Battery grabbing device and battery production line

Abstract

The embodiment of the application discloses a battery grabbing device and a battery production line. The battery grabbing device can improve the automation degree of the battery grabbing device. The automation degree of the battery production line adopting the battery grabbing device is improved correspondingly. The battery grabbing device comprises a support, an operation platform, a detection device, a battery grabbing device and a tray grabbing device. The operation platform is used for carrying a tray and batteries in the tray. The detection device is arranged on the support and is used for detecting whether the batteries in the operation platform are qualified. The battery grabbing device is used for grabbing qualified batteries. The tray grabbing device is used for grabbing the tray after the battery grabbing device grabs the qualified batteries. The battery grabbing device provided by the application is used for grabbing qualified batteries.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is a divisional application with an application date of October 13, 2023, application number 202311323966.4, and an invention name of “Battery gripping equipment, battery production line and control method for battery gripping equipment”. Technical Field

[0003] The present application relates to battery gripping technology, and in particular to a battery gripping device and a battery production line. 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 the field of energy storage.

[0005] In the related art, in order to facilitate the grabbing of batteries during the battery production process, a battery grabbing device is provided. In the battery grabbing device in the related art, the batteries are located on a tray, and the tray is placed on an operating platform. In this way, the direct contact between the batteries and the operating platform can be reduced, and the risk of contamination of the batteries can be reduced. However, in the related art, after the battery grabbing device has grabbed the batteries in the tray, the tray is still located on the operating platform, and the tray needs to be manually removed from the operating platform. The degree of automation of the battery grabbing device is low. In addition, even if there are defective batteries in the battery, the battery grabbing device will grab them indiscriminately. Therefore, how to continuously grab qualified batteries in an automated manner is one of the issues that the industry hopes to solve. Summary of the Invention

[0006] The embodiments of the present application provide a battery gripping device and a battery production line, which can improve the degree of automation of the battery gripping device and achieve continuous gripping of qualified batteries.

[0007] The first aspect of the present application provides a battery grasping device, including a bracket, an operating platform, a detection device, a battery grasping module and a pallet grasping device, wherein the operating platform is used for a pallet and the batteries located in the pallet, the detection device is arranged on the bracket, and is used to detect whether the batteries in the operating platform are qualified, the battery grasping device is used to grasp qualified batteries, and the pallet grasping device is at least used to grasp the pallet after the battery grasping device grasps qualified batteries.

[0008] Because a detection device is installed on the bracket, when the operating platform carries batteries, the detection device can detect whether the batteries in the operating platform are qualified. If the batteries are qualified, the battery grasping device will grasp the qualified batteries. If the batteries are unqualified, the battery grasping device will not grasp the unqualified batteries. This can ensure that all batteries grasped by the battery grasping device are qualified batteries. In this way, the probability of the entire battery grasping device grasping qualified batteries can be increased. On this basis, since the batteries are located in the tray, after the battery grasping device grasps the qualified batteries, the tray grasping device can grasp the tray. At this time, the operating platform can carry a new tray with new batteries in it for a new round of grasping, thereby improving the degree of automation of the battery grasping device. Compared with the related art, when the battery grasping device grasps the batteries or qualified batteries, the tray is still on the operating platform, and the tray needs to be manually removed from the operating platform, which solves the technical problem of the degree of automation of the battery grasping equipment. In this application, a tray grasping device is set up. After the battery grasping device grasps the qualified batteries, the tray grasping device is at least used to grasp the tray, and no manual grasping is required. In this way, the degree of automation of the battery grasping equipment can be improved.

[0009] In a possible implementation of the present application, the detection device includes a first gripper camera, which is used to collect image information on the battery, and the image information is used to indicate whether the battery is qualified.

[0010] Since cameras are easy to obtain and have low cost, the detection device includes a first gripper camera, which is used to collect image information on the battery and determine whether the battery is a qualified battery based on the image information on the battery.

[0011] In a possible implementation of the present application, the battery grasping device also includes a first acquisition device, which is arranged on a bracket and is used to collect status information of qualified batteries in the operating platform, and the status information is used to represent at least one of size information and position information of the qualified batteries.

[0012] Since the battery grasping device needs to grasp qualified batteries but cannot determine the status information of qualified batteries, the battery grasping equipment also includes a first acquisition device arranged on the bracket, which is used to collect the status information of qualified batteries in the operating platform. Through the cooperation of the first acquisition device and the battery grasping device, qualified batteries can be accurately grasped.

[0013] In a possible implementation of the present application, the first acquisition device includes a second gripper camera, and the second gripper camera is used to acquire size information of qualified batteries.

[0014] Since cameras have the advantages of being easy to obtain and low in cost, the first acquisition device includes a second gripper camera, which is used to collect size information of qualified batteries. The size information may include the length, width, height, etc. of the qualified batteries, so that the first acquisition device and the battery gripping device can further cooperate to accurately grip the qualified batteries.

[0015] In a possible implementation of the present application, the first acquisition device includes a position acquisition component, which is used to acquire position information of qualified batteries.

[0016] Since the second gripper camera is only used to collect the size information of qualified batteries and cannot collect the position information of its qualified batteries, the first collection device includes a position collection component for collecting the position information of qualified batteries, so that the first collection device and the battery gripping device can further cooperate to accurately grip the qualified batteries.

[0017] In a possible implementation of the present application, the battery gripping device further includes a second collecting device, which is disposed on the bracket and is used to collect information on the number of layers of the pallet.

[0018] Since a second acquisition device is provided, the second acquisition device is used to collect the number of layers of the pallet. The second gripper camera can collect the size information of qualified batteries. In this way, the second acquisition device and the second gripper camera can be aligned. In this way, the size information of qualified batteries can be obtained more accurately, so that the battery grasping device can better grasp qualified batteries. At the same time, it is also beneficial for the pallet grasping device to accurately grasp the pallet. Here, it should be explained that the second acquisition device and the second gripper camera can be aligned. This means that the height information in the size information of qualified batteries collected by the second gripper camera can be used to infer the number of layers of the pallet. In this case, the second acquisition device can also collect the number of layers of the pallet, and the two information can be compared and corrected. For example, if it is within the error range, it means that the information collected by the second gripper camera and the second acquisition device is accurate. If it is not within the error range, the user can be reminded to inspect and repair the second gripper camera and the second acquisition device.

[0019] In a possible implementation of the present application, the operating platform includes a first operating platform and a second operating platform. The first operating platform is used to carry a pallet and batteries located in the pallet. After the battery grasping device grasps qualified batteries on the first operating platform, the pallet grasping device grasps the pallet located on the first operating platform and transports it to the second operating platform.

[0020] Since the first operating platform is set up, the first operating platform is used to carry the pallet and the batteries located in the pallet, and the second operating platform is used to carry the pallet grasped by the pallet grasping device. The partitioning is conducive to the clarity of the battery grasping equipment and convenient control and operation.

[0021] In one possible implementation of the present application, the operating platform includes a first conveying platform and a second conveying platform. The first conveying platform is used to convey the pallet and the batteries located in the pallet to the first operating platform, and the second conveying platform is used to convey the pallet located on the second operating platform to other locations.

[0022] Since a first conveying platform is provided for conveying the pallet and the batteries in the pallet to the first operating platform and a second conveying platform is provided for conveying the pallet of the second operating platform to other locations, time and manpower can be saved.

[0023] In a possible implementation of the present application, the battery grasping device includes a first frame, a first clamping jaw assembly, a second clamping jaw assembly, a clamping drive unit and a first distance adjustment mechanism, wherein the first clamping jaw assembly is arranged on the first frame and has a first clamping member, the second clamping jaw assembly is arranged on the first frame and has a second clamping member, the first clamping member and the second clamping member are arranged relative to and spaced apart, the clamping drive unit is used to drive the first clamping member and / or the second clamping member to move so that the first clamping member and the second clamping member move closer to each other, the first clamping member and the second clamping member cooperate with each other to clamp qualified batteries, the first distance adjustment mechanism is arranged between the first frame and the first clamping jaw assembly, and / or, is arranged between the first frame and the second clamping jaw assembly, and is used to drive the first clamping jaw assembly and the second clamping jaw assembly to move closer to or away from each other relative to the first frame to adjust the distance between the first clamping jaw assembly and the second clamping jaw assembly.

[0024] Since the first clamping member and the second clamping member are arranged on the first frame, the first clamping member and the second clamping member can move closer to each other through the drive of the clamping drive part, so as to clamp qualified batteries; however, due to the structural space limitation of the first clamping member and the second clamping member themselves, the opening and closing distance between the first clamping member and the second clamping member is limited, and batteries of different specifications and sizes may not be grasped. Therefore, in order to adapt to the grasping of qualified batteries of different specifications and sizes, a first distance adjustment mechanism is provided, which is arranged between the first frame and the first clamping member, and / or, between the first frame and the second clamping member. Through the first distance adjustment mechanism, the distance between the entire first clamping member and the entire second clamping member can be directly adjusted, so that the opening and closing distance between the first clamping member and the second clamping member has a wider adjustment spacing, so that it can adapt to the grasping of more qualified batteries of a variety of different specifications and sizes.

[0025] In a possible implementation of the present application, the first distance adjustment mechanism includes a rotational drive unit and a transmission mechanism, the input end of the transmission mechanism is transmission-connected to the rotational drive unit, and the output end of the transmission mechanism is transmission-connected to the first clamping jaw assembly and / or the second clamping jaw assembly, and the transmission mechanism is used to convert the rotational torque of the rotational drive unit into linear motion and transmit it to the first clamping jaw assembly and / or the second clamping jaw assembly.

[0026] Since the rotary drive unit is a mechanism that provides torque through rotation, such as a motor, the transmission mechanism is used to convert the rotary torque of the rotary drive unit into linear motion, thereby enabling the rotary torque of the rotary drive unit to drive the first clamping jaw assembly and / or the second clamping jaw assembly to perform linear motion. The linear motion is simple and clear, thus better adapting to the gripping of more qualified batteries of different specifications and sizes.

[0027] In a possible implementation of the present application, the transmission mechanism includes a transmission rod with a thread and a thread provided on the first jaw assembly and / or the second jaw assembly, the transmission rod is fixedly connected to the rotation drive unit, the thread of the transmission rod matches the thread on the first jaw assembly and / or the second jaw assembly, and the rotation drive unit is used to drive the transmission rod to rotate so as to drive the first jaw assembly and the second jaw assembly to move closer to or away from each other relative to the first frame.

[0028] Since the transmission mechanism includes a transmission rod with threads and threads arranged on the first clamping jaw assembly and / or the second clamping jaw assembly, the transmission rod and the threads are matched in such a way that the accuracy of the linear motion can be controlled by the pitch of the threads, the speed of the linear motion can be controlled by the rotation speed of the transmission rod, and the distance of the linear motion can be controlled by the number of rotations or the length of the rotation arc of the transmission rod. Therefore, it is relatively easy to carry out precise control, and the transmission efficiency and accuracy are high.

