a battery cell. A battery cell refers to a basic unit that can realize the mutual conversion of chemical energy and electrical energy, and can be used to make a battery module or battery pack, thereby being used to supply power to an electrical device. The battery cell may be a secondary battery, which refers to a battery cell that can be recharged to activate the active material after the battery cell is discharged and continue to be used. The battery cell may be a lithium-ion battery, a sodium-ion battery, a sodium-lithium-ion battery, a lithium metal battery, a sodium metal battery, a lithium-sulfur battery, a magnesium-ion battery, a nickel-metal hydride battery, a nickel-cadmium battery, a lead-acid battery, etc., and the embodiments of the present disclosure are not limited to this.

[0090] In the description of the embodiments of the present disclosure, technical terms such as "first," "second," and "third" are used solely to distinguish different objects and should not be understood to indicate or imply relative importance or to implicitly specify the quantity, specific order, or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0091] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0092] In the description of the embodiments of the present disclosure, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0093] In the description of the embodiments of the present disclosure, the orientations or positional relationships indicated by technical terms such as "left-right direction", "front-back direction", and "up-down direction" are based on the orientations or positional relationships shown in FIG1 , and "the two ends of the left-right direction" refer to the left and right ends, and "the two sides of the left-right direction" refer to the front and back ends. This is only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, it cannot be understood as a limitation on the embodiments of the present disclosure.

[0094] In the description of the embodiments of the present disclosure, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and can refer to internal connectivity between two components or interaction between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present disclosure based on specific circumstances.

[0095] In the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and can be direct contact, contact through an intermediate medium layer, contact with essentially no interaction force between the two contacting parties, or contact with interaction force between the two contacting parties.

[0096] A battery cell is the energy storage component of a battery. A battery cell can be a secondary battery, which is a battery cell that can be recharged to activate the active material after discharge and continue to be used.

[0097] The battery cell may be a lithium ion battery, a sodium ion battery, a sodium lithium ion battery, a lithium metal battery, a sodium metal battery, a lithium sulfur battery, a magnesium ion battery, a nickel metal hydride battery, a nickel cadmium battery, a lead storage battery, or the like.

[0098] The battery cell may be a cylindrical battery cell, a prismatic battery cell or a battery cell of other shapes. Prismatic battery cells include square-shell battery cells or polygonal prismatic battery cells, such as hexagonal prismatic battery cells, etc., which are not particularly limited in the present disclosure.

[0099] In the related art, when loading battery cells in large packages, the gripping device cannot ensure the gripping stability of the battery cells when gripping the battery cells.

[0100] In view of this, an embodiment of the present disclosure provides a gripping device 1, please refer to Figures 1 to 10, the gripping device 1 includes a frame 11, a clamping plate mechanism 12 and a distance-changing mechanism 13. The clamping plate mechanism 12 is used to connect to a manipulator. The clamping plate mechanism 12 includes two clamping plate assemblies arranged at intervals, which are used to clamp multiple battery cells 2. Only one battery cell 2 is illustrated in Figure 1. The distance-changing mechanism 13 is arranged on the frame 11, and is respectively driven and connected to the two clamping plate assemblies to adjust the distance between the two clamping plate assemblies.

[0101] The two clamping plate assemblies are divided into a reference clamping plate assembly 122 and a floating clamping plate assembly 121 . The reference clamping plate assembly 122 can provide a clamping reference for multiple battery cells 2 , and the floating clamping plate assembly 121 can clamp each battery cell 2 .

[0102] In the embodiment of the present disclosure, the frame 11 is configured as a component capable of providing support and installation positions for the clamping mechanism 12 and the pitch changing mechanism 13 .

[0103] In the embodiment of the present disclosure, the clamping mechanism 12 is configured as a member for clamping and releasing the battery cell 2 .

[0104] In the disclosed embodiment, the distance-changing mechanism 13 is configured to be able to drive the two clamping plate assemblies to move so as to adjust the distance between the two.

[0105] The disclosed embodiment provides a gripping device 1. By providing a frame 11 and connecting it to the manipulator arm, the frame 11 can be driven to move and / or rotate to complete subsequent loading operations. By providing a reference clamping plate assembly 122 and a floating clamping plate assembly 121, when gripping a battery cell 2, the reference clamping plate assembly 122 can provide a clamping reference for the battery cell 2, reducing the shaking of the battery cell 2 and improving the clamping stability. Then, in conjunction with the floating clamping plate assembly 121, multiple battery cells 2 can be flexibly clamped, reducing damage to the battery cells 2.

[0106] By providing a variable distance mechanism 13 that is driven and connected to the floating cleat assembly 121 and the reference cleat assembly 122, respectively, the variable distance mechanism 13 can be driven to simultaneously adjust the distance between the floating cleat assembly 121 and the reference cleat assembly 122 and the battery cell 2, thereby achieving the grasping and releasing of the battery cell 2. On the one hand, a balanced and stable force can be applied to both sides of the battery cell 2, reducing the risk of the battery cell 2 losing balance or slipping. On the other hand, the simultaneous movement of the floating cleat assembly 121 and the reference cleat assembly 122 can accelerate the grasping and releasing of the battery cell 2, improving efficiency. Furthermore, the variable distance mechanism 13 can adjust the distance between the floating cleat assembly 121 and the reference cleat assembly 122 to grasp battery cells 2 of different sizes, thus infinitely compatibly accommodating battery cells 2 of different sizes and having strong adaptability and versatility.

[0107] It should be noted that the battery cells 2 of different sizes refer to the battery cells 2 having different external dimensions. For example, the battery cells 2 having different external dimensions may refer to the battery cells 2 having different three-dimensional dimensions.

[0108] In some embodiments, referring to Figures 1 to 3 , the frame 11 includes a connecting base 111 and a mounting frame 112. The mounting frame 112 may have any shape. For example, the mounting frame 112 may be composed of multiple beams to roughly form a rectangular frame. The connecting base 111 is disposed above the mounting frame 112 for connection to the manipulator arm, and the pitch-changing mechanism 13 may be disposed below the mounting frame 112.

[0109] In some embodiments, referring to Figures 1, 2, and 4, the pitch-changing mechanism 13 includes a pitch-changing assembly 131, two first seat plates 132, and a clamping assembly 133. The pitch-changing assembly 131 is disposed on the frame 11. The two first seat plates 132 are spaced apart at both ends of the pitch-changing assembly 131 along the pitch-changing direction. The pitch-changing assembly 131 is drivenly connected to the two first seat plates 132 to adjust the distance between the two first seat plates 132. The clamping assembly 133 is disposed on the first seat plates 132 and is drivenly connected to the corresponding clamping plate assembly to adjust the distance between the two clamping plate assemblies.

[0110] Exemplarily, the variable pitch assembly 131 can be disposed below the mounting frame 112. The two first seat plates 132 are spaced apart in the front-to-back direction, and the two ends of the variable pitch assembly 131 in the front-to-back direction are respectively driven and connected to a first seat plate 132. When the variable pitch assembly 131 is in operation, it can drive the two first seat plates 132 to move toward or relative to each other in the front-to-back direction to adjust the distance between the two first seat plates 132. The clamping assembly 133 can be disposed on a side of the first seat plate 132 close to the frame 11 and be driven and connected to the corresponding clamping plate assembly. When the clamping assembly 133 is in operation, it can adjust the distance between the two clamping plate assemblies to achieve the clamping and release of the battery cell 2.

[0111] Thus, when grasping a battery, the variable distance assembly 131 first drives the two first seat plates 132 to move toward each other, thereby driving the floating clamping plate assembly 121 and the reference clamping plate assembly 122 to move toward the battery cell 2 in the front-to-back direction. After the floating clamping plate assembly 121 and the reference clamping plate assembly 122 move to a predetermined distance from the battery cell 2, the variable distance assembly 131 stops, and the clamping assembly 133 then adjusts the distance between the two clamping plate assemblies to clamp the battery cell 2. In other words, the variable distance assembly 131 first moves the floating clamping plate assembly 121 and the reference clamping plate assembly 122 to a predetermined distance from the battery cell 2, and then the clamping assembly 133 adjusts the floating clamping plate assembly 121 and the reference clamping plate assembly 122 to clamp the battery cell 2, so that the clamping force is consistent for battery cells 2 of different sizes. On the one hand, by setting a preset distance, it means that regardless of the size of the battery cell 2, the same clamping quality and safety can be obtained, so as to reduce the damage or unsafe situation of the battery cell 2 caused by insufficient clamping or excessive clamping; on the other hand, the operator does not need to frequently adjust the clamping force of the clamping assembly 133, which helps to simplify the operation process, improve operation efficiency, and reduce the possibility of errors; on the other hand, by the variable distance assembly 131 and the clamping assembly 133 cooperating to clamp the battery cell 2, when clamping the same model of battery cells, the floating clamping plate assembly 121 and the reference clamping plate assembly 122 can be moved to the preset distance unchanged, and only the clamping assembly 133 needs to be adjusted subsequently, without the need to frequently adjust the variable distance assembly 131, which can reduce the maintenance cost of the variable distance assembly 131.

[0112] Exemplarily, the pitch changing direction may be the front-to-back direction in FIG. 1 , the lateral direction may be the front-to-back direction, and the vertical direction may be the up-down direction.