[0029] In a possible implementation of the present application, the first distance adjustment mechanism further includes a first slide rail assembly, and the first clamping jaw assembly and / or the second clamping jaw assembly are slidably connected to the first frame via the first slide rail assembly.

[0030] Since the first clamping jaw assembly and / or the second clamping jaw assembly are slidably connected to the first frame through the first slide rail assembly, the movement of the first clamping jaw assembly and / or the second clamping jaw assembly can be facilitated, the friction between them and the first frame can be reduced, and it has a guiding and limiting effect on the movement.

[0031] In a possible implementation of the present application, the first slide rail assembly includes a first slide rail fixed on the first frame, and a first slider fixed on the first clamping jaw assembly and / or the second clamping jaw assembly. The first slide rail extends along a straight line direction in which the first clamping jaw assembly and the second clamping jaw assembly approach or move away from each other relative to the first frame, and the first slider is slidably connected to the first slide rail.

[0032] Since the first slide rail assembly includes a first slide rail fixed on the first frame and a first slider fixed on the first clamping jaw assembly and / or the second clamping jaw assembly, the first slider slides on the first slide rail, which can reduce the friction between it and the first frame. At the same time, the first slide rail can also play a limiting role.

[0033] In a possible implementation of the present application, the first distance adjustment mechanism further includes a distance measuring member, which is used to measure the displacement generated when the first clamping jaw assembly and the second clamping jaw assembly move toward or away from each other relative to the first frame.

[0034] Since the distance measuring member is provided, the displacement generated when the first clamping jaw assembly and the second clamping jaw assembly move toward or away from each other relative to the first frame can be measured by the distance measuring member, thereby enabling more precise adjustment.

[0035] In a possible implementation of the present application, the first clamping member and / or the second clamping member includes a fixing frame, an abutment block and a deformable member, wherein the deformable member is located between the abutment block and the fixing frame to provide a buffering force to push the abutment block and the fixing frame apart.

[0036] Due to the presence of the deformable member, when the first and second clamping members clamp a qualified battery, the abutment block is subjected to a reaction force from the battery contact surface and transmits this reaction force to the deformable member. The deformable member deforms under the force, causing the abutment block to move toward the deformable member to absorb this reaction force. At the same time, the deformed deformable member generates a buffering force that pushes the abutment block toward the qualified battery, ensuring that the abutment block clamps the battery. This achieves flexible gripping and avoids damaging the surface of the qualified battery or deforming the qualified battery clamp.

[0037] In a possible implementation of the present application, the first clamping member and / or the second clamping member includes a plurality of correspondingly arranged abutment blocks and a plurality of deformable members, and the plurality of abutment blocks are arranged side by side.

[0038] Since a plurality of abutment blocks are provided, qualified batteries of different sizes and different quantities can be flexibly adapted and grasped.

[0039] In a possible implementation of the present application, the pallet grabbing device includes a second frame, a third clamping jaw assembly, a fourth clamping jaw assembly, a first driving mechanism, a second driving mechanism, and a second distance adjustment mechanism, wherein the third clamping jaw assembly is arranged on the second frame and has a third clamping member, the fourth clamping jaw assembly is arranged on the second frame and has a fourth clamping member, the third clamping member and the fourth clamping member are arranged opposite to each other and spaced apart, the first driving mechanism is arranged between the second frame and the third clamping jaw assembly, and is arranged between the second frame and the fourth clamping jaw assembly for driving the third clamping member and the fourth clamping member to simultaneously move between the first operating platform and the second The second driving mechanism is provided between the first driving mechanism and the third clamping member, and is provided between the first driving mechanism and the fourth clamping member, for driving the third clamping member and the fourth clamping member to approach or move away from the pallet at the same time; the second distance adjusting mechanism is provided between the second driving mechanism and the third clamping member, and / or is provided between the second driving mechanism and the fourth clamping member, for driving the third clamping member and the fourth clamping member to approach or move away from each other relative to the second driving mechanism to adjust the distance between the third clamping member and the fourth clamping member so that the third clamping member and the fourth clamping member cooperate with each other to grab the pallet.

[0040] Due to the provision of a second distance-adjusting mechanism, the second distance-adjusting mechanism can drive the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second driving mechanism to adjust the distance between the third clamping member and the fourth clamping member. In this way, the second distance-adjusting mechanism is suitable for grabbing pallets of different sizes. It only needs to adjust the distance between the third clamping member and the fourth clamping member accordingly, thereby improving the versatility of the pallet grabbing device. After the third clamping member and the fourth clamping member cooperate with each other to grab the pallet, the second driving assembly drives the third clamping member and the fourth clamping member to move away from the pallet at the same time, and the first driving member drives the third clamping member and the fourth clamping member from the first operating platform to the second operating platform. At this time, the second distance-adjusting mechanism drives the third clamping member and the fourth clamping member to move away from each other relative to the second driving mechanism to release the pallet to the second operating platform. At this time, the third clamping member and the fourth clamping member can be located in the second operating area, or they can reach the first operating platform under the drive of the first driving mechanism to grab the pallet again.

[0041] In a possible implementation of the present application, the first driving mechanism includes a first driving member and a second slide rail assembly, the third clamping member and the fourth clamping member are both connected to the second slide rail assembly, the first driving member is connected to the second slide rail assembly, and the first driving member is used to drive the second slide rail assembly and simultaneously drive the third clamping member and the fourth clamping member to move between the first operating platform and the second operating platform.

[0042] Since the second slide rail assembly is provided, the first driving member is connected to the second slide rail assembly, which can facilitate the movement of the third clamping member and the fourth clamping member between the first operating platform and the second operating platform, reduce movement friction, and at the same time, have a guiding and limiting effect on the movement.

[0043] In a possible implementation of the present application, the second slide rail assembly includes a second slide rail arranged on the second frame and a second slider arranged on the third clamping assembly and the fourth clamping assembly. The second slide rail extends along the setting direction of the first operating platform and the second operating platform, and the first driving member is used to drive the second slider to slide in the second slide rail.

[0044] Since the second slide rail assembly includes a second slide rail fixed on the second frame and a second slider fixed on the third clamping jaw assembly and / or the fourth clamping jaw assembly, the first driving member is used to drive the second slider to slide on the second slide rail, which can reduce the friction between it and the second frame. At the same time, the second slide rail can also play a limiting role.

[0045] In a possible implementation of the present application, the second driving mechanism includes a second driving member and a third slide rail assembly, the third clamping member and the fourth clamping member are both connected to the third slide rail assembly, the second driving member is connected to the third slide rail assembly, and the second driving member is used to drive the third slide rail assembly to drive the third clamping member and the fourth clamping member to approach or move away from the pallet at the same time.

[0046] Since the third slide rail assembly is provided, the second driving member is connected to the third slide rail assembly, which can facilitate the third clamping member and the fourth clamping member to approach or move away from the tray at the same time, reduce movement friction, and at the same time, have a guiding and limiting effect on the movement.

[0047] In a possible implementation of the present application, the third slide rail assembly includes a third slide rail provided with a first driving mechanism and a third slider arranged on the third clamping assembly and the fourth clamping assembly. The third slide rail extends in a direction forming an angle with the setting direction of the first operating platform and the second operating platform, and the second driving member is used to drive the third slider to slide in the third slide rail.

[0048] Since the third slide rail assembly includes a third slide rail fixed on the first drive assembly, and a third slider fixed on the third clamping assembly and / or the fourth clamping assembly, the second drive member is used to drive the third slider to slide on the third slide rail, which can reduce the friction between it and the first drive mechanism. At the same time, the third slide rail can also play a limiting role.

[0049] In a possible implementation of the present application, the second distance adjustment mechanism includes a third drive member and a fourth slide rail assembly, the third clamping assembly and the fourth clamping assembly are connected to the fourth slide rail assembly, the third drive member is connected to the fourth slide rail assembly, and the third drive member is used to drive the fourth slide rail assembly to drive the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second drive mechanism.

[0050] Since the fourth slide rail assembly is provided, the third driving member is connected to the fourth slide rail assembly, which can conveniently drive the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second driving mechanism, reducing movement friction, and at the same time, having a guiding and limiting effect on the movement.

[0051] In a possible implementation of the present application, the fourth slide rail assembly includes a fourth slide rail arranged on the second driving mechanism and a fourth slider arranged on the third clamping assembly and the fourth clamping assembly. The fourth slide rail extends along the relative setting direction of the third clamping member and the fourth clamping member. The third driving member is used to drive the fourth slider, and the fourth slider slides in the fourth slide rail.

[0052] Since the fourth slide rail assembly includes a fourth slide rail fixed on the second drive assembly, and a fourth slider fixed on the third clamping assembly and / or the fourth clamping assembly, the third drive member is used to drive the fourth slider to slide on the fourth slide rail, which can reduce its friction with the second drive mechanism. At the same time, the fourth slide rail can also play a limiting role.

[0053] The second aspect of the present application provides a battery production line, which includes the battery gripping device provided in any one of the first aspects and production equipment, and the production equipment is used to produce batteries for gripping by the battery gripping device in the battery gripping device provided in any embodiment of the first aspect.

[0054] Since the battery production line provided in the second aspect of the present application includes the battery gripping device provided in any one of the first aspects, it has the same technical effect. That is, the degree of automation of the battery production line using the battery gripping device is correspondingly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference numerals are used throughout the drawings to denote the same components. In the drawings:

[0056] Figure 1 A schematic diagram of the three-dimensional structure of a battery gripping device provided in an embodiment of the present application;

[0057] Figure 2A front view of the battery gripping device provided in an embodiment of the present application;

[0058] Figure 3 A side view of a battery gripping device provided in an embodiment of the present application;

[0059] Figure 4 A top view of a partial structure of a battery gripping device provided in an embodiment of the present application;

[0060] Figure 5 A front view of a partial structure of a battery gripping device provided in an embodiment of the present application;

[0061] Figure 6 A schematic structural diagram of a battery gripping device provided in an embodiment of the present application;

[0062] Figure 7 One of the flow charts of the control method of the battery gripping device provided in the embodiment of the present application;

[0063] Figure 8 This is a second flow chart of a control method for a battery gripping device according to an embodiment of the present application;

[0064] Figure 9 Flowchart 3 of the control method for the battery gripping device provided in an embodiment of the present application;

[0065] Figure 10 Flowchart 4 of the control method for the battery gripping device provided in an embodiment of the present application;

[0066] Figure 11 This is the fifth flow chart of the control method of the battery gripping device provided in the embodiment of the present application.

[0067] Description of Reference Numerals

[0068] 1-operating platform; 11-feeding port; 12-discharging port; 13-first door body; 14-second door body; 2-battery grabbing device; 21-first frame; 22-first clamping jaw assembly; 23-second clamping jaw assembly; 24-clamping drive unit; 25-first distance adjustment mechanism; 26-first slide rail assembly; 3-tray grabbing device; 31-second frame; 32-third clamping jaw assembly; 33-fourth clamping jaw assembly; 34-first drive mechanism; 35-second drive mechanism; 4-tray; 5-battery; 6-bracket; 7-detection device; 8-first acquisition device; 81-second gripper camera; 82-position acquisition component; 83-height acquisition component; 9-second acquisition device. DETAILED DESCRIPTION

[0069] The embodiments of the present application will be described in detail below with reference to the drawings. The following examples are only used to more clearly illustrate the technical scheme of the present application, and therefore only serve as examples, but cannot be used to limit the protection scope of the present application.

[0070] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application; the use of the terms "including," "comprising," "having" and variations thereof herein is meant to encompass the inclusion of the recited elements but not the exclusion of others.

[0071] In the description of the embodiments of the present application, the technical terms "first", "second", "third" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0072] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to each other. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0073] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents the "or" relationship between the front and rear associated objects.

[0074] In the description of the embodiments of the present application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed, operated or used in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application.

[0075] In the description of the embodiments of the present application, 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; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0076] In the description of the embodiments of the present application, 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.

[0077] Below, this application is described in detail.

[0078] New energy batteries are increasingly being used in everyday life and industry. They are not only used in energy storage systems like hydropower, thermal power, wind power, and solar power plants, but are also widely used in a variety of electric vehicles, including electric bicycles, electric motorcycles, and electric cars. To improve efficiency in production, battery handling equipment is being installed to quickly handle batteries and save time.

[0079] In conventional battery handling equipment, after the battery handling device has finished handling batteries or qualified batteries, the tray remains on the operating platform, requiring manual removal. This results in a low level of automation. Furthermore, even if there are defective batteries, the battery handling device will indiscriminately handle them. Therefore, how to continuously and automatically handle qualified batteries is a challenge the industry is seeking to address.

[0080] The present invention provides a battery gripping device comprising a support, a platform, a detection device, a battery gripping device, and a tray gripping device. The operating platform is configured to carry a tray and batteries located within the tray. The detection device is mounted on the support and configured to detect whether the batteries within the operating platform are qualified. The battery gripping device is configured to grip qualified batteries. The tray gripping device is configured to grip the tray at least after the battery gripping device has gripped qualified batteries. When the operating platform is carrying batteries, the detection device can detect whether the batteries within the operating platform are qualified. If the batteries are qualified, the battery gripping device grips the qualified batteries. If the batteries are unqualified, the battery gripping device does not grip the unqualified batteries. This ensures that all batteries gripped by the battery gripping device are qualified batteries, thereby increasing the probability that the entire battery gripping device will grip qualified batteries. Furthermore, since the batteries are located within the tray, after the battery gripping device has gripped qualified batteries, the tray gripping device can grip the tray. At this point, the operating platform can carry a new tray containing new batteries for a new round of gripping, thereby increasing the automation level of the battery gripping device.

[0081] In the embodiment of the present application, the battery grasping device does not limit the type of battery to be grasped. For example, it can be used on a production line that converts between battery cells and battery modules to grasp battery cells; it can be used on a production line that converts between battery modules and battery packs to grasp battery modules, etc.

[0082] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0083] The present application embodiment provides a battery gripping device, referring to Figures 1 to 6 , including a bracket 6, an operating platform 1, a detection device 7, a battery grabbing device 2 and a tray grabbing device 3, wherein the operating platform 1 is used to carry the tray 4 and the batteries 5 located in the tray 4, the detection device 7 is set on the bracket 6, and is used to detect whether the batteries 5 in the operating platform 1 are qualified, the battery grabbing device 2 is used to grab qualified batteries 5, and the tray grabbing device 3 is at least used to grab the tray 4 after the battery grabbing device 2 grabs the qualified batteries 5.

[0084] In an embodiment of the present application, the battery gripping equipment refers to a production line module having an operating platform 1, a battery gripping device 2, a pallet gripping device 3 and a detection device 7. It can be an entire production line including the operating platform 1, the battery gripping device 2, the pallet gripping device 3 and the detection device 7, or it can be a work station of a production line including the operating platform 1, the battery gripping device 2, the pallet gripping device 3 and the detection device 7. For example, the battery gripping equipment is a work station for loading large packages of batteries 5.

[0085] In the embodiment of the present application, the battery 5 may be a single battery 5 or a group of batteries 5, such as a plurality of batteries 5 arranged in a group. The battery 5 may be a square battery cell.

[0086] In the embodiment of the present application, the operating platform 1 can be any work platform that is convenient for placing the battery 5. For example, it can be an area with a conveying mechanism, and the conveying mechanism is linked with the entire production line.

[0087] In an embodiment of the present application, the detection device 7 is used to detect whether the battery 5 in the operating platform 1 is qualified. The detection device 7 detects whether the battery 5 in the operating platform 1 is qualified in a manner that a QR code is set on each battery 5, and the QR code stores information about the battery 5. The detection device 7 is a camera, and the camera can obtain information about the battery 5 by scanning the QR code, and judge whether the battery 5 is a qualified battery 5 by the obtained battery 5 information; a first label can also be set on each battery 5, and a second label adapted to the corresponding label is set on the detection device 7. If the first label and the second label are adapted, it means that the battery 5 is a qualified battery 5. If they are not adapted, it means that the battery 5 is an unqualified battery 5. Here, it should be supplemented that the detection device 7 can detect whether the battery 5 in the operating platform 1 is qualified in other ways, and the embodiment of the present application does not limit this.

[0088] In an embodiment of the present application, the detection device 7 is arranged on the bracket 6 and is used to detect whether the battery 5 in the operating platform 1 is qualified. Whether the battery 5 is qualified can be whether the battery 5 has passed the previous process, or several previous processes, or whether the battery 5 has completed the process, etc. Here, it should be supplemented that the embodiment of the present application does not limit the judgment of whether the battery 5 is qualified.

[0089] In the embodiment of the present application, the battery 5 is located in the tray 4. Each tray 4 can be provided with one battery 5. Each tray 4 can also be provided with multiple batteries 5. The multiple batteries 5 can be arranged in a disorderly manner or evenly distributed in the tray 4. This embodiment of the present application does not limit this. In one implementation provided in the embodiment of the present application, there are multiple batteries 5, and the multiple batteries 5 are evenly distributed in the tray 4.

[0090] In the embodiment of the present application, the pallet grabbing device 3 is at least used to grab the pallet 4, so the pallet grabbing device 3 can be used only to grab the pallet 4, and can be used to grab the pallet 4 and transport the pallet 4 to other locations at the same time. Of course, the pallet grabbing device 3 can also perform other operations, and this embodiment of the present application does not limit this.

[0091] The above-mentioned battery grabbing device, because the detection device 7 is set on the bracket 6, when the battery 5 is carried on the operating platform 1, the detection device 7 can detect whether the battery 5 in the operating platform 1 is qualified. If the battery 5 is qualified, the battery grabbing device 2 will grab the qualified battery 5. If the battery 5 is unqualified, the battery grabbing device 2 will not grab the unqualified battery 5. This can ensure that the batteries 5 grabbed by the battery grabbing device 2 are all qualified batteries 5. In this way, the probability of the entire battery grabbing device grabbing qualified batteries 5 can be increased. On this basis, since the battery 5 is located in the tray 4, after the battery grabbing device 2 has grabbed the qualified battery 5, the tray grabbing device 3 can grab the tray 4. At this time, the operating platform 1 can carry a new tray 4, and the new tray 4 is provided with new batteries 5 for a new round of grabbing. In the related art, when the battery grasping device has grasped the battery or qualified battery, the tray is still on the operating platform, and the tray needs to be manually removed from the operating platform. This is a technical problem of the degree of automation of the battery grasping equipment. The present application sets up a tray grasping device 3. After the battery grasping device 2 has grasped the qualified battery 5, the tray grasping device 3 is at least used to grasp the tray 4 without manual grasping. In this way, the degree of automation of the battery grasping equipment can be improved.

[0092] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The detection device 7 includes a first gripper camera, which is used to collect image information on the battery 5, and the image information is used to indicate whether the battery is qualified.

[0093] In the embodiment of the present application, the first gripper camera is used to capture image information on the battery 5. The first gripper camera can be a device with photo and video recording functions. The image information can be a photo or video. By capturing the image with the first gripper camera, the photo or video of the battery 5 can be obtained, and the corresponding image information can be obtained. For example, the battery 5 is provided with a QR code, and the QR code is provided with specific information about the battery 5. The first gripper camera obtains the specific information of the battery 5 by scanning the QR code, and verifies or determines whether the battery 5 is qualified based on the specific information of the battery 5.

[0094] The above-mentioned battery grasping equipment has the advantages of easy acquisition and low cost of the camera. Therefore, the detection device 7 includes a first gripper camera, which is used to collect image information on the battery 5 and judge whether the battery 5 is a qualified battery 5 based on the image information on the battery 5.

[0095] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6The battery grasping device also includes a first acquisition device 8, which is arranged on the bracket 6 and is used to collect status information of the qualified battery 5 in the operating platform 1, and the status information is used to characterize at least one of the size information of the qualified battery 5 and the position information of the qualified battery 5.

[0096] In the embodiment of the present application, the first acquisition device 8 is used to collect status information of qualified batteries 5 in the operating platform 1. The way in which the first acquisition device 8 collects the status information of qualified batteries 5 in the operating platform 1 can be to capture it with a camera, or to obtain it by measuring with a measuring instrument, etc. Here, it should be supplemented that the embodiment of the present application does not limit the way in which the first acquisition device 8 collects the status information of qualified batteries 5 in the operating platform 1.

[0097] In an embodiment of the present application, the status information of the qualified battery 5 includes the size information of the qualified battery 5, such as the length, width and height of the qualified battery 5, and may include whether the qualified battery 5 is tilted, and may include whether the qualified battery 5 is too high. Here, judging whether the qualified battery 5 is too high means that the height of the qualified battery 5 exceeds the height that the battery grasping device 2 can grasp. If it is too high, the qualified battery 5 cannot be grasped.

[0098] The above-mentioned battery grasping device, since the battery grasping device 2 needs to grasp the qualified battery 5 but cannot determine the status information of the qualified battery 5, the battery grasping device includes a first acquisition device 8 arranged on the bracket 6, which is used to collect the status information of the operating platform 1. Through the cooperation of the first acquisition device 8 and the battery grasping device 2, the qualified battery 5 can be accurately grasped.

[0099] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The first collecting device 8 includes a second gripper camera 81 , which is used to collect size information of qualified batteries 5 .

[0100] In the embodiment of the present application, the second gripper camera 81 is used to collect the size information of the qualified battery 5. The second gripper camera 81 can be a device with photo and video recording functions; the image information can be a photo or video, etc. By shooting with the second gripper camera 81, the image information of the qualified battery 5 can be obtained, and then the size of the qualified battery 5 can be obtained.