[0113] It should be noted that the front-to-back direction may be the X direction in Figure 1 , the left-to-right direction may be the Y direction in Figure 1 , and the up-to-down direction may be the Z direction in Figure 1 . Up refers to the direction toward the ceiling, and down refers to the direction opposite to up. The front-to-back, left-to-right, and up-to-down directions are mutually perpendicular, and together they constitute a three-dimensional vertical coordinate system.

[0114] In some embodiments, referring to Figures 1 to 5, the pitch-changing assembly 131 includes a pitch-changing motor 1311, a pitch-changing screw 1312, two screw nuts 1313, a pitch-changing slide rail 1314, and a pitch-changing slider 1315. The pitch-changing motor 1311 is disposed on the frame 11. The pitch-changing motor 1311 is driven and connected to the pitch-changing screw 1312. The two screw nuts 1313 are driven and connected to the pitch-changing screw 1312, respectively, and each screw nut 1313 is connected to a corresponding first seat plate 132. The pitch-changing slide rail 1314 is disposed on the frame 11. A pitch-changing slider 1315 is disposed on each first seat plate 132 or a pitch-changing slider 1315 is disposed on each screw nut 1313. The pitch-changing slider 1315 can slide in cooperation with the pitch-changing slide rail 1314 under the drive of the screw nut 1313.

[0115] Exemplarily, the pitch-changing assembly 131 includes a mounting plate 1316 and a mounting seat 1317. The mounting plate 1316 can be formed by bending a long plate and is generally L-shaped. One end of the mounting plate 1316 is connected to the pitch-changing motor 1311, and the other end of the mounting plate 1316 is fixed to the mounting frame 112 by welding or fasteners such as screws or bolts. The mounting seat 1317 is generally in the shape of a rectangular block and is fixedly connected to the mounting frame 112 by fasteners. The mounting seat 1317 is located below the mounting frame 112. The mounting seat 1317 is spaced apart from the first base plate 132. The flange of the pitch-changing motor 1311 is fixed to the side of the mounting seat 1317 away from the battery cell 2. The pitch-changing motor 1311 is drivingly connected to the pitch-changing screw 1312, and a portion of the pitch-changing screw 1312 passes through the mounting seat 1317 and extends in the front-to-back direction. There are two lead screw nuts 1313, one fixedly mounted on each first base plate 132. The variable pitch lead screw 1312 drives and connects the two lead screw nuts 1313. A variable pitch rail 1314 is mounted on the bottom surface of the mounting frame 112. A variable pitch slider 1315 can be mounted on either the first base plate 132 or the lead screw nut 1313, and the variable pitch slider 1315 slidably engages with the variable pitch rail 1314.

[0116] The variable pitch motor 1311 works, driving the variable pitch screw 1312 to rotate in the screw nut 1313. Since the screw nut 1313 is fixed on the first seat plate 132, the variable pitch motor 1311 is fixed on the frame 11, and the first seat plate 132 and the frame 11 are slidably matched through the variable pitch slide rail 1314 and the variable pitch slider 1315. At this time, the rotation of the variable pitch screw 1312 will be converted into the two screw nuts 1313 respectively driving the corresponding first seat plate 132 to move along the variable pitch direction, thereby driving the floating clamping plate assembly 121 and the reference clamping plate assembly 122 to move toward or relative to each other, thereby adjusting the distance between the two and the battery cell 2.

[0117] Through the cooperation of the variable pitch screw 1312 and the screw nut 1313, on the one hand, the threaded cooperation method can make the variable pitch screw 1312 and the screw nut 1313 well matched to reduce the gap and friction, and realize high-precision movement of the floating clamp assembly 121 and the reference clamp assembly 122; on the other hand, the cooperation of the variable pitch screw 1312 and the screw nut 1313 has a higher load capacity, can withstand greater force and torque, and has a strong load-bearing capacity.

[0118] By driving the variable pitch screw 1312 by the variable pitch motor 1311, a higher rotation accuracy can be achieved, thereby ensuring a higher movement accuracy of the floating clamping plate assembly 121 and the reference clamping plate assembly 122, and ensuring that the floating clamping plate assembly 121 and the reference clamping plate assembly 122 reach a preset distance from the battery cell 2.

[0119] Through the cooperation between the variable pitch slide rail 1314 and the variable pitch slider 1315, on the one hand, the variable pitch slide rail 1314 can provide a smooth and accurate moving path, and the variable pitch slider 1315 can easily slide in the variable pitch slide rail 1314, making the entire moving process more precise and controllable; on the other hand, the variable pitch slide rail 1314 can provide additional support and stability to avoid shaking or unstable sliding of the variable pitch slider 1315 during movement, and the movement is stable.

[0120] Exemplarily, the variable pitch motor 1311 may be a servo motor, which may further improve the movement accuracy of the first seat plate 132 .

[0121] In some embodiments, referring to Figures 3 and 4 , there are two variable pitch rails 1314, spaced apart on either side of the frame 11 along the variable pitch direction. Two variable pitch sliders 1315 are spaced apart on each first seat plate 132, each variable pitch slider 1315 slidingly cooperating with a corresponding variable pitch rail 1314.

[0122] Exemplarily, two variable distance slide rails 1314 are spaced apart on both sides of the mounting frame 112 along the front-to-back direction, and each first seat plate 132 is provided with a variable distance slider 1315 on both sides along the front-to-back direction, and each variable distance slider 1315 is slidably engaged with the corresponding variable distance slide rail 1314.

[0123] By configuring the variable pitch rails 1314 and the variable pitch sliders 1315 on both sides along the front-to-back direction, on the one hand, vibration and impact can be reduced, ensuring that the first seat plate 132 remains balanced and stable during movement, thereby improving the smoothness of movement; on the other hand, by configuring the variable pitch rails 1314 and the variable pitch sliders 1315 on both sides, the load capacity can be further improved to carry greater force and torque.

[0124] In some embodiments, referring to Figures 4 and 6 , the clamping assembly 133 includes a clamping drive assembly 1331, a clamping rail 1332, and a clamping slider 1333. The clamping drive assembly 1331 is disposed on the first base plate 132. The clamping rail 1332 is disposed on the first base plate 132. The clamping slider 1333 is connected to the corresponding clamping plate assembly. The clamping drive assembly 1331 can drive the clamping slider 1333 to slide along the clamping rail 1332 to adjust the distance between the two clamping plate assemblies.

[0125] Illustratively, the clamping drive assembly 1331 can be arranged above the first seat plate 132, the clamping slide rail 1332 can be arranged below the first seat plate 132, and the clamping slider 1333 can be arranged above the clamping plate assembly. The clamping slide rail 1332 and the clamping slider 1333 both extend in the front-to-back direction. When the clamping drive assembly 1331 is working, it can drive the clamping slider 1333 to slide in the clamping slide rail 1332 to adjust the distance between the two clamping plate assemblies, thereby realizing the clamping and releasing operations of the battery cell 2.

[0126] After the floating clamping plate assembly 121 and the reference clamping plate assembly 122 are adjusted to a preset distance from the battery cell 2 through the distance changing assembly 131, the clamping drive assembly 1331 can be started to drive the clamping slider 1333 to slide in the clamping slide rail 1332, so that the clamping plate assembly and the first seat plate 132 can move relative to each other. In this way, the floating clamping plate assembly 121 and the reference clamping plate assembly 122 can clamp or release the battery cell 2.

[0127] By providing the clamping drive assembly 1331 , the movement accuracy of the clamping plate assembly can be improved, thereby improving the control of the clamping force on the battery cell 2 , reducing the possibility of falling, and also extending the service life of the variable pitch motor 1311 .

[0128] Through the cooperation of the clamping slide rail 1332 and the clamping slider 1333, on the one hand, the clamping slide rail 1332 can provide a smooth and accurate moving path, and the clamping slider 1333 can easily slide in the clamping slide rail 1332, making the entire moving process more precise and controllable; on the other hand, the clamping slide rail 1332 can provide additional support and stability to avoid shaking or unstable sliding of the clamping slider 1333 during movement, and the movement is stable.

[0129] In some embodiments, referring to Figures 4 and 6 , the clamping drive assembly 1331 includes a clamping cylinder 13311, a transmission rail 13312, a transmission slider 13313, a transmission assembly 13314, and a transmission guide plate 13315. The clamping cylinder 13311 is disposed on the first base plate 132. The transmission rail 13312 is disposed on the first base plate 132. The transmission slider 13313 is drivingly connected to the clamping cylinder 13311 and can slide along the transmission rail 13312 under the drive of the clamping cylinder 13311. The transmission assembly 13314 is connected to the transmission slider 13313. The transmission guide plate 13315 is disposed on the corresponding clamping plate assembly. The transmission assembly 13314 can move in conjunction with the transmission guide plate 13315 to cause the clamping slider 1333 to slide along the clamping rail 1332.

[0130] Exemplarily, the transmission guide plate 13315 can be fixed on the splint assembly by fasteners, one end of the transmission assembly 13314 along the up and down directions is connected to the transmission slider 13313, and the other end of the transmission assembly 13314 along the up and down directions cooperates with the transmission guide plate 13315.

[0131] The clamping cylinder 13311 works, driving the transmission slider 13313 to slide in the transmission rail 13312. Since the transmission slider 13313 is connected to the transmission assembly 13314, it will drive the transmission assembly 13314 to move in the same direction. The other end of the transmission assembly 13314 cooperates with the transmission guide plate 13315, and the transmission guide plate 13315 is fixed on the clamping plate assembly, so that the cooperation between the transmission assembly 13314 and the transmission guide plate 13315 can drive the clamping plate assembly to move through the clamping slider 1333 and the clamping rail 1332 to clamp or release the battery cell 2.