[0101] In the embodiment of the present application, the second gripper camera 81 is used to collect the size information of the qualified battery 5, which can include the length, width, height, etc. of the qualified battery 5. On this basis, in order to further confirm the height of the qualified battery, the first collecting device can further include a height collecting part 83 for collecting the height information of the qualified battery 5. For example, the height collecting part 83 can be a scale arranged along the height direction of the qualified battery 5. The height information of the qualified battery 5 is collected by comparing the scale with the height of the qualified battery 5. The accurate height of the qualified battery 5 is obtained through the cooperation of the height collecting part 83 and the second gripper camera 81, so as to determine whether the qualified battery 5 is too high.

[0102] The above battery grabbing device has the advantages of easy acquisition and low cost. Therefore, the first collecting device 8 includes the second gripper camera 81 for collecting the size information of the qualified battery 5, which can include the length, width, height, etc. of the qualified battery 5. The first collecting device 8 and the battery grabbing device 2 are further cooperated to accurately grab the qualified battery 5.

[0103] In a possible implementation manner provided by the embodiment of the present application, referring to Figures 1 to 6 The first collecting device 8 includes a position collecting part 82 for collecting the position information of the qualified battery 5.

[0104] In the embodiment of the present application, the position collecting part 82 for collecting the position information of the qualified battery 5 can include whether the qualified battery 5 is skewed, etc. The position collecting part 82 can emit infrared rays along the vertical direction towards the qualified battery 5. If the size of the qualified battery 5 along the vertical direction is parallel to the infrared rays emitted by the position collecting part 82 along the vertical direction, it means that the qualified battery 5 is not skewed. It should be noted that the present application does not limit the way and specific position of the position collecting part 82 for collecting the position information of the qualified battery 5.

[0105] The above battery grabbing device has the advantages of easy acquisition and low cost. Therefore, the first collecting device 8 includes the second gripper camera 81 for collecting the size information of the qualified battery 5, which can include the length, width, height, etc. of the qualified battery 5. The first collecting device 8 and the battery grabbing device 2 are further cooperated to accurately grab the qualified battery 5.

[0106] In a possible implementation manner provided by the embodiment of the present application, referring to Figures 1 to 6The battery grabbing device further includes a second collecting device 9 , which is disposed on the bracket 6 and is used to collect layer number information of the tray 4 .

[0107] In the embodiment of the present application, the second acquisition device 9 is used to collect information about the number of layers of the pallet 4. The embodiment of the present application does not limit the manner in which the second acquisition device 9 collects information about the number of layers of the pallet 4. For example, the second acquisition device 9 can be provided with a scale along the stacking direction of the pallets 4, and the height of the overall pallet 4 and each pallet 4 can be obtained by the scale. The number of layers of the pallet 4 can be obtained by comparing the height of the overall pallet 4 and the height of each pallet 4. In another example, the second acquisition device 9 includes a servo motor and a sensor. The servo motor drives the sensor to detect layer by layer, and the position of the sensor will not be adjusted as the number of layers of the pallet 4 changes. At the same time, the number of sensors used is small, which reduces the failure rate of the sensors.

[0108] The above-mentioned battery grasping equipment is equipped with a second acquisition device 9, which is used to collect the layer number information of the tray 4. The second gripper camera 81 can collect the size information of the qualified battery 5. In this way, the second acquisition device 9 and the second gripper camera 81 can be aligned. In this way, the height of the qualified battery 5 can be obtained more accurately, so that the battery grasping device 2 can better grasp the qualified battery 5. At the same time, it is also beneficial for the tray grasping device 3 to accurately grasp the tray 4.

[0109] Here, it should be explained that the second acquisition device 9 and the second gripper camera 81 can compare the height information of the qualified battery 5 collected by the second gripper camera 81 to infer the number of layers of the tray 4. At this time, the second acquisition device 9 can also collect the number of layers of the tray 4, and the two pieces of information can be compared and corrected. For example, if the error is within the error range, it means that the information collected by the second gripper camera 81 and the second acquisition device 9 is accurate. If it is not within the error range, the user can be reminded to inspect and repair the second gripper camera 81 and the second acquisition device 9.

[0110] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The operating platform 1 includes a first operating platform and a second operating platform. The first operating platform is used for the pallet 4 and the battery 5 located in the pallet 4. After the battery grasping device 2 grasps the qualified battery 5 on the first operating platform, the pallet grasping device 3 grasps the pallet 4 located on the first operating platform and transports it to the second operating platform.

[0111] In the embodiment of the present application, the size relationship between the first operating platform and the second operating platform is not limited by the embodiment of the present application. The first operating platform can be larger than the second operating platform, the first operating platform can be smaller than the second operating platform, or the first operating platform can be equal to the second operating platform. Similarly, the embodiment of the present application does not limit the shapes of the first operating platform and the second operating platform. The first operating platform and the second operating platform can both be regular shapes, one can be regular and the other can be irregular, or they can be irregular shapes. In addition, the embodiment of the present application does not limit whether the first operating platform and the second operating platform are connected. In other words, there is no limit on the relative position between the first operating platform and the second operating platform. The first operating platform only needs to be able to carry the tray 4 and the battery 5 located in the tray 4, and the second operating platform only needs to be able to carry the tray 4 grasped by the tray grasping device 3.

[0112] The above-mentioned battery grabbing device is provided with a first operating platform, which is used to carry the tray 4 and the battery 5 located in the tray 4, and the second operating platform is used to carry the tray 4 grasped by the tray grabbing device 3. The partitioning is conducive to the clarity of the battery grabbing device and convenient control and operation.

[0113] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The operating platform 1 also includes a first conveying platform and a second conveying platform. The first conveying platform is used to convey the tray 4 and the batteries 5 in the tray 4 to the first operating platform, and the second conveying platform is used to convey the tray 4 located on the second operating platform to other locations.

[0114] In an embodiment of the present application, the first conveying platform is used to convey the tray 4 and the batteries 5 in the tray 4 to the first operating platform. The first conveying platform can be provided with a pulley, and the pulley drives the tray 4 and the batteries 5 in the tray 4 to the first operating platform; the first conveying platform can be provided with multiple rotatable rollers, and the tray 4 and the batteries 5 in the tray 4 are placed on the rotatable rollers. The motor drives the rollers to rotate and drives the tray 4 and the batteries 5 in the tray 4 to the first conveying platform. Of course, the first conveying platform can also be provided with other types of conveying devices, and this embodiment of the present application does not limit this.

[0115] In an embodiment of the present application, the second conveying platform conveys the pallet 4 of the second operating platform to other locations. The second conveying platform can be provided with a pulley, and the pulley drives the pallet 4 of the second operating platform to be conveyed to other locations; the second conveying platform can be provided with multiple rotatable rollers, and the pallet 4 of the second operating platform is set on the rotatable rollers. The motor drives the rollers to rotate and drives the pallet 4 of the second conveying platform to other locations. Of course, the second conveying platform can also be provided with other types of conveying devices, which are not limited to the embodiments of the present application.

[0116] The battery grabbing device is configured to transport the tray 4 and the batteries 5 in the tray 4 to a first conveying platform of a first operating platform and to transport the tray 4 of a second operating platform to a second conveying platform of another location, thereby saving time and manpower.

[0117] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The operating platform 1 also has an inlet 11 and an outlet 12. The batteries 5 to be grabbed on the tray 4 can enter the grabbing position from the inlet 11. After the grabbing and loading are completed, the remaining tooling (such as the tray 4 tooling) can be transferred out from the outlet 12.

[0118] In the embodiment of the present application, the relative positions and shapes of the feed port 11 and the discharge port 12 are not limited in the embodiment of the present application. The feed port 11 and the discharge port 12 can be set on opposite sides of the operating area, or on one side of the operating platform 1. The shapes of the feed port 11 and the discharge port 12 can both be regular shapes, or both can be irregular shapes, or one of them can be irregular and the other can be regular. For example, the feed port 11 and the discharge port 12 are set on one side of the operating platform 1. Specifically, the feed port 11 is set on the first conveying platform, and the discharge port 12 is set on the second conveying platform.

[0119] In the embodiment of the present application, a first door body 13 can be set on the first conveying platform, and a second door body 14 can be set on the second conveying platform. The first door body 13 is formed with an inlet 11, and the second door body 14 is formed with an outlet 12.

[0120] The specific flow process of the battery grabbing equipment is that the pallet 4 and the battery 5 located in the pallet 4 enter the first conveying platform from the feed port 11, and the first conveying platform conveys the pallet 4 and the battery 5 located in the pallet 4 to the first operating platform until the pallet 4 and the battery 5 located in the pallet 4 arrive at the first operating platform. At this time, the detection device 7 detects whether the battery 5 in the first operating platform is qualified. According to the information detected by the detection device 7, the battery grabbing device 2 grabs the qualified battery 5 on the first operating platform. After the battery grabbing device 2 grabs the qualified battery 5 on the first operating platform, the pallet grabbing device 3 grabs the pallet 4 on the first operating platform and conveys it to the second operating platform. At this time, the second conveying platform conveys the pallet 4 of the second operating platform to the discharge port 12, and the pallet 4 flows out from the discharge port 12 for continued use.

[0121] To ensure safe operation, two sets of safety gate assemblies are installed between the feed port 11 and the discharge port 12 and the operating position. They mainly detect whether foreign objects (such as human bodies) enter the operating position to determine whether the grabbing operation can be performed. If foreign objects are detected, grabbing is not allowed, thereby ensuring safe production.

[0122] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The battery grasping device 2 includes a first frame 21, a first clamping jaw assembly 22, a second clamping jaw assembly 23, a clamping drive unit 24 and a first distance adjustment mechanism 25, wherein the first clamping jaw assembly 22 is arranged on the first frame 21 and has a first clamping member, the second clamping jaw assembly 23 is arranged on the first frame 21 and has a second clamping member, the first clamping member and the second clamping member are arranged relative to and spaced apart, the clamping drive unit 24 is used to drive the first clamping member and / or the second clamping member to move so that the first clamping member and the second clamping member move closer to each other, and the first clamping member and the second clamping member cooperate with each other to clamp the qualified battery 5, and the first distance adjustment mechanism 25 is arranged between the first frame 21 and the first clamping jaw assembly 22, and / or, between the first frame 21 and the second clamping jaw assembly 23, and is used to drive the first clamping jaw assembly 22 and the second clamping jaw assembly 23 to move closer to or away from each other relative to the first frame 21 to adjust the distance between the first clamping jaw assembly 22 and the second clamping jaw assembly 23.

[0123] In an embodiment of the present application, the first frame 21 is the support frame of the entire structure and can be set according to actual conditions. The components of the battery grasping device 2 are fixed to the first frame 21. In some embodiments, the battery grasping device 2 can be called a gripper, which is part of a grasping robot and is used to grasp qualified batteries 5.