[0132] Here, by setting up the clamping cylinder 13311, on the one hand, the clamping cylinder 13311 has a high clamping force and self-locking function, and can maintain the clamping state in sequence when the machine is shut down, thereby improving safety and reliability; on the other hand, the control of the clamping cylinder 13311 is relatively simple, and can be controlled by devices such as solenoid valves or PLCs. For example, by adjusting the air supply and exhaust control signals of the clamping cylinder 13311, the timing, force and clamping time of clamping or releasing can be accurately controlled.

[0133] Through the cooperation between the transmission rail 13312 and the transmission slider 13313, on the one hand, the transmission rail 13312 can provide a smooth and accurate movement path, and the transmission slider 13313 can slide easily within the transmission rail 13312, making the entire movement process more accurate and controllable; on the other hand, the transmission rail 13312 can provide additional support and stability, preventing the transmission slider 13313 from shaking or sliding unsteadily during movement, and ensuring stable movement. Through the cooperation between the transmission assembly 13314 and the transmission guide plate 13315, the clamping cylinder 13311 can indirectly drive the clamping plate assembly to move, which can reduce the impact and vibration on the clamping plate assembly and make the clamping plate assembly move more smoothly.

[0134] In some embodiments, referring to FIG. 4 , there are four clamping drive assemblies 1331 , and two clamping drive assemblies 1331 are disposed on each first seat plate 132 at intervals.

[0135] For example, each first seat plate 132 is provided with a clamping drive assembly 1331 at both ends in the left-right direction. This allows force to be applied to both ends of the clamping plate assembly in the left-right direction, making the clamping plate assembly move more smoothly and the clamping force applied to the battery cell 2 more uniform. Furthermore, providing two clamping drive assemblies 1331 on each seat plate can further increase its load capacity, thereby improving the working capacity and reliability of the gripping device 1.

[0136] In some embodiments, referring to Figures 6 and 7 , the transmission guide plate 13315 has an obliquely arranged elongated hole 13315a. The transmission assembly 13314 includes a transmission base 133141, a transmission member 133142, and a transmission wheel 133143. The transmission base 133141 is connected to the transmission slider 13313, and the clamping cylinder 13311 is connected to the transmission base 133141. The transmission member 133142 is connected to the transmission base 133141. The transmission wheel 133143 is connected to the transmission member 133142 and is located within the elongated hole 13315a and is capable of moving within the elongated hole 13315a.

[0137] Exemplarily, the elongated hole 13315a can be a through hole extending vertically through the transmission guide plate 13315, or a blind hole. The transmission base 133141 includes a connecting portion 133141a and a fixing portion 133141b. The connecting portion 133141a is connected to the fixing portion 133141b. The connecting portion 133141a is formed with a clamping groove 133141a1, in which the piston rod of the clamping cylinder 13311 is clamped. The fixing portion 133141b is fixed to the transmission slider 13313. One end of the transmission member 133142 is connected to the fixing portion 133141b, and the other end of the transmission member 133142 is connected to the transmission wheel 133143, which is located in the elongated hole 13315a.

[0138] Taking the clamping of the battery cell 2 as an example, the piston rod of the clamping cylinder 13311 extends, pushing the connecting part 133141a and driving the fixed part 133141b to make the transmission slider 13313 move in the transmission slide rail 13312. At this time, the transmission part 133142 located below the fixed part 133141b will also drive the transmission wheel 133143 to move in the extension direction of the long hole 13315a, and then drive the clamping plate assembly to move to clamp the battery cell 2.

[0139] By providing an inclined elongated hole 13315a on the transmission guide plate 13315, which is fixedly mounted on the clamping plate assembly, and slidingly engaging the clamping plate assembly with the first base plate 132 above via the clamping rail 1332 and the clamping slider 1333, when the transmission wheel 133143 moves within the elongated hole 13315a, the extension direction of the elongated hole 13315a is inclined relative to the extension direction of the clamping cylinder 13311, causing the clamping plate assembly to move in the inclined direction to clamp or release the battery cell 2. By providing the transmission base 133141, the transmission member 133142, the transmission wheel 133143, and the inclined elongated hole 13315a, the movement direction of the clamping cylinder 13311 can be changed to push the clamping plate assembly toward or away from the battery cell 2. This allows the layout of the clamping cylinder 13311 and other components to be changed, reducing the size of the gripping device 1.

[0140] In some embodiments, please refer to Figure 6, there are two transmission slide rails 13312 and two transmission sliders 13313, the two transmission slide rails 13312 are arranged at intervals on the first seat plate 132, the extension direction of the transmission slide rail 13312 is perpendicular to the extension direction of the clamping slide rail 1332, and the two transmission sliders 13313 are arranged at intervals on the transmission seat 133141, and each transmission slider 13313 slides in cooperation with the corresponding transmission slide rail 13312.

[0141] Exemplarily, the extension direction of the elongated hole 13315a can be vertically inclined toward the rear, or vertically inclined toward the front. Two transmission rails 13312 are arranged on the first seat plate 132 along the front-to-back direction. A transmission slider 13313 is respectively provided at both ends of the fixed portion 133141b along the front-to-back direction. Each transmission slider 13313 cooperates with the corresponding transmission rail 13312 for transmission.

[0142] By setting up two transmission rails 13312 and a transmission slider 13313, on the one hand, vibration and impact can be reduced, ensuring that the transmission component 13314 remains balanced and stable during movement, thereby improving the smoothness of movement; on the other hand, the load capacity can be further improved, and it can carry greater force and torque.

[0143] Through the inclined long hole 13315a of the transmission component 13314 and the transmission guide plate 13315, the extension direction of the transmission slide rail 13312 can be perpendicular to the extension direction of the clamping slide rail 1332, which means that the clamping cylinder 13311 can be arranged in the left and right directions. In this way, the size of the grasping device 1 in the front and rear directions can be reduced, and the structure is more compact.

[0144] In some embodiments, please refer to Figure 7, the transmission member 133142 includes two vertical plates 1331421 spaced apart, a horizontal plate 1331422 connected between the two vertical plates 1331421, a transmission rod 1331423 and a mounting nut 1331424, one end of the transmission rod 1331423 is mounted with the transmission wheel 133143, the other end of the transmission rod 1331423 is passed through the horizontal plate 1331422 and is located between the two vertical plates 1331421, and the mounting nut 1331424 locks the transmission rod 1331423 on the horizontal plate 1331422.

[0145] Exemplarily, the two vertical plates 1331421 are spaced apart in the left-right direction, the horizontal plate 1331422 is connected between the two vertical plates 1331421, the part of the transmission rod 1331423 that passes downward through the horizontal plate 1331422 is installed with a transmission wheel 133143, and the part of the transmission rod 1331423 located above the horizontal plate 1331422 is provided with a mounting nut 1331424, and the transmission rod 1331423 is fixed to the horizontal plate 1331422 by the mounting nut 1331424.

[0146] By separating the two vertical plates 1331421 along the left-right direction and connecting the horizontal plate 1331422 between the two vertical plates 1331421, on the one hand, the transmission rod 1331423 can be protected along the left-right direction, thereby improving the service life of the transmission rod 1331423; on the other hand, the two vertical plates 1331421 and the horizontal plate 1331422 can improve the structural strength of the transmission rod 1331423 along the left-right direction, so that the transmission rod 1331423 can withstand a larger load.

[0147] In some embodiments, the transmission wheel 133143 can rotate around its axis to reduce friction with the wall of the elongated hole 13315a.

[0148] In some embodiments, referring to FIG. 4 and FIG. 6 , the gripping device 1 further includes a plurality of stroke limiting members 14 , each used to limit the stroke of the corresponding clamping cylinder 13311 .

[0149] Exemplarily, the clamping drive assembly 1331 includes abutment 13316, which is arranged on the side of the transmission slide rail 13312 away from the clamping cylinder 13311 in the left-right direction. The abutment 13316 extends in the up-down direction. Each clamping cylinder 13311 is correspondingly provided with a stroke limiter 14, which extends in the left-right direction. Part of the stroke limiter 14 passes through the abutment 13316 and is located on the side of the transmission assembly 13314 away from the clamping cylinder 13311 in the left-right direction.

[0150] When the piston rod of the clamping cylinder 13311 extends to drive the transmission assembly 13314 to move, the travel limiter 14 can resist the transmission assembly 13314 to prevent the transmission assembly 13314 from moving excessively and causing excessive clamping force on the battery cell 2, thereby improving safety.

[0151] It should be noted that the stroke of the limit clamping cylinder 13311 refers to limiting the extension length of the piston rod of the clamping cylinder 13311 by blocking and abutting.

[0152] In some embodiments, referring to Figures 4 and 6 , the travel limiter 14 includes a hydraulic buffer 141 and / or a rigid limiter 142. Exemplarily, the travel limiter 14 includes a rigid limiter 142, with a portion of the rigid limiter 142 passing through the abutment member 13316 and located on a side of the transmission member 133142 that is away from the clamping cylinder 13311 in the left-right direction. This prevents excessive movement of the transmission member 133142, which could result in excessive clamping force on the battery cell 2, thereby enhancing safety.

[0153] In some embodiments, the stroke limiter 14 includes a hydraulic limiter, part of which passes through the abutment 13316 and is located on the side of the connection part 133141a away from the clamping cylinder 13311 in the left and right directions. In this way, the connection part 133141a can be prevented from moving excessively, resulting in excessive clamping force on the battery cell 2, and safety is improved.

[0154] In other embodiments, the travel limiter 14 includes a hydraulic buffer 141 and a rigid limiter 142, with the hydraulic limiter located above the rigid limiter 142. The hydraulic limiter partially passes through the abutment 13316 and is located on the side of the connecting portion 133141a that is away from the clamping cylinder 13311 in the left-right direction, while the rigid limiter 142 partially passes through the abutment 13316 and is located on the side of the transmission member 133142 that is away from the clamping cylinder 13311 in the left-right direction, providing greater safety.

[0155] In some embodiments, referring to FIG. 4 and FIG. 6 , the gripping device 1 further includes a plurality of position detection mechanisms 15 , each configured to detect the position of a corresponding transmission slider 13313 .

[0156] Exemplarily, the number of position detection mechanisms 15 is not limited. For example, the number of position detection mechanisms 15 is four, and the four position detection mechanisms 15 are respectively arranged at the corresponding transmission sliders 13313 to detect the movement amount of the transmission slider 13313 to ensure safe detection of the clamping of the battery cell 2, with high safety.

[0157] In some embodiments, referring to Figures 4 and 6 , the position detection mechanism 15 includes a plurality of first position sensors 151 and a sensing plate 152. The plurality of first position sensors 151 are spaced apart on the first base plate 132 and are used to detect the position of the transmission slider 13313. The sensing plate 152 is disposed on the transmission assembly 13314 or the transmission slider 13313 and is used to sense the first position sensors 151.

[0158] For example, the sensing plate 152 can be disposed on the transmission base 133141 or on the transmission slider 13313. Each transmission slider 13313 is provided with two first position sensors 151, which are spaced apart in the left-right direction on the side of the first base plate 132 away from the battery cell 2 in the front-to-back direction. Each first position sensor 151 has a sensing slot. When the sensing plate 152 moves into the sensing slot along with the transmission slider 13313, the movement of the transmission slider 13313 can be determined, and then the clamping force on the battery cell 2 can be determined. This prevents excessive clamping force on the battery cell 2 caused by excessive movement, thereby improving safety.

[0159] In some embodiments, referring to Figures 4 and 6 , the first position sensor 151 is divided into a loosening limit position sensor 1512 and a clamping limit position sensor 1511. The loosening limit position sensor 1512 is used to detect the maximum limit position of the transmission slider 13313, and the clamping limit position sensor 1511 is used to detect the minimum limit position of the transmission slider 13313.

[0160] For example, the first position sensor 151 close to the clamping cylinder 13311 is the loosening limit position sensor 1512, and the first position sensor 151 away from the clamping cylinder 13311 is the clamping limit position sensor 1511. When the sensing plate 152 is located in the sensing slot of the clamping limit position sensor 1511, it means that the battery cell 2 has been clamped by the two clamping plate assemblies; when the sensing plate 152 is located in the sensing slot of the loosening limit position sensor 1512, it means that the battery cell 2 is at a preset distance from the two clamping plate assemblies.

[0161] In this way, the clamping limit position sensor 1511 and the loosening limit position sensor 1512 can be used to determine whether the clamping plate assembly is in a clamping state of clamping the battery cell 2 and a loosening state of maintaining a preset distance from the battery cell 2, thereby realizing clamping detection of the battery cell 2 and avoiding the situation where the battery cell 2 is not clamped and falls.

[0162] In some embodiments, referring to Figures 2 and 8 , the reference clamping plate assembly 122 includes a second seat plate 1221, a first back plate 1222, and a plurality of first clamping plates 1223. The second seat plate 1221 is drivingly connected to the pitch-changing mechanism 13. The first back plate 1222 is connected to the second seat plate 1221. The plurality of first clamping plates 1223 are mounted side by side on the first back plate 1222 and fixed relative to the first back plate 1222 to clamp the battery cells 2.

[0163] Exemplarily, the clamping slider 1333 and the transmission guide 13315, which are located near the variable pitch motor 1311 along the front-to-back direction, are both disposed on the second seat plate 1221. The second seat plate 1221 extends in the left-to-right direction. The second seat plate 1221 is slidably connected to the first seat plate 132 via the clamping slider 1333 and the clamping rail 1332. The second seat plate 1221 is drivenly connected to the clamping cylinder 13311 via the transmission guide 13315 and the transmission assembly 13314. The first back plate 1222 is connected to the bottom of the second seat plate 1221 via fasteners. The first back plate 1222 extends in the left-to-right direction. The number of first clamping plates 1223 is not limited. For example, the number of first clamping plates 1223 is four. The four first clamping plates 1223 are fixedly disposed in the left-to-right direction on one side of the first back plate 1222 along the front-to-back direction near the battery cell 2. They cooperate with the floating clamping plate assembly 121 to clamp the battery cell 2.

[0164] In this way, the first clamping plate 1223 is fixed relative to the first back plate 1222 and can rigidly support the battery cell 2 to reduce the shaking of the battery cell 2.

[0165] For example, in some embodiments, please refer to Figure 8, the reference clamp assembly 122 includes a fixing bolt and a mounting bolt, the first clamp 1223 includes a mounting portion 12231 and a receiving portion 12232, the mounting portion 12231 is connected to the top of the receiving portion 12232, so that the first clamp 1223 is roughly "L"-shaped, the lower surface of the first back plate 1222 abuts on the receiving portion 12232, and the first back plate 1222 is close to the side of the battery cell 2 in the front-to-back direction and fits with the mounting portion 12231, the fixing bolt passes through the mounting portion 12231 in the front-to-back direction and is fixed to the first back plate 1222, and the mounting bolt passes through the receiving portion 12232 in the up-down direction and is fixed to the first back plate 1222, so that the connection strength between the first clamp 1223 and the first back plate 1222 can be improved, and the stability of the clamping can be enhanced.

[0166] In some embodiments, the first splint 1223 includes PU. On the one hand, PU has good elasticity and softness, which can effectively absorb and disperse impact force and vibration, thereby reducing collision with the battery cell 2 and reducing the impact on the grasping device 1; on the other hand, PU can serve as a protective layer to prevent the first splint 1223 from direct contact with the battery cell 2, thereby reducing damage, wear and scratches to the battery cell 2; on the other hand, PU can fill irregular gaps and surface unevenness between the battery cell 2 to provide better adaptability and tight connection, making the clamping of the battery cell 2 more stable.

[0167] In some embodiments, referring to FIG. 1 , FIG. 4 and FIG. 8 , the gripping device 1 further includes a plurality of battery cell sensors 16 . The plurality of battery cell sensors 16 are spaced apart and arranged on the first back plate 1222 for detecting the battery cells 2 .

[0168] Illustratively, a mounting platform 12221 is formed on the upper portion of one side of the first back plate 1222, adjacent to the battery cells 2. The mounting platform 12221 extends in the horizontal direction. The number of battery cell sensors 16 is not limited. For example, the number of battery cell sensors 16 can be thirty-two, spaced apart in the horizontal direction on the mounting platform 12221. The battery cell sensors 16 can be diffuse reflection photoelectric sensors, configured to detect the battery cells 2 located below them.

[0169] A plurality of battery cell sensors 16 are provided to detect information such as the size, dimensions, and position of the plurality of battery cells 2 thereunder, so as to stably grasp the battery cells 2 .

[0170] In some embodiments, a plurality of weight-reducing holes are formed on a side of the first back plate 1222 away from the battery cells 2 to reduce the weight of the first back plate 1222 .

[0171] In some embodiments, referring to Figures 1 and 9 , the floating cleat assembly 121 includes a third seat plate 1211, a second back plate 1212, and multiple floating cleat assemblies 1213. The third seat plate 1211 is drivingly connected to the pitch-changing mechanism 13. The second back plate 1212 is connected to the third seat plate 1211. The multiple floating cleat assemblies 1213 are mounted side by side on the second back plate 1212 and are movable relative to the second back plate 1212 in a pitch-changing direction to clamp the battery cells 2.

[0172] Exemplarily, a transmission guide plate 13315 and a transmission slider 13313, which are located away from the variable pitch motor 1311 in the front-to-back direction, are disposed on the third seat plate 1211. The third seat plate 1211 extends in the left-right direction. The third seat plate 1211 is driven and connected to the clamping cylinder 13311 via the transmission guide plate 13315 and the transmission assembly 13314. The third seat plate 1211 is slidably connected to the first seat plate 132 via the clamping slider 1333 and the clamping rail 1332. The second back plate 1212 is located below the third seat plate 1211 and extends in the left-to-right direction. A plurality of floating clamping plate assemblies 1213 are fixedly disposed on the second back plate 1212 in the left-to-right direction and are used to clamp the battery cells 2 by moving relative to the second back plate 1212 in the variable pitch direction.

[0173] The variable pitch mechanism 13 works by driving the third seat plate 1211 and driving the second back plate 1212 and multiple floating clamping plate kits 1213 to move along the variable pitch direction. After the floating clamping plate kit 1213 contacts the battery cell 2, the floating clamping plate kit 1213 can move along the variable pitch direction relative to the second back plate 1212 to further clamp the battery, with a good clamping effect.