[0124] In an embodiment of the present application, the first clamping jaw assembly 22 and the second clamping jaw assembly 23 can be two relative systems, respectively used to correspond to the opposite sides of the qualified battery 5. When grasping the qualified battery 5, the first clamping member of the first clamping jaw assembly 22 and the second clamping member of the second clamping jaw assembly 23 respectively rest on the opposite sides of the qualified battery 5, so as to clamp the qualified battery 5.

[0125] In an embodiment of the present application, the clamping drive part 24 can be one or more; for example, there is one clamping drive part 24, which is used to drive the first clamping member and the second clamping member to move; or there are two clamping drive parts 24, and the two clamping drive parts 24 are respectively located on the first clamping jaw assembly 22 and the second clamping jaw assembly 23, and the two clamping drive parts 24 drive the first clamping member and the second clamping member to move one by one.

[0126] In the embodiment of the present application, the first distance adjusting mechanism 25 is used to adjust the distance between the entire first clamping jaw assembly 22 and the second clamping jaw assembly 23, while the clamping drive unit 24 only acts on the first clamping member and / or the second clamping member, that is, the first distance adjusting mechanism 25 and the clamping drive unit 24 are completely different concepts.

[0127] In the embodiment of the present application, the first rack 21 may include Figure 1 、 Figure 2 and Figure 3 The base of the battery gripping device 2, the first frame 21 may also include Figure 4 、 Figure 5 and Figure 6 The frame structure is connected to any combination of the first clamping jaw assembly 22, the second clamping jaw assembly 23, the clamping drive unit 24 and the first distance adjustment mechanism 25. In other words, Figure 1 、 Figure 2 and Figure 3 The first rack 21 shown is a portion of the first rack 21 in the embodiment of the present application. Similarly, Figure 4 、 Figure 5 and Figure 6 The first rack 21 shown in FIG is also part of the first rack 21 in the embodiment of the present application, but is not limited to the first rack 21 in the embodiment of the present application only including Figure 1 、 Figure 2 and Figure 3 The first rack 21 and Figure 4 、 Figure 5 and Figure 6 The first rack 21 is shown.

[0128] In the above-mentioned battery gripping device, since the first clamping jaw assembly 22 and the second clamping jaw assembly 23 are arranged on the first frame 21, the first clamping member and the second clamping member can move closer to each other through the drive of the clamping drive unit 24 to clamp the qualified battery 5; however, due to the structural space limitations of the first clamping jaw assembly 22 and the second clamping jaw assembly 23 themselves, the opening and closing distance between the first clamping member and the second clamping member is limited, and it may not be possible to grip qualified batteries 5 of different specifications and sizes. Therefore, in order to adapt to the gripping of batteries 5 of different specifications and sizes, a first distance adjustment mechanism 25 is provided, which is arranged between the first frame 21 and the first clamping jaw assembly 22, and / or, between the first frame 21 and the second clamping jaw assembly 23. Through the first distance adjustment mechanism 25, the distance between the entire first clamping jaw assembly 22 and the entire second clamping jaw assembly 23 can be directly adjusted, thereby making the opening and closing distance between the first clamping member and the second clamping member have a wider adjustment spacing, thereby adapting to the gripping of more qualified batteries 5 of different specifications and sizes.

[0129] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The first distance adjustment mechanism 25 includes a rotary drive unit and a transmission mechanism. The input end of the transmission mechanism is connected to the rotary drive unit, and the output end of the transmission mechanism is connected to the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23. The transmission mechanism is used to convert the rotational torque of the rotary drive unit into linear motion and transmit it to the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23.

[0130] In the embodiment of the present application, the rotary drive unit is a mechanism that provides torque through rotation, such as a motor. The transmission mechanism is used to convert the rotary torque of the rotary drive unit into linear motion, thereby enabling the rotary torque of the rotary drive unit to drive the first jaw assembly 22 and / or the second jaw assembly 23 to perform linear motion.

[0131] In an embodiment of the present application, the output end of the transmission mechanism is transmission-connected to the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23, including three implementation methods: the output end of the transmission mechanism is transmission-connected to the first clamping jaw assembly 22, the output end of the transmission mechanism is transmission-connected to the second clamping jaw assembly 23, and the output end of the transmission mechanism is transmission-connected to the first clamping jaw assembly 22 and the second clamping jaw assembly 23.

[0132] In an embodiment of the present application, the rotational drive unit can be a stepper motor that provides torque, and can also be provided with a reducer or other mechanisms during output; the transmission mechanism can be a variety of mechanisms that can realize the conversion of rotational torque into linear motion, such as a crank-connecting rod mechanism, a rack and pinion mechanism, a worm gear mechanism, a screw-nut mechanism, etc.

[0133] In the embodiment of the present application, the output end of the transmission mechanism is in transmission connection with the first clamping jaw assembly 22 and the second clamping jaw assembly 23. The transmission mechanism may have two output ends, and the two output ends are respectively in transmission connection with the first clamping jaw assembly 22 and the second clamping jaw assembly 23; or the transmission mechanism may have one output end, and the output end is simultaneously in transmission connection with the first clamping jaw assembly 22 and the second clamping jaw assembly 23. For example, the output end of the transmission mechanism is in transmission connection with the first clamping jaw assembly 22 and the second clamping jaw assembly 23. If the rotation drive portion is a stepping motor, and the transmission mechanism is a screw and two nuts, the internal threads provided on the two nuts have opposite rotation directions, and the first clamping jaw assembly 22 and the second clamping jaw assembly 23 are respectively in transmission connection with the two nuts. In this way, the first clamping jaw assembly 22 and the second clamping jaw assembly 23 can be driven to perform linear motion simultaneously, so as to move closer to or away from each other relative to the first frame 21.

[0134] In the battery gripping device described above, the rotary drive unit is a mechanism that provides torque through rotation, such as a motor. The transmission mechanism is used to convert the rotary drive unit's rotational torque into linear motion, thereby enabling the rotary drive unit's rotational torque to drive the first gripping jaw assembly 22 and / or the second gripping jaw assembly 23 to perform linear motion. This linear motion is simple and clear, making it more adaptable to gripping qualified batteries 5 of various specifications and sizes.

[0135] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The transmission mechanism includes a transmission rod with a thread and a thread provided on the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23. The transmission rod is fixedly connected to the rotary drive unit. The thread of the transmission rod matches the thread on the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23. The rotary drive unit drives the transmission rod to rotate to drive the first clamping jaw assembly 22 and the second clamping jaw assembly 23 to move closer to or away from each other relative to the first frame 21.

[0136] In an embodiment of the present application, the transmission mechanism is an implementation of a screw-nut mechanism.

[0137] The above-mentioned battery gripping device, since the transmission mechanism includes a transmission rod with threads and threads arranged on the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23, the matching mode of the transmission rod and the threads can control the accuracy of the linear motion by the pitch of the threads, the speed of the linear motion can be controlled by the rotation speed of the transmission rod, and the distance of the linear motion can be controlled by the number of rotations or the length of the rotation arc of the transmission rod. Therefore, it is relatively easy to precisely control, and the transmission efficiency and accuracy are high.

[0138] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6The first distance adjustment mechanism 25 further includes a first slide rail assembly 26 , and the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23 are slidably connected to the first frame 21 through the first slide rail assembly 26 .

[0139] In the embodiment of the present application, the first slide rail assembly 26 is a structure used to enable the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23 to slide with the first frame 21, and can be implemented in various ways, such as a protrusion and groove matching structure, a guide rail slider structure, etc.

[0140] In an embodiment of the present application, the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23 are slidably connected to the first frame 21 through the first slide rail assembly 26, including three implementation methods: the first clamping jaw assembly 22 is slidably connected to the first frame 21 through the first slide rail assembly 26; the second clamping jaw assembly 23 is slidably connected to the first frame 21 through the first slide rail assembly 26; the first clamping jaw assembly 22 and the second clamping jaw assembly 23 are both slidably connected to the first frame 21 through the first slide rail assembly 26. Among them, the first clamping jaw assembly 22 is slidably connected to the first frame 21 through the first slide rail assembly 26, and the corresponding solution can be a method of only driving the first clamping jaw assembly 22 to move; the second clamping jaw assembly 23 is slidably connected to the first frame 21 through the first slide rail assembly 26, and the corresponding solution can be a method of only driving the second clamping jaw assembly 23 to move; the first clamping jaw assembly 22 and the second clamping jaw assembly 23 are both slidably connected to the first frame 21 through the first slide rail assembly 26, and the corresponding solution can be a method of both the first clamping jaw assembly 22 and the second clamping jaw assembly 23 being driven to move.

[0141] The above-mentioned battery gripping device, since the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23 are slidably connected to the first frame 21 through the first slide rail assembly 26, can facilitate the movement of the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23, reduce the friction between them and the first frame 21, and also have a guiding and limiting effect on the movement.

[0142] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The first slide rail assembly 26 includes a first slide rail fixed on the first frame 21, and a first slider fixed on the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23. The first slide rail extends along a straight line direction in which the first clamping jaw assembly 22 and the second clamping jaw assembly 23 approach or move away from each other relative to the first frame 21, and the first slider is slidably connected to the first slide rail.

[0143] In the embodiment of the present application, the first slide rail assembly 26 is a guide rail slider structure. In other embodiments, the slider may be fixed to the first frame 21, and the slide rail may be fixed to the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23.

[0144] The above-mentioned battery grasping device, since the first slide rail assembly 26 includes a first slide rail fixed on the first frame 21, and a first slider fixed on the first clamping jaw assembly 22 and / or the second clamping jaw assembly 23, the first slider is realized by sliding on the first slide rail, which can reduce the friction between it and the first frame 21, and the first slide rail can also play a limiting role.

[0145] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The first distance adjustment mechanism 25 also includes a distance measuring member, which is used to measure the displacement generated when the first clamping jaw assembly 22 and the second clamping jaw assembly 23 move closer to or away from each other relative to the first frame 21.

[0146] In the embodiment of the present application, the distance measuring component refers to a component or element that can measure distance, for example, a distance meter, a magnetic scale, etc.

[0147] The battery gripping device is provided with a distance measuring device, which can measure the displacement of the first clamping jaw assembly 22 and the second clamping jaw assembly 23 when they move toward or away from each other relative to the first frame 21, thereby enabling more precise adjustment.