[0174] In some embodiments, as shown in FIG9 , the floating clamp assembly 1213 includes a floating clamp 12131, a floating backplate 12132, a connecting screw 12133, an elastic member 12134, and a sleeve 12135. The floating clamp 12131 is used to clamp the battery cell 2. The floating backplate 12132 and the floating clamp 12131 are located on either side of the second backplate 1212. The connecting screw 12133 extends through the floating backplate 12132 and connects the floating clamp 12131. The elastic member 12134 is located between the floating clamp 12131 and the second backplate 1212. The sleeve 12135 is located between the floating backplate 12132 and the second backplate 1212.

[0175] Illustratively, the floating clamping plate 12131 is located on the side of the second backplate 1212 that is closer to the battery cells 2 along the front-to-back direction, and is used to clamp the battery cells 2. The floating backplate 12132 is located on the side of the second backplate 1212 that is farther away from the battery cells 2 along the front-to-back direction. A connecting screw 12133 passes through the floating backplate 12132, and the second backplate 1212 is fixedly connected to the floating clamping plate 12131. The connecting screw 12133 is movable relative to the second backplate 1212 and the floating clamping plate 12131. An elastic member 12134 is located between the floating clamping plate 12131 and the second backplate 1212, and a sleeve 12135 is sleeved over the portion of the connecting screw 12133 located between the floating backplate 12132 and the second backplate 1212.

[0176] By arranging an elastic member 12134 between the floating clamping plate 12131 and the second back plate 1212, after the variable pitch motor 1311 pushes the two clamping plate assemblies to reach a preset distance from the battery cell 2, the clamping cylinder 13311 works. When the clamping cylinder 13311 pushes the floating clamping plate assembly 121 to move in the front-to-back direction toward the battery cell 2, the floating clamping plate 12131 will first contact the battery cell 2, and the floating clamping plate assembly 1213 will continue to move. At this time, the floating clamping plate 12131 cannot continue to move due to the obstruction of the battery cell 2, while the connecting screw 12133 and the second back plate 1212 and the floating back plate 12132 are movable, so the second back plate 1212 can continue to move. , to compress the elastic member 12134 located between the second back plate 1212 and the floating clamping plate 12131. The elastic member 12134 is compressed to store elastic potential energy. When the sensing plate 152 is located in the sensing groove of the clamping limit position sensor 1511, the clamping cylinder 13311 stops. At this time, the elastic member 12134 recovers its deformation in the front-to-back direction. Due to the resistance of the second back plate 1212 at the rear, the elastic potential energy stored in the elastic member 12134 will be converted into kinetic energy to give the floating clamping plate 12131 a force in the front-to-back direction toward the battery cell 2. In this way, the battery cell 2 can be flexibly clamped between the first clamping plate 1223 and the floating clamping plate 12131 under the action of the elastic member 12134.

[0177] By providing a sleeve 12135 on the portion of the connecting screw 12133 between the second back plate 1212 and the floating back plate 12132, the elastic member 12134 between the second back plate 1212 and the floating clamping plate 12131 can maintain a certain pre-tightening force, thereby reducing the shaking of the floating clamping plate 12131 when the battery cell 2 is not clamped, and the stability is high.

[0178] In some embodiments, the floating splint 12131 includes PU. On the one hand, PU has good elasticity and softness, which can effectively absorb and disperse impact force and vibration, thereby reducing collision or vibration with the battery cell 2 and reducing the impact on the grasping device 1; on the other hand, PU can serve as a protective layer to prevent the floating splint 12131 from direct contact with the battery cell 2, thereby reducing damage, wear and scratches to the battery cell 2; on the third hand, PU can fill irregular gaps and surface unevenness between the floating splint 12131 and the battery cell 2 to provide better adaptability and tight connection, making the clamping of the battery cell 2 more stable.

[0179] In some embodiments, please refer to Figure 9, the number of elastic members 12134 and connecting screws 12133 are both two, and the two connecting screws 12133 are spaced apart along the up and down directions. Two elastic members 12134 are spaced apart along the up and down directions between the second back plate 1212 and the floating clamp 12131. In this way, the clamping stability of the floating clamp 12131 can be enhanced and the shaking can be reduced.

[0180] In some embodiments, there are multiple second back plates 1212 , and the multiple second back plates 1212 are arranged side by side on the third seat plate 1211 . Each second back plate 1212 is provided with multiple floating cleat kits 1213 .

[0181] For example, there are four second back plates 1212, which are arranged on the third seat plate 1211 in the left-right direction. There may be twelve floating cleat sets 1213 on each second back plate 1212, which are spaced apart in the left-right direction.

[0182] In this way, arranging a plurality of floating clamping plate sets 1213 and a second back plate 1212 along the left and right directions can simultaneously grasp and clamp a plurality of battery cells 2 , which is highly efficient.

[0183] In some embodiments, please refer to Figures 6 and 9, a plurality of mounting grooves 12111 are arranged side by side on the third seat plate 1211, and a mounting slide 12121 is provided on the second back plate 1212. The mounting slide 12121 is arranged in the mounting groove 12111, and the mounting slide 12121 is fastened to the third seat plate 1211.

[0184] Exemplarily, the mounting slide 12121 can be disposed on the upper surface of the second back plate 1212. Projected along the left-right direction, the mounting slide 12121 and the second back plate 1212 are generally T-shaped. The number of mounting slots 12111 is not limited. For example, the number of mounting slots 12111 can be four, with four mounting slots 12111 spaced apart along the left-right direction on the lower surface of the third seat plate 1211. The mounting slots 12111 extend along the front-to-back direction, with a corresponding second back plate 1212 disposed between each mounting slot 12111. The mounting slide 12121 is slidably disposed within the mounting slots 12111.

[0185] The second back plate 1212 and the third seat plate 1211 can be moved in the front-to-back direction by the sliding cooperation between the mounting slide 12121 and the mounting slide groove 12111. On the one hand, when the floating splint kit 1213 and / or the second back plate 1212 needs to be inspected or replaced, the second back plate 1212 can be pulled out in the front-to-back direction away from the battery cell 2 by the mounting slide 12121 and the mounting slide groove 12111. When the replacement or repair is completed, the second back plate 1212 can be pushed in in the front-to-back direction toward the battery cell 2 by the mounting slide 12121 and the mounting slide groove 12111, so that the installation and removal rate is high; on the other hand, the mounting slide groove 12111 can provide a smooth and accurate movement path, and the mounting slide 12121 can slide easily in the mounting slide groove 12111, making the entire movement process more precise and controllable; on the other hand, the mounting slide groove 12111 can provide additional support and stability to prevent the mounting slide 12121 from shaking or sliding unstably during movement.

[0186] In some embodiments, after the installation slide 12121 slides into the installation slot 12111, the third seat plate 1211 and the installation slide 12121 can be fixed by fasteners to prevent the installation slide 12121 from disengaging from the installation slot 12111 when the grasping device 1 moves.

[0187] In some embodiments, referring to FIG. 9 , the floating clamping plate assembly 121 further includes a handle 1214 , which is disposed on the second back plate 1212 .

[0188] Exemplarily, the shape of the handle 1214 is not limited. For example, the shape of the handle 1214 is roughly "U"-shaped, and the two ends of the handle 1214 are connected to the bottom of the mounting slide 12121. In this way, when the floating splint kit 1213 needs to be repaired and replaced, the handle 1214 can provide a stable support point for the operator, thereby improving the replacement and repair efficiency.

[0189] In some embodiments, referring to Figures 6 and 9 , a plurality of mounting slots 12111 are arranged side by side on the third seat plate 1211, and a mounting slide 12121 is provided on the second back plate 1212. The mounting slide 12121 is disposed within the mounting slots 12111 and is securely connected to the third seat plate 1211. The floating clamping plate assembly 121 also includes a handle 1214 disposed on the second back plate 1212.

[0190] In this way, by providing the installation slide plate 12121 and the installation slide groove 12111, the operator can more conveniently pull out and push in the second back panel 1212 by pulling the handle 1214, so as to further improve the efficiency of maintenance and replacement.

[0191] In some embodiments, the floating clamps 12131 are configured such that each battery cell 2 is clamped by at least two floating clamps 12131 .

[0192] For example, the size of the battery cell 2 along the left-right direction is approximately 25mm to 100mm, and the size of the floating clamp 12131 along the left-right direction is approximately 20mm. When the battery is 25mm, it can be clamped by two floating clamps 12131. When the size of the battery cell 2 is 45mm, it can be clamped by three floating clamps 12131. The floating clamp 12131 corresponding to each battery cell 2 is different, that is, there is no situation where one floating clamp 12131 clamps two battery cells 2. In this way, the situation where the battery cell 2 is clamped unstable can be avoided.

[0193] In some embodiments, referring to Figures 1, 2 and 10, the grasping device 1 also includes an anti-falling mechanism 17, which is arranged on the distance changing mechanism 13. The anti-falling mechanism 17 has a first horizontal position, a second horizontal position, a third vertical position and a fourth vertical position.

[0194] The anti-fall mechanism 17 is located at a first position in the horizontal direction and a fourth position in the vertical direction, and is used to prevent the mounting bolts of the clamping plate assembly from falling off.

[0195] The anti-fall mechanism 17 is located at a first position in the horizontal direction and a third position in the vertical direction, and is used to press the foam used for the battery cell 2 when grabbing the battery cell 2 .

[0196] The anti-falling mechanism 17 is located at a second position in the horizontal direction and a fourth position in the vertical direction, and is used to prevent the battery cell 2 from falling.

[0197] Exemplarily, the anti-fall mechanism 17 can be set on the first seat plate 132, with the first position located on the side of the second position away from the battery cell 2 in the front-to-back direction, and the third position located on the side of the fourth position away from the frame 11 in the up-down direction.

[0198] Thus, when the grasping device 1 is in the initial state, the anti-fall mechanism 17 thereon is located in the first horizontal position and the fourth vertical position. At this time, the anti-fall mechanism 17 can press upward on the mounting bolt located below the receiving portion 12232 to prevent the mounting bolt from falling and the first clamping plate 1223 from shaking. When the grasping device 1 grasps the battery cell 2, the anti-fall mechanism 17 thereon is located in the first horizontal position and the third vertical position. At this time, the anti-fall mechanism 17 can press downward on the foam containing the battery cell 2 to prevent the foam from being lifted up when grasping the battery cell 2. When the grasping mechanism grasps the battery cell 2 for loading, the anti-fall mechanism 17 thereon is located in the second horizontal position and the fourth vertical position. In this way, the battery cell 2 can be supported from below to prevent the battery cell 2 from falling.

[0199] In some embodiments, referring to Figures 4 and 10 , the anti-fall mechanism 17 includes a bottom support rod 171 and two transverse lifting assemblies 172. The two transverse lifting assemblies 172 are respectively provided at both ends of the pitch-changing mechanism 13, and each transverse lifting assembly 172 is connected to one end of the bottom support rod 171.

[0200] For example, two transverse lifting assemblies 172 are respectively arranged at the two ends of the first seat plate 132 in the left and right directions, and the two transverse lifting assemblies 172 are connected to the two ends of the bottom support rod 171 in the left and right directions. In this way, the battery cell 2 can be supported in the left and right directions with high safety.

[0201] Exemplarily, there are two bottom support rods 171, which are spaced apart in the front-to-back direction. Two transverse lifting assemblies 172 are correspondingly provided for each bottom support rod 171. In this way, the bottom support area can be increased, the support stability of the battery cell 2 can be improved, and the safety is high.

[0202] Please refer to Figure 10. The transverse movement and lifting assembly 172 includes a sliding seat 1721, a transverse slide 1722, a transverse slider 1723, a transverse cylinder 1724, a lifting cylinder 1725 and two second position sensors 1726. The transverse slide 1722 is arranged on the pitch changing mechanism 13. The transverse slider 1723 is arranged on the sliding seat 1721. The transverse cylinder 1724 is arranged on the transverse slider 1723, and the transverse cylinder 1724 is driven and connected to the transverse slide 1722 so that the transverse slider 1723 can slide in conjunction with the transverse slide 1722. The lifting cylinder 1725 is arranged on the sliding seat 1721, and the lifting cylinder 1725 is driven and connected to the bottom support rod 171 so that the bottom support rod 171 can move up and down. The two second position sensors 1726 are arranged on the sliding seat 1721, and are used to detect the lowest position and the highest position of the bottom support rod 171 respectively.

[0203] Exemplarily, the sliding seat 1721 includes a first connecting member 17211, a second connecting member 17212, and a third connecting member 17213. Both the first connecting member 17211 and the third connecting member 17213 extend in the left - right direction. The second connecting member 17212 connects the first connecting member 17211 and the third connecting member 17213 in the up - down direction, so that the sliding seat 1721 is generally in a "U" shape. The transverse translation slide rail 1722 can be arranged on the first seat plate 132, and the transverse translation slide rail 1722 extends in the front - rear direction. The transverse translation lifting assembly 172 includes a resisting baffle 1727. The resisting baffle 1727 is arranged on the side of the transverse translation slide rail 1722 away from the battery cell 2 in the front - rear direction. The upper part of the transverse translation slider 1723 is fixedly connected to the lower part of the first connecting member 17211, and the lower part of the transverse translation slider 1723 is slidably engaged with the transverse translation slide rail 1722. The resisting member is used to resist the transverse translation slider 1723 to prevent over - movement and derailment. The mounting bracket 1724a of the transverse translation cylinder 1724 is fixedly arranged on the first connecting member 17211, and the piston rod of the transverse translation cylinder 1724 is connected to the resisting baffle 1727. The piston rod of the transverse translation cylinder 1724 extends and retracts to drive the sliding seat 1721 to move in the front - rear direction, and then drives the bottom - holding rod 171 to move in the front - rear direction.

[0204] The cylinder barrel of the lifting cylinder 1725 is arranged on the first connecting member 17211 and is spaced from the transverse translation cylinder 1724 in the left - right direction. A part of the bottom - holding rod 171 movably passes through the third connecting member 17213 and is connected to the piston rod of the lifting cylinder 1725. Thus, the piston rod of the lifting cylinder 1725 extends and retracts to drive the bottom - holding rod 171 to move in the up - down direction. Two second position sensors 1726 are arranged on the second connecting member 17212 at intervals in the up - down direction and are used to determine the stroke of the lifting cylinder 1725, that is, the position of the bottom - holding rod 171. When the bottom - holding rod 171 is in the lowest position, it means that the bottom - holding rod 171 is in the third vertical position at this time. When the bottom - holding rod 171 is in the highest position, it means that the bottom - holding rod 171 is in the fourth vertical position at this time.

[0205] When the gripping device 1 is in the initial state, the piston rod of the transverse cylinder 1724 extends and the piston rod of the lifting cylinder 1725 retracts, so that the bottom support rod 171 is respectively located in the first transverse position and the fourth vertical position. At this time, the anti-fall mechanism 17 can press upward on the mounting bolts located below the receiving portion 12232 to prevent the mounting bolts from falling and causing the first clamping plate 1223 to shake. When the gripping device 1 grips the battery cell 2, the piston rod of the transverse cylinder 1724 extends and the piston rod of the lifting cylinder 1725 extends, so that the bottom support rod 171 is located in the first transverse position and the third vertical position. At this time, the anti-fall mechanism 17 can press downward on the foam containing the battery cell 2 to prevent the foam from being lifted up when the battery cell 2 is gripped. When the grabbing mechanism grabs the battery cell 2 for loading, the piston rod of the transverse cylinder 1724 retracts, and the piston rod of the lifting cylinder 1725 retracts, so that the bottom support rod 171 is located in the second horizontal position and the fourth vertical position. In this way, the battery cell 2 can be supported from the bottom to prevent the battery cell 2 from falling.

[0206] By providing two second position sensors 1726 , the position of the bottom support rod 171 can be determined, thereby achieving safety detection of the bottom support, which is highly safe.

[0207] In some embodiments, referring to FIG. 1 and FIG. 2 , the gripping device 1 further includes a deviation-correcting device 18 . The deviation-correcting device 18 is disposed on the frame 11 and is used to identify the model, size, and position of the battery cell 2 .

[0208] Exemplarily, the grasping device 1 includes a connecting arm 19, one end of the connecting arm 19 is connected to the mounting frame 112, and the other end of the connecting arm 19 is connected to the correction device 18, so that the battery cell 2 located below the side of the grasping device 1 away from the battery cell 2 in the front-to-back direction can be detected to obtain the model, size and position of the battery cell 2, which is convenient for subsequent positioning of the grasping device 1 and accurate grasping of the battery cell 2.

[0209] For example, in some embodiments, the correction device 18 may be a correction camera, which may take a photo and scan the battery cell 2 to obtain the model, size, and position of the battery cell 2 .

[0210] For example, in some embodiments, there are two correcting devices 18 , which are spaced apart in the left-right direction to detect the incoming battery cells 2 in the left-right direction, so that the obtained information about the battery cells 2 is more comprehensive.

[0211] The present disclosure also provides a gripping device, comprising a manipulator and a gripping device 1 according to any one of the embodiments of the present disclosure. The manipulator is configured to drive the gripping device 1 to rotate and / or move. When gripping a battery cell 2, the manipulator drives the gripping device 1 to move above the battery cell 2. The correction device 18 extracts information from the battery cell 2. The variable pitch mechanism 13 then operates to control the movement of the two clamping plate assemblies to grip and clamp the battery cell 2. Finally, the anti-fall mechanism 17 operates to control the bottom support rod 171 to provide support for the bottom of the battery cell 2.

[0212] The embodiments of the present disclosure also provide a battery production line, comprising a first conveyor line, a second conveyor line and the grasping device of the above-mentioned embodiment. The first conveyor line is used to convey the battery cells 2 to be grasped, and the grasping device is used to grasp the battery cells 2 on the first conveyor line and place them on the second conveyor line. In some embodiments, the battery production line includes a pallet, which is placed on the second conveyor line, and the grasped battery cells 2 can be placed on the pallet and transported to a subsequent processing position. The first conveyor line can convey the battery cells 2 to be grasped to the vicinity of the grasping device, and these battery cells 2 to be grasped can be grasped by a robot or the like and placed on a pallet.

[0213] Exemplarily, the first conveyor line and the second conveyor line may be conveyor belts, for example, belts or other belt-like objects, or multiple rollers arranged side by side, or multiple chains, etc.

[0214] The battery production line can quickly and automatically capture and place the battery cells 2, which is more efficient. In addition, since the battery cells 2 are placed on the tray, the tray can be used to directly transport the battery cells 2 to the next processing device.