[0148] For example, if the distance measuring member measures that the first clamping jaw assembly 22 and the second clamping jaw assembly 23 need to be close to each other by a first displacement relative to the first frame 21, it should be supplemented here that the first displacement needs to be adapted to the width or length of the qualified battery 5, and the first displacement should be greater than or equal to the width or length of the qualified battery 5. If the first distance adjustment mechanism 25 includes a first slide rail assembly 26, the first clamping jaw assembly 22 can be close to the second clamping jaw assembly 23 through the first slide rail assembly 26, or the second clamping jaw assembly 23 can be close to the first clamping jaw assembly 22 through the first slide rail assembly 26, or the first clamping jaw assembly 22 can be close to the second clamping jaw assembly 23 through the first slide rail assembly 26. The first slide rail assembly 26 can approach the second clamping assembly 23, and the second clamping assembly 23 can approach the first clamping assembly 22 through the first slide rail assembly 26, until the first clamping assembly 22 and the second clamping assembly 23 approach each other to the first displacement relative to the first frame 21. At this time, when the distance measuring part measures that the first clamping assembly 22 and the second clamping assembly 23 reach the first displacement, the clamping drive part 24 is used to drive the first clamping part and / or the second clamping part to move so that the first clamping part and the second clamping part move closer to each other, and the first clamping part and the second clamping part cooperate with each other to clamp the qualified battery 5.

[0149] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The first clamping member and / or the second clamping member includes a fixing frame, an abutting block and a deformable member, and the deformable member is located between the abutting block and the fixing frame to provide a buffering force to push the abutting block and the fixing frame apart.

[0150] In the embodiment of the present application, the first clamping member and / or the second clamping member are included, which means that only the first clamping member is included, only the second clamping member is included, or both the first clamping member and the second clamping member are included.

[0151] In the embodiment of the present application, the deformable member can deform to a certain extent when subjected to pressure and recover when the pressure is released. This deformation property can absorb a certain amount of hard contact force, making the contact between the components flexible. In other words, the first clamping member and / or the second clamping member can flexibly grasp the qualified battery 5. The buffering force of the deformable member is the restoring force generated by the deformed member to restore its original shape. The deformable member can be an elastic member such as rubber or a spring.

[0152] The battery gripping device described above is equipped with a deformable member. When the first and second clamping members clamp a battery 5, the abutment block receives a reaction force from the contact surface of the qualified battery 5 and transmits this reaction force to the deformable member. The deformable member deforms under the force, causing the abutment block to move toward the deformable member to absorb this reaction force. At the same time, the deformed deformable member generates a buffering force that pushes the abutment block toward the qualified battery 5, ensuring that the abutment block clamps the qualified battery 5. This achieves flexible gripping and avoids surface damage to qualified batteries 5 or deformation of qualified batteries 5.

[0153] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The first clamping member and / or the second clamping member includes a plurality of corresponding abutment blocks and a plurality of deformation members, and the plurality of abutment blocks are arranged side by side.

[0154] In the embodiment of the present application, corresponding setting refers to corresponding setting of the abutment block and the deformable member, that is, each abutment block can be matched with a deformable member to ensure flexible contact between the abutment block and the qualified battery 5.

[0155] In the embodiment of the present application, multiple abutment blocks are arranged side by side, which means that the extension direction of the multiple abutment blocks is consistent and they are arranged in a row along another direction. For example, the abutment surfaces of the multiple abutment blocks are all facing the storage position of the qualified batteries 5 to be grasped, and the multiple abutment blocks are arranged in a row along the direction in which the qualified batteries 5 may be arranged, so that the qualified batteries 5 in the entire row can be grasped at one time. Since the deformable members and the abutment blocks are arranged in correspondence, on the basis of the multiple abutment blocks being arranged side by side, each abutment block can be connected to another deformable member, so that the multiple deformable members can also be arranged side by side.

[0156] The battery grasping device described above, due to the provision of a plurality of abutment blocks, can flexibly adapt and grasp qualified batteries 5 of different sizes and quantities.

[0157] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The pallet grabbing device 3 includes a second frame 31, a third clamping jaw assembly 32, a fourth clamping jaw assembly 33, a first driving mechanism 34, a second driving mechanism 35 and a second distance adjustment mechanism, wherein the third clamping jaw assembly 32 is arranged on the second frame 31 and has a third clamping member, the fourth clamping jaw assembly 33 is arranged on the second frame 31 and has a fourth clamping member, the third clamping member and the fourth clamping member are arranged oppositely and spaced apart, the first driving mechanism 34 is arranged between the second frame 31 and the third clamping jaw assembly 32, and, is arranged between the second frame 31 and the fourth clamping jaw assembly 33, for driving the third clamping member and the fourth clamping member to simultaneously clamp the first operating platform and the second operating platform The second driving mechanism 35 is provided between the first driving mechanism 34 and the third clamping member 32, and is provided between the first driving mechanism 34 and the fourth clamping member 33, for driving the third clamping member and the fourth clamping member to approach or move away from the pallet 4 at the same time, and the second distance adjusting mechanism is provided between the second driving mechanism 35 and the third clamping member 32, and / or is provided between the second driving mechanism 35 and the fourth clamping member 33, for driving the third clamping member and the fourth clamping member to approach or move away from each other relative to the second driving mechanism 35, so as to adjust the distance between the third clamping member and the fourth clamping member so that the third clamping member and the fourth clamping member cooperate with each other to grasp the pallet 4.

[0158] In the embodiment of the present application, the third and fourth clamping members are disposed opposite each other and spaced apart. The third and fourth clamping members may both be manipulator structures, cooperating with each other to grasp the tray 4. The third and fourth clamping members may both be plate-shaped structures, cooperating with each other to grasp the tray 4, without limitation in the embodiment of the present application. Furthermore, the third and fourth clamping members may also be of different types of structures.

[0159] In the embodiment of the present application, the first drive mechanism 34 is disposed between the second frame 31 and the third clamping assembly 32, and between the second frame 31 and the fourth clamping assembly 33, and is used to drive the third clamping member and the fourth clamping member to move between the first operating platform and the second operating platform. That is, the first drive mechanism 34 drives the third clamping member and the fourth clamping member to move simultaneously, and the displacement of their movement is the same. In addition, the first drive mechanism 34 drives the third clamping member and the fourth clamping member to move between the first operating platform and the second operating platform. That is, the first drive mechanism 34 drives the third clamping member and the fourth clamping member to move from the first operating platform to the second operating platform, and can also transport the third clamping member and the fourth clamping member from the second operating platform to the first operating platform.

[0160] In the embodiment of the present application, the second drive mechanism 35 is disposed between the first drive mechanism 34 and the third clamping assembly 32, and between the first drive mechanism 34 and the fourth clamping assembly 33, and is used to drive the third clamping member and the fourth clamping member to simultaneously approach or move away from the pallet 4. That is, the second drive mechanism 35 drives the third clamping member and the fourth clamping member to move simultaneously, and the displacement of their movement is the same. In addition, the second drive mechanism 35 drives the third clamping member and the fourth clamping member to simultaneously approach or move away from the pallet 4. That is, the second drive mechanism 35 drives the third clamping member and the fourth clamping member to simultaneously approach the pallet 4 to prepare for subsequent grasping of the pallet 4, and the second drive mechanism 35 drives the third clamping member and the fourth clamping member to simultaneously move away from the pallet 4.

[0161] In the embodiment of the present application, the second distance adjusting mechanism is provided between the second driving mechanism 35 and the third clamping jaw assembly 32, and / or between the second driving mechanism 35 and the fourth clamping jaw assembly 33, and is used to drive the third clamping member and the fourth clamping member to move closer to or farther away from each other relative to the second driving mechanism 35, so as to adjust the distance between the third clamping member and the fourth clamping member. That is, if the second distance adjusting mechanism is only provided between the second driving mechanism 35 and the third clamping jaw assembly 32, it will only drive the third clamping member to move closer to or farther away from the fourth clamping member relative to the second driving mechanism 35; if the second distance adjusting mechanism is only provided between the second driving mechanism 35 and the fourth clamping jaw assembly 33, it will only drive the fourth clamping member to move closer to or farther away from the fourth clamping member relative to the second driving mechanism 35; if the second distance adjusting mechanism is provided between both the second driving mechanism 35 and the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33, the second distance adjusting mechanism is used to drive the third clamping member and the fourth clamping member to move closer to or farther away from each other relative to the second driving mechanism 35, so as to ultimately adjust the distance between the third clamping member and the fourth clamping member.

[0162] In an embodiment of the present application, the second distance adjustment mechanism is used to drive the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second driving mechanism 35 to adjust the distance between the third clamping member and the fourth clamping member. The adjusted distance needs to be adapted to the outer contour of the tray 4, and the adjusted distance can be greater than or equal to the width or length of the tray 4.

[0163] The above-mentioned battery grasping device is provided with a second distance adjusting mechanism. The second distance adjusting mechanism can drive the third clamping member and the fourth clamping member to move closer to or further away from each other relative to the second driving mechanism 35 to adjust the distance between the third clamping member and the fourth clamping member. In this way, the second distance adjusting mechanism is suitable for grasping pallets 4 of different sizes. It only needs to adjust the distance between the third clamping member and the fourth clamping member accordingly, which improves the versatility of the pallet grasping device 3. After the third clamping member and the fourth clamping member cooperate with each other to grasp the pallet 4, the second driving assembly drives the third clamping member and the fourth clamping member to move away from the pallet 4 at the same time, and the first driving member drives the third clamping member and the fourth clamping member from the first operating platform to the second operating platform. At this time, the second distance adjusting mechanism drives the third clamping member and the fourth clamping member to move away from each other relative to the second driving mechanism 35 to release the pallet 4 to the second operating platform. At this time, the third clamping member and the fourth clamping member can be located at the second operating platform, or they can reach the first operating platform under the drive of the first driving mechanism 34 to grasp the pallet 4 again.

[0164] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The first driving mechanism 34 includes a first driving member and a second slide rail assembly. The third clamping member 32 and the fourth clamping member 33 are both connected to the second slide rail assembly. The first driving member is connected to the second slide rail assembly. The first driving member is used to drive the second slide rail assembly and simultaneously drive the third clamping member and the fourth clamping member to move between the first operating platform and the second operating platform.

[0165] In an embodiment of the present application, the first driving member can be a linear motor, and the second slide rail assembly is directly connected to the linear motor, and the linear motor directly and simultaneously drives the third clamping member and the fourth clamping member to move between the first operating platform and the second operating platform; the first driving member can be a motor that outputs torque. Since the motor that outputs torque cannot directly drive the second slide rail assembly, a transmission mechanism, such as a gear rack mechanism, a screw nut mechanism, a belt transmission mechanism, etc., can be set between the first driving member and the second slide rail assembly. The first driving member is used to drive the transmission mechanism, and the transmission mechanism is used to drive the second slide rail assembly and then drive the third clamping member and the fourth clamping member to move between the first operating platform and the second operating platform.

[0166] The above-mentioned battery grabbing device, since a second slide rail assembly is provided, the first driving member is connected to the second slide rail assembly, which can facilitate the movement of the third clamping member and the fourth clamping member between the first operating platform and the second operating platform, reduce movement friction, and at the same time, have a guiding and limiting effect on the movement.