[0215] Based on the aforementioned embodiment, the gripping device may also be controlled by a control device, for example, the control device may be a PLC device. Therefore, the embodiment of the present disclosure further provides a control method for a gripping device, which is applied to the gripping device. Referring to FIG. 11 , the control method includes:

[0216] S1. Control the gripping device to move so that the clamping mechanism is located above the battery cell.

[0217] For example, the PLC device may send a grasping-in-place signal to the robot arm, and the robot arm responds to the grasping-in-place signal and drives the grasping device 1 to move so that the clamping mechanism 12 is located above the battery cell 2 .

[0218] S2. Obtain parameter information of the battery cell.

[0219] For example, after the clamping mechanism 12 reaches above the battery cell 2, the robot arm can send a scanning position signal to the PLC device. The PLC device responds to the scanning position signal and sends a scanning signal to the grasping device 1 to scan the battery cell 2 and obtain its parameter information, where the parameter information includes size, model, position, etc.

[0220] S3. Based on the parameter information of the battery cell, control the movement of the gripping device to align the clamping mechanism with the battery cell.

[0221] Exemplarily, the PLC device responds to parameter information of the battery cell 2 and controls the manipulator to drive the gripping device 1 to move so that the clamping mechanism 12 is aligned with the battery cell 2 .

[0222] S4. Based on the parameter information of the battery cell, control the distance-changing mechanism to move so that the clamping mechanism clamps the battery cell.

[0223] For example, after the clamping mechanism 12 is aligned with the battery cell 2, the robot can send an alignment signal to the PLC device. The PLC device responds to the alignment signal and sends a grasping signal to the distance changing mechanism 13. The distance changing mechanism 13 moves in response to the grasping signal to adjust the distance between the two clamping assemblies to clamp the battery cell 2.

[0224] In one embodiment, S2, the step of obtaining parameter information of the battery cell, specifically includes:

[0225] S21 : Controlling a deviation-correcting device to obtain parameter information of the battery cell.

[0226] Exemplarily, the correction device 18 can be a correction camera. The correction device 18 can respond to the scanning signal sent by the PLC device to take a picture and scan the battery cell 2 and send the relevant data to the PLC device. The PLC device receives the relevant data and obtains the parameter information of the current battery cell 2 by calling the interface of the MES (Manufacturing Execution System) server.

[0227] In one embodiment, S4, based on the parameter information of the battery cell, controlling the distance-changing mechanism to move so that the clamping mechanism clamps the battery cell, specifically includes:

[0228] S41. Based on the parameter information of the battery cell, control the distance-changing assembly of the distance-changing mechanism to move so that the two clamping plate assemblies of the clamping plate mechanism are at a first distance.

[0229] Illustratively, the PLC device sends a first grabbing signal to the distance changing component 131 of the distance changing mechanism 13 according to the current parameter information of the battery cell 2 , and the distance changing component 131 moves in response to the first grabbing signal to place the two clamping plate components at a first distance.

[0230] S42: Control the movement of the clamping assembly of the pitch-changing mechanism so that the two clamping plate assemblies are at a second spacing for clamping the battery cells, where the second spacing is smaller than the first spacing.

[0231] For example, after the two clamping plate assemblies are at a first distance between them, the variable distance assembly 131 can send a first in-place signal to the PLC device, the PLC device responds to the first in-place signal and sends a second grabbing signal to the clamping assembly 133, the clamping assembly 133 responds to the second grabbing signal and moves, and when the sensing plate 152 moves into the sensing slot of the clamping limit position sensor 1511, it indicates that the two clamping plate assemblies are at the second distance between the battery cells 2.

[0232] In one embodiment, after the step of S4, controlling the distance-changing mechanism to move based on the parameter information of the battery cell so that the clamping mechanism clamps the battery cell, the control method includes:

[0233] S5. Control the movement of the grabbing device to keep the grabbing device at a safe height.

[0234] For example, when the sensing plate 152 moves into the sensing slot of the clamping limit position sensor 1511, the clamping limit position sensor 1511 can send a second in-position signal to the PLC device, the PLC device responds to the second in-position signal and sends a movement signal to the robot, the robot responds to the movement signal and drives the grasping device 1 to move, so that the grasping device 1 moves to a safe height.

[0235] S6. Control the anti-falling mechanism to move so that the anti-falling mechanism extends to the bottom of the battery cell.

[0236] For example, after the grasping device 1 clamps the battery cell 2 and moves to a safe height, the robot can send a move-in-place signal to the PLC device. The PLC device responds to the move-in-place signal and sends a bottoming signal to the transverse lifting component 172. The transverse lifting component 172 responds to the bottoming signal and moves to drive the bottoming rod 171 to the bottom of the battery cell 2 for bottom support.

[0237] S7, controlling the grabbing device to move above the discharge position.

[0238] For example, when the bottom-catching rod 171 is in the second horizontal position and the fourth vertical position, the transverse lifting assembly 172 can send a bottom-catching position signal to the PLC device. The PLC device responds to the bottom-catching position signal and sends a discharge signal to the robot. The robot moves in response to the discharge signal to drive the grasping device 1 to move to the discharge position, such as above the pallet.

[0239] S8. Control the anti-falling mechanism to move so that the anti-falling mechanism retracts to its original position.

[0240] For example, after the gripping device 1 moves to above the pallet, the robot can send a material placement signal to the PLC device. The PLC device responds to the material placement signal and sends a retraction signal to the transverse lifting assembly 172 to drive the bottom rod 171 to move to its original position.

[0241] S9. Control the movement of the clamping mechanism to release the battery cells to the discharge position, such as a tray.

[0242] For example, after the bottom rod 171 moves to its original position, the transverse lifting assembly 172 can send a retraction signal to the PLC device. The PLC device responds to the retraction signal and sends a lowering signal to the distance changing mechanism 13 to drive the clamping mechanism 12 to move and release the battery cell 2 onto the pallet.

[0243] S10, controlling the gripping device to move to a safe position and wait for a signal.

[0244] For example, after driving the clamping mechanism 12 to move and release the battery cell 2 onto the pallet, the distance changing mechanism 13 can send a lowering-in-place signal to the PLC device. The PLC device responds to the lowering-in-place signal and sends a return signal to the robot. The robot responds to the return signal and drives the grasping device 1 to move to a safe position to wait for the signal.

[0245] The above embodiments are intended only to illustrate the technical solutions of the present disclosure, and are not intended to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. Such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the various embodiments of the present disclosure, and are intended to be encompassed by the specification of the present disclosure. In particular, the various technical features described in the various embodiments may be combined in any manner, as long as there are no structural conflicts. Industrial Applicability

[0246] In the disclosed embodiment, a frame is provided and connected to the manipulator arm, so that the frame can be driven to move and / or rotate to complete the subsequent loading operation. By providing a reference clamping plate assembly and a floating clamping plate assembly, when grabbing a battery cell, the reference clamping plate assembly can provide a clamping reference for the battery cell, reduce the shaking of the battery cell, and improve the clamping stability. Then, in conjunction with the floating clamping plate assembly, multiple battery cells can be flexibly clamped to reduce damage to the battery cell. By providing a variable distance mechanism that is respectively driven and connected to the floating clamping plate assembly and the reference clamping plate assembly, the distance between the floating clamping plate assembly and the reference clamping plate assembly and the battery cell can be adjusted simultaneously by driving the variable distance mechanism, thereby achieving the grabbing and releasing of the battery cell. On the one hand, it can apply a balanced and stable force to both sides of the battery cell, reducing the risk of the battery cell losing balance or slipping; on the other hand, the floating clamping plate assembly and the reference clamping plate assembly move simultaneously, which can speed up the grabbing and releasing of the battery cell and is highly efficient; on the other hand, by adjusting the distance between the floating clamping plate assembly and the reference clamping plate assembly through the variable distance mechanism, battery cells of different sizes can be grabbed, and it is infinitely compatible with battery cells of different sizes, with strong adaptability and versatility.

Claims

1. A gripping device, wherein: include: A frame, used for connecting with the manipulator; A clamping plate mechanism, comprising two clamping plate assemblies arranged at intervals, for clamping a plurality of battery cells; as well as, A pitch-changing mechanism, disposed on the frame and drivingly connected to the two clamping plate assemblies respectively, so as to adjust the distance between the two clamping plate assemblies; The two clamping plate assemblies are divided into a reference clamping plate assembly and a floating clamping plate assembly. The reference clamping plate assembly can provide a clamping reference for a plurality of battery cells, and the floating clamping plate assembly can clamp each battery cell.

2. The gripping device according to claim 1, wherein: The pitch-changing mechanism comprises: A pitch-changing assembly is arranged on the frame; Two first seat plates are spaced apart at two ends of the pitch-changing assembly along the pitch-changing direction, and the pitch-changing assembly is respectively drivingly connected to the two first seat plates to adjust the distance between the two first seat plates; and The clamping assembly is arranged on the first seat plate and is drivingly connected to the corresponding clamping plate assembly to adjust the distance between the two clamping plate assemblies.

3. The gripping device according to claim 2, wherein: The pitch-changing assembly comprises: A variable pitch motor is arranged on the frame; A variable pitch screw, wherein the variable pitch motor is drivingly connected to the variable pitch screw; Two lead screw nuts are respectively connected to the variable pitch lead screw in driving connection, and each lead screw nut is connected to the corresponding first seat plate; A variable pitch slide rail is arranged on the frame; and A variable pitch slider is provided on each of the first seat plates or on each of the lead screw nut. The variable pitch slider can slide in cooperation with the variable pitch slide rail under the drive of the lead screw nut.