[0167] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6The second slide rail assembly includes a second slide rail arranged on the second frame 31 and a second slider arranged on the third clamping assembly 32 and the fourth clamping assembly 33. The second slide rail extends along the setting direction of the first operating platform and the second operating platform. The first driving member is used to drive the second slider to slide in the second slide rail.

[0168] In an embodiment of the present application, the second slider arranged on the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 can be the same, that is, the second slider is connected to the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 at the same time; the second slider arranged on the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 can also not be the same, that is, the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 each have a corresponding second slider, but when the first driving member is used to drive the second slider, at this time, the second sliders arranged corresponding to the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 need to move simultaneously in the second slide rail.

[0169] Of course, in an embodiment of the present application, the second slide rail assembly may also include a second slider arranged on the second frame 31 and a second slide rail arranged on the third clamping assembly 32 and the fourth clamping assembly 33. The second slide rail extends along the setting direction of the first operating platform and the second operating platform, and the first driving member is used to drive the second slider to move in the second slide rail.

[0170] In the above-mentioned battery gripping device, since the second slide rail assembly includes a second slide rail fixed on the second frame 31, and a second slider fixed on the third clamping jaw assembly 32 and / or the fourth clamping jaw assembly 33, the first driving member is used for the sliding of the second slider on the second slide rail, which can reduce the friction between it and the second frame 31, and the second slide rail can also play a limiting role.

[0171] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The second driving mechanism 35 includes a second driving member and a third slide rail assembly. The third clamping assembly 32 and the fourth clamping assembly 33 are both connected to the third slide rail assembly. The second driving member is connected to the third slide rail assembly. The second driving member is used to drive the third slide rail assembly to drive the third clamping member and the fourth clamping member to approach or move away from the tray 4 at the same time.

[0172] In an embodiment of the present application, the second driving member can be a linear motor, and the second slide rail assembly is directly connected to the linear motor, and the linear motor directly and simultaneously drives the third clamping member and the fourth clamping member to approach or move away from the tray 4 at the same time; the second driving member can be a motor that outputs torque. Since the motor that outputs torque cannot directly drive the third slide rail assembly, a transmission mechanism can be set between the second driving motor and the third slide rail assembly, such as a gear rack mechanism, a screw nut mechanism, a belt transmission mechanism, etc. The second driving member is used to drive the transmission mechanism, and the transmission mechanism is used to drive the third slide rail assembly and then drive the third clamping member and the fourth clamping member to approach or move away from the tray 4 at the same time.

[0173] The above-mentioned battery grabbing device is provided with a third slide rail assembly, and the second driving member is connected to the third slide rail assembly, which can facilitate the third clamping member and the fourth clamping member to approach or move away from the tray 4 at the same time, reduce movement friction, and at the same time, have a guiding and limiting effect on the movement.

[0174] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The third slide rail assembly includes a third slide rail provided with a first driving mechanism 34 and a third slider arranged on the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33. The third slide rail extends along the direction of the angle formed by the setting direction of the first operating platform and the second operating platform. The second driving member is used to drive the third slider to slide in the third slide rail.

[0175] In an embodiment of the present application, the third slider arranged on the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 can be the same, that is, the third slider is connected to the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 at the same time; the third slider arranged on the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 can also not be the same, that is, the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 each have a corresponding third slider, but when the second driving member drives the third slider, at this time, the third sliders corresponding to the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 need to move simultaneously in the third slide rail.

[0176] Of course, in the embodiment of the present application, the third slide rail assembly may also include a third slider arranged in the first driving mechanism 34 and a third slide rail arranged in the third clamping assembly 32 and the fourth clamping assembly 33. The third slide rail extends along the direction of the angle formed by the setting direction of the first operating platform and the second operating platform, and the second driving member is used to drive the third slider to move in the third slide rail.

[0177] In the above-mentioned battery grasping device, since the third slide rail assembly includes a third slide rail fixed on the first driving mechanism 34, and a third slider fixed on the third clamping jaw assembly 32 and / or the fourth clamping jaw assembly 33, the second driving member is used to drive the third slider to slide on the third slide rail, which can reduce the friction between it and the first driving mechanism 34, and the third slide rail can also play a limiting role.

[0178] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The second distance adjustment mechanism includes a third driving member and a fourth slide rail assembly. The third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 are connected to the fourth slide rail assembly. The third driving member is connected to the fourth slide rail assembly. The third driving member is used to drive the fourth slide rail assembly to drive the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second driving mechanism 35.

[0179] In an embodiment of the present application, the third driving member can be a linear motor, and the fourth slide rail assembly is directly connected to the linear motor. The linear motor directly and simultaneously drives the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second driving mechanism 35; the third driving member can be a motor that outputs torque. Since the motor that outputs torque cannot directly drive the fourth slide rail assembly, a transmission mechanism, such as a gear rack mechanism, a screw nut mechanism, a belt transmission mechanism, etc., can be set between the third driving member and the fourth slide rail assembly. The third driving member drives the transmission mechanism, the transmission mechanism drives the fourth slide rail assembly, and the fourth slide rail assembly then drives the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second driving mechanism 35.

[0180] The above-mentioned battery grabbing device, since the fourth slide rail assembly is provided, the third driving member is connected to the fourth slide rail assembly, which can conveniently drive the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second driving mechanism 35, reducing movement friction, and at the same time, having a guiding and limiting effect on the movement.

[0181] In a possible implementation method provided in the embodiment of the present application, referring to Figures 1 to 6 The fourth slide rail assembly includes a fourth slide rail arranged on the second driving mechanism 35 and a fourth slider arranged on the third clamping assembly 32 and the fourth clamping assembly 33. The fourth slide rail extends along the relative setting direction of the third clamping member and the fourth clamping member. The third driving member is used to drive the fourth slider to slide in the fourth slide rail.

[0182] In an embodiment of the present application, the fourth slider arranged on the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 can be the same, that is, the fourth slider is connected to the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 at the same time; the fourth slider arranged on the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 can also not be the same, that is, the third clamping jaw assembly 32 and the fourth clamping jaw assembly 33 are each provided with a corresponding fourth slider, but when the third driving member drives the fourth slider, at this time, the fourth slider slides in the fourth slide rail to make the third clamping member and the fourth clamping member approach or move away from each other relative to the second driving mechanism 35.

[0183] Of course, in the embodiment of the present application, the fourth slide rail assembly may also include a fourth slider arranged in the second driving mechanism 35 and a fourth slide rail arranged in the third clamping assembly 32 and the fourth clamping assembly 33. The fourth slide rail extends along the relative setting direction of the third clamping member and the fourth clamping member, and the third driving member is used to drive the fourth slider to move in the fourth slide rail.

[0184] In the above-mentioned battery grasping device, since the fourth slide rail assembly includes a fourth slide rail fixed on the second drive assembly, and a fourth slider fixed on the third clamping jaw assembly 32 and / or the fourth clamping jaw assembly 33, the third drive member is used to drive the fourth slider to slide on the fourth slide rail, which can reduce its friction with the second drive mechanism 35, and the fourth slide rail can also play a limiting role.

[0185] A second aspect of the embodiments of the present application provides a battery production line, which includes the battery gripping device and production equipment provided in any embodiment of the first aspect, and the production equipment is used to produce batteries for gripping by the battery gripping device in the battery gripping device provided in any embodiment of the first aspect.

[0186] In the embodiment of the present application, the batteries produced by the production equipment may be battery cells, battery modules, or battery packs; the production equipment may be production equipment for producing battery cells, assembly equipment for assembling battery cells into battery modules, or assembly equipment for assembling battery cells into battery packs. It should be noted here that the embodiment of the present application does not limit the type of production equipment.

[0187] The battery production line mentioned above, since it includes the battery gripping device provided by any embodiment of the first aspect, has the same technical effect. That is, the degree of automation of the battery production line using the battery gripping device is correspondingly improved.

[0188] A third aspect of the present application provides a control method for a battery gripping device, the control method being applied to a controller, wherein the battery gripping device comprises a bracket, an operating platform, a battery gripping device, and a detection device arranged on the bracket, Figure 7, control method steps S1 to S3.

[0189] Step S1: In response to a request to grab qualified batteries, the detection device is controlled to detect the tray carried by the operating platform and the batteries located in the tray.

[0190] In an embodiment of the present application, in response to a request to grab qualified batteries, the operator may press a pressing instruction on the battery production line module, and the controller receives the pressing instruction and controls the detection device to detect the batteries carried by the operating platform; in response to the request to grab qualified batteries, the operator may issue a voice, and the controller receives the voice issued by the operator and controls the detection device to detect the batteries carried by the operating platform. Here, it should be noted that the present application does not limit the method of responding to the request to grab qualified batteries.

[0191] Step S2: Based on the detection information of the detection device, control the battery grasping device to grasp qualified batteries.

[0192] In an embodiment of the present application, based on the detection information of the detection device, the battery grasping device is controlled to grasp qualified batteries. If the detection information of the battery obtained in the detection device is negative, the controller receives an instruction that the battery is negative, and then does not control the battery grasping device or controls the battery grasping device not to grasp; if the detection information of the battery obtained in the detection device is positive, the controller receives an instruction that the battery is positive, and then the controller controls the battery grasping device to grasp qualified batteries.

[0193] Step S3: Control the pallet grabbing device to grab the pallet located on the operating platform.

[0194] The control method of the above-mentioned battery grasping device is provided with a detection device on the bracket. When the operating platform carries the battery, the detection device can detect whether the battery in the operating platform is qualified. If the battery is qualified, the battery grasping device is controlled to grasp the qualified battery. If the battery is unqualified, the battery grasping device is controlled not to grasp the unqualified battery. This can ensure that the batteries grasped by the battery grasping device are all qualified batteries. In this way, the probability of the entire battery grasping device grasping qualified batteries can be improved. On this basis, since the battery is located in the tray, after the battery grasping device grasps the qualified battery, the tray grasping device can grasp the tray. At this time, the carrying platform can carry a new tray with new batteries in it for a new round of grasping. In this way, the degree of automation of the battery grasping device can be improved. Similarly, the control method of the battery grasping device can quickly and accurately grasp qualified batteries, thereby improving the battery grasping efficiency.

[0195] In a possible implementation provided in an embodiment of the present application, the detection device includes a first gripper camera, and the control method for detecting whether the battery is qualified by collecting image information of the battery by the first gripper camera further includes steps S4 to S5, referring to Figure 8 .

[0196] Step S4: In response to the request to grab a qualified battery, the first gripper camera is controlled to collect image information of the battery, where the image information is used to indicate whether the battery is qualified.

[0197] In an embodiment of the present application, the first gripper camera is controlled to collect image information of the battery. The image information may be the image information of the QR code on the battery, the image information may be the label information on the battery, etc. Here, it should be noted that the embodiment of the present application does not limit the image information of the battery.

[0198] Step S5: Based on the image information collected by the first gripper camera, control the battery gripping device to grip qualified batteries.