4. The gripping device according to claim 3, wherein: There are two variable pitch slide rails, which are spaced apart on both sides of the frame along the variable pitch direction; two variable pitch sliders are spaced apart on each of the first seat plates, and each variable pitch slider slides in cooperation with the corresponding variable pitch slide rail.

5. The gripping device according to claim 2, wherein: The clamping assembly comprises: A clamping drive assembly, disposed on the first seat plate; a clamping slide rail, disposed on the first seat plate; and The clamping slider is connected to the corresponding clamping plate assembly, and the clamping drive assembly can drive the clamping slider to slide along the clamping slide rail to adjust the distance between the two clamping plate assemblies.

6. The gripping device according to claim 5, wherein: The clamping drive assembly comprises: A clamping cylinder, disposed on the first seat plate; A transmission slide rail, arranged on the first seat plate; A transmission slide block is drivingly connected to the clamping cylinder, and the transmission slide block can slide in cooperation with the transmission slide rail under the drive of the clamping cylinder; a transmission assembly connected to the transmission slider; and A transmission guide plate is arranged on the corresponding clamping plate assembly, and the transmission assembly can move in coordination with the transmission guide plate so that the clamping slide block slides along the clamping slide rail.

7. The gripping device according to claim 6, wherein: The transmission guide plate is provided with an obliquely arranged long strip hole, and the transmission assembly comprises: A transmission seat connected to the transmission slider, and the clamping cylinder is connected to the transmission seat; a transmission member connected to the transmission seat; and A transmission wheel is connected to the transmission member, and the transmission wheel is located in the elongated hole and can move in the elongated hole.

8. The gripping device according to claim 7, wherein: There are two transmission rails and two transmission sliders, the two transmission rails are arranged on the first seat plate at intervals, the extension direction of the transmission rail is perpendicular to the extension direction of the clamping rail, the two transmission sliders are arranged on the transmission seat at intervals, and each transmission slider slides in cooperation with the corresponding transmission rail; and / or, The transmission member includes two vertical plates arranged at intervals, a horizontal plate connected between the two vertical plates, a transmission rod and a mounting nut. The transmission wheel is mounted on one end of the transmission rod, and the other end of the transmission rod is passed through the horizontal plate and is located between the two vertical plates. The mounting nut locks the transmission rod on the horizontal plate.

9. The gripping device according to claim 6, wherein: There are four clamping drive assemblies, and two of the clamping drive assemblies are spaced apart on each of the first seat plates.

10. The gripping device according to claim 6, wherein: The gripping device also includes: A plurality of stroke limiting members are respectively used to limit the stroke of the corresponding clamping cylinder.

11. The gripping device according to claim 10, wherein: The travel limiter includes a hydraulic buffer and / or a rigid limiter.

12. The gripping device according to claim 6, wherein: The gripping device also includes: A plurality of position detection mechanisms are respectively used to detect the positions of the corresponding transmission slide blocks.

13. The gripping device according to claim 12, wherein: The position detection mechanism comprises: A plurality of first position sensors are arranged at intervals on the first seat plate for detecting the position of the transmission slider; and a sensing plate is arranged on the transmission assembly or the transmission slider for sensing the first position sensors.

14. The gripping device according to claim 13, wherein: The first position sensor is divided into a loosening limit position sensor and a clamping limit position sensor; The loosening limit position sensor is used to detect the maximum limit position of the transmission slide block, and the clamping limit position sensor is used to detect the minimum limit position of the transmission slide block.

15. The gripping device according to claim 1, wherein: The reference clamp assembly comprises: A second seat plate is drivingly connected to the pitch changing mechanism; A first back plate connected to the second seat plate; and A plurality of first clamping plates are installed side by side on the first back plate and fixed relative to the first back plate, and are used for clamping the battery cells.

16. The gripping device according to claim 15, wherein: The gripping device also includes: A plurality of battery cell sensors are arranged at intervals on the first back plate and are used to detect the battery cells.

17. The gripping device according to claim 1, wherein: The floating cleat assembly comprises: A third seat plate is drivingly connected to the pitch changing mechanism; A second back plate connected to the third seat plate; and A plurality of floating clamping plate kits are installed side by side on the second back plate and can move relative to the second back plate along a variable pitch direction to clamp the battery cells.

18. The gripping device according to claim 17, wherein: The floating cleat kit includes: A floating clamp, used for clamping the battery cell; A floating back plate and the floating clamp plate are respectively located on two sides of the second back plate; A connecting screw rod is passed through the floating back plate and connected to the floating clamping plate; an elastic member, located between the floating clamping plate and the second back plate; and A sleeve is located between the floating back plate and the second back plate.

19. The gripping device according to claim 17, wherein: There are multiple second back plates, and the multiple second back plates are arranged side by side on the third seat plate; each of the second back plates is provided with multiple floating clamping plate kits.

20. The gripping device according to claim 19, wherein: The third seat plate is provided with a plurality of mounting slots arranged side by side, the second back plate is provided with a mounting slide plate, the mounting slide plate is arranged in the mounting slots, and the mounting slide plate is fastened to the third seat plate; and / or, The floating clamping plate assembly also includes a handle disposed on the second back plate.

21. The gripping device according to claim 18, wherein: The floating clamps are configured such that each of the battery cells is clamped by at least two of the floating clamps.

22. The gripping device according to any one of claims 1 to 19, wherein: The gripping device also includes: An anti-fall mechanism is arranged on the pitch-changing mechanism and has a first horizontal position, a second horizontal position, a third vertical position and a fourth vertical position; The anti-fall mechanism is located at the first position in the horizontal direction and the fourth position in the vertical direction, and is used to prevent the mounting bolts of the clamping plate assembly from falling off; The anti-fall mechanism is located at the first position in the horizontal direction and the third position in the vertical direction, and is used to press the foam used for the battery cell when grabbing the battery cell; The anti-falling mechanism is located at the second position in the horizontal direction and the fourth position in the vertical direction, and is used to prevent the battery cell from falling.

23. The gripping device according to claim 22, wherein: The anti-fall mechanism comprises: A bottom bar; and Two transverse lifting assemblies are respectively arranged at the two ends of the pitch-changing mechanism, and each of the transverse lifting assemblies is connected to one end of the bottom-covering rod; wherein the transverse lifting assemblies include: Sliding seat; A transverse sliding rail, arranged on the pitch-changing mechanism; A transverse sliding block is arranged on the sliding seat; A transverse cylinder is arranged on the sliding seat and is drivingly connected to the transverse slide rail so that the transverse slide block can slide in cooperation with the transverse slide rail; A lifting cylinder is arranged on the sliding seat, the lifting cylinder is drivingly connected to the bottom-covering rod, and can make the bottom-covering rod move up and down; and Two second position sensors are arranged on the sliding seat and are used to detect the lowest position and the highest position of the bottom support rod respectively.

24. The gripping device according to any one of claims 1 to 19, wherein: The gripping device also includes: The deviation correction device is arranged on the frame and is used to identify the model, size and position of the battery cell.

25. A gripping device, wherein: It comprises a manipulator and the grasping device according to any one of claims 1 to 24, wherein the manipulator is configured to drive the grasping device to rotate and / or move.

26. A battery production line, wherein: It comprises a first conveyor line, a second conveyor line and the grabbing device as claimed in claim 25, wherein the first conveyor line is used to convey the battery monomers to be grabbed, and the grabbing device is used to grab the battery monomers of the first conveyor line and place them on the second conveyor line.

27. A control method, wherein: Applied to the gripping device of claim 25, the control method comprises: Controlling the movement of the gripping device so that the clamping plate mechanism is located above the battery cell; Acquiring parameter information of the battery cell; Based on the parameter information of the battery cell, controlling the gripping device to move so that the clamping mechanism is aligned with the battery cell; Based on the parameter information of the battery cell, the distance changing mechanism is controlled to move so that the clamping plate mechanism clamps the battery cell.

28. The control method according to claim 27, wherein: The step of obtaining the parameter information of the battery cell specifically includes: Controlling the deviation correction device to obtain parameter information of the battery cell.

29. The control method according to claim 27, wherein: Based on the parameter information of the battery cell, the step of controlling the distance-changing mechanism to move so that the clamping plate mechanism clamps the battery cell specifically includes: Based on the parameter information of the battery cell, controlling the distance-changing assembly of the distance-changing mechanism to move so that the two clamping plate assemblies of the clamping plate mechanism are at a first distance; The clamping assembly of the variable distance mechanism is controlled to move so that the two clamping plate assemblies are at a second spacing for clamping the battery cells, and the second spacing is smaller than the first spacing.

30. The control method according to claim 27, wherein: After the step of controlling the distance-changing mechanism to move based on the parameter information of the battery cell so that the clamping mechanism clamps the battery cell, the control method includes: Controlling the movement of the grabbing device to keep the grabbing device at a safe height; Controlling the movement of the anti-falling mechanism so that the anti-falling mechanism extends to the bottom of the battery cell; Controlling the grabbing device to move above the material discharging position; Controlling the movement of the anti-falling mechanism to retract the anti-falling mechanism to its original position; Controlling the clamping plate mechanism to move so as to release the battery cell to the discharge position; The grabbing device is controlled to move to a safe position to wait for a signal.

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