[0199] In an embodiment of the present application, based on the image information collected by the first gripper camera, the battery gripping device is controlled to grab qualified batteries. The controller can directly obtain the image information. The controller can also process and analyze the collected image information to obtain the result of whether the battery is a qualified battery.

[0200] The control method of the above-mentioned battery grasping equipment can collect image information of the battery through the first gripper camera due to the advantages of easy acquisition and low cost of the camera. The image information collected by the first gripper camera can be used to control the battery grasping device to grasp qualified batteries. At the same time, the speed of grasping qualified batteries can also be improved.

[0201] In a possible implementation provided in an embodiment of the present application, the battery gripping device further includes a first acquisition device provided on a bracket, and the control method for controlling the battery gripping device to grip the battery by collecting the status information of the qualified battery through the first acquisition device further includes steps S6 to S7, referring to Figure 9 .

[0202] Step S6: Based on the detection information of the detection device, control the first acquisition device to acquire status information of the qualified battery, where the status information is used to represent at least one of size information and position information of the qualified battery.

[0203] In an embodiment of the present application, the first acquisition device acquires status information of qualified batteries. The status information of the batteries may be size information of the qualified batteries, such as the length, width, and height of the qualified batteries; or may be position information of the qualified batteries, such as whether the qualified batteries are offset. It should be explained that the embodiment of the present application does not limit the specific content and acquisition method of the status information of the qualified batteries collected by the first acquisition device.

[0204] Step S7: Based on the detection information of the detection device and the status information of the qualified battery, control the battery grasping device to grasp the qualified battery.

[0205] The control method of the above-mentioned battery grasping device is provided with a first acquisition device for acquiring status information of qualified batteries and detection information for detecting whether the battery is qualified. The battery grasping device is controlled to accurately grasp the qualified battery through the detection information of the detection device and the status information of the qualified battery.

[0206] In a possible implementation provided in an embodiment of the present application, the first acquisition device includes a second gripper camera and a position acquisition component. The second gripper camera acquires the size information of the qualified battery and the position acquisition component acquires the position information of the qualified battery, thereby controlling the battery grasping device to grasp the qualified battery. The control method further includes steps S8 to S9, referring to Figure 10 .

[0207] Step S8: Based on the detection information of the detection device, controlling the second gripper camera to collect the size information of the qualified batteries and the position acquisition unit to collect the position information of the qualified batteries;

[0208] Step S9: Based on the size information of the qualified battery collected by the second gripper camera, the position information of the qualified battery collected by the position acquisition component, and the detection information of the detection device, the battery grasping device is controlled to grasp the qualified battery.

[0209] The control method of the above-mentioned battery grasping equipment is provided with a second gripper camera for collecting size information of qualified batteries and a position acquisition component for collecting position information of qualified batteries. In this way, the status information of qualified batteries can be accurately collected, and then the battery grasping device can be controlled to further accurately grasp qualified batteries.

[0210] In a possible implementation provided by an embodiment of the present application, the battery gripping device further includes a second collecting device provided on the bracket, and the second collecting device collects the number of layers of the tray to control the battery gripping device to grip qualified batteries and the control method for controlling the tray gripping device to grip the tray located on the operating platform further includes steps S10 to S12, referring to Figure 11 .

[0211] Step S10: controlling the second acquisition device to acquire the layer number information of the tray;

[0212] Step S11: based on the acquired state information of the qualified battery and the layer number information of the tray, controlling the battery grabbing device to grab the qualified battery;

[0213] Step S12: based on the layer number information of the tray, controlling the tray grabbing device to grab the tray located on the operation platform.

[0214] The control method of the battery grabbing device, since the second acquisition device is arranged to acquire the layer number information of the tray, and the first acquisition device acquires the state information of the qualified battery, thus, the second acquisition device and the first acquisition device can be acquired, thus, the size information of the battery can be more accurately acquired, so that the battery grabbing device can better grab the qualified battery, and meanwhile, it is also beneficial to the accurate grabbing of the tray grabbing device to the tray.

[0215] For example, in the control method of battery gripping equipment, when the subject of execution is a robot, the battery gripping equipment is initialized and set during its specific circulation process. At this time, the whole is in a cycle stop state. Press the start button to determine the loading method and calculate the number of loading times. At the same time, determine whether there is material. At this time, it is displayed as the work order status. If there is material, continue to complete the work order and initialize. If there is no material, enter the flag position, assign data, and then the robot gripper makes corresponding adjustments to allow material to be taken. At the same time, trigger the controller to determine whether the direction of the pallet is the detection direction, wait for the vision to be normal, trigger the photo, and after the photo is triggered, perform data detection and determine the detection result. When the direction detection is completed, the visual work requirements are written. If the result is positive, the direction bit positive value is obtained. If the result is negative, the direction positive value is obtained. At this time, the tray direction determination is completed. At the same time, the tray direction is completed dynamically. The robot requests to detect the offset and battery direction, obtain the battery direction and offset value, write the visual work requirements, and trigger, such as taking pictures, and performing data comparison. At this time, the process ends, the internal transmission obtains the offset value, and determines the offset and battery direction. If the offset is normal and the battery is in the positive direction, the battery direction is positive. If the offset is normal and the battery is in the reverse direction, the battery direction is positive. The offset and battery angle are completed. At this time, determine whether to scan the code, such as performing a scan on the first column of the highest layer. Scan the code, then under the premise of normal vision, write to the vision, and compare and verify the data. If normal, read the code. After the reading is successful, the process ends. If abnormal, continue to return to the judgment of whether to scan the code. At this time, if it is the first column of the non-highest layer, perform height detection of this column. If the height is allowed, measure the height. If the height detection height of this column is too high, an alarm will be issued to restore the allowed height. If the detection is normal, the robot requests a downward pressure cylinder test. The cylinder is pressed down in place to check whether there is a battery at the fixed end. If there is a battery, an abnormal alarm will be triggered. If not, the downward pressure cylinder will be reset. The robot arrives at the material picking station, and the robot gripper is clamped to detect whether there is a battery. Check whether there is any abnormality in the battery and the number of batteries. If normal, then check whether the material position is too high. If normal, the robot gripper is clamped. After the gripper is clamped, wait for the robot to lift and check whether there is any product and whether the number of batteries is abnormal. If both are normal, then the translation cylinder clamps the position, the position acquisition part is applied, the position acquisition part rises and falls until the material is taken, wait for the robot to leave, and notify the completion of the material taking. At this time, the position acquisition part moves horizontally and falls, the material discharge path is unobstructed, the servo motor is cleaned, the vertical cylinder falls, falls into place, the material discharge translation cylinder opens, the vertical cylinder rises, wait for the robot to discharge, request the gripper to open, the gripper opens, the material discharge is completed, and returns to the initial position.

[0216] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein.

[0217] Among them, the computer-readable storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory (Flash Memory), a magnetic surface storage device, an optical disc, or a compact disc read-only memory (CD-ROM) and other memories.

[0218] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0219] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0220] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0221] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0222] The above description is merely a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application.

Claims

1. A battery grabbing device, characterized in that: include: Bracket; An operating platform, the operating platform being used to carry the tray and the batteries located in the tray; A detection device, which is arranged on the bracket and is used to detect whether the battery in the operating platform is qualified; A battery gripping device, used to grip qualified batteries; a tray grabbing device, the tray grabbing device being at least used to grab the tray after the battery grabbing device grabs the qualified battery; The operating platform includes a first operating platform and a second operating platform. The first operating platform is used to carry the pallet and the batteries located in the pallet. After the battery grabbing device grabs the qualified batteries on the first operating platform, the pallet grabbing device grabs the pallet located on the first operating platform and transports it to the second operating platform. The pallet grabbing device comprises: Second rack; a third clamping jaw assembly, disposed on the second frame and having a third clamping member; a fourth clamping jaw assembly, disposed on the second frame, comprising a fourth clamping member, wherein the third clamping member and the fourth clamping member are disposed opposite to each other and spaced apart; a first driving mechanism, disposed between the second frame and the third clamping assembly, and a first driving mechanism, disposed between the second frame and the fourth clamping assembly, for driving the third clamping member and the fourth clamping member to move simultaneously between the first operating platform and the second operating platform; a second driving mechanism, disposed between the first driving mechanism and the third clamping assembly, and a second driving mechanism, disposed between the first driving mechanism and the fourth clamping assembly, for driving the third clamping member and the fourth clamping member to move closer to or away from the tray simultaneously; a second distance adjustment mechanism, disposed between the second drive mechanism and the third clamping jaw assembly, and / or between the second drive mechanism and the fourth clamping jaw assembly, for driving the third clamping member and the fourth clamping member to move closer to or farther from each other relative to the second drive mechanism, so as to adjust the distance between the third clamping member and the fourth clamping member, so that the third clamping member and the fourth clamping member cooperate with each other to grasp the pallet; The battery gripping device further includes a first collecting device, which is disposed on the bracket and is used to collect status information of the qualified batteries in the operating platform, wherein the status information is used to represent size information of the qualified batteries; The first acquisition device includes a second gripper camera, and the second gripper camera is used to collect the size information of the qualified battery, and the size information includes height information; The battery gripping equipment also includes a second acquisition device, which is arranged on the bracket. The second acquisition device is used to collect the number of layers of the pallet. The second gripper camera can be aligned with the second acquisition device; the alignment refers to the height information in the size information collected by the second gripper camera and the number of layers of the pallet collected by the second acquisition device, and the two information can be compared and corrected.

2. The battery gripping device according to claim 1, characterized in that: The detection device includes a first gripper camera, which is used to collect image information on the battery, and the image information is used to indicate whether the battery is qualified.

3. The battery gripping device according to claim 1, characterized in that: The battery grasping device further includes a first collecting device, which includes a position collecting component, and the position collecting component is used to collect position information of the qualified battery.

4. The battery gripping device according to claim 1, characterized in that: The operating platform also includes a first conveying platform and a second conveying platform. The first conveying platform is used to convey the pallet and the batteries located in the pallet to the first operating platform. The second conveying platform is used to convey the pallet located on the second operating platform to other locations.

5. The battery gripping device according to claim 1, characterized in that: The battery grabbing device comprises: First rack; A first clamping jaw assembly, disposed on the first frame, having a first clamping member; A second clamping jaw assembly is provided on the first frame and has a second clamping member, wherein the first clamping member and the second clamping member are opposite to each other and spaced apart; a clamping drive unit, configured to drive the first clamping member and / or the second clamping member to move so that the first clamping member and the second clamping member move closer to each other, and the first clamping member and the second clamping member cooperate with each other to clamp the qualified battery; The first distance adjustment mechanism is arranged between the first frame and the first clamping jaw assembly, and / or between the first frame and the second clamping jaw assembly, and is used to drive the first clamping jaw assembly and the second clamping jaw assembly to move closer to or away from each other relative to the first frame to adjust the distance between the first clamping jaw assembly and the second clamping jaw assembly.

6. The battery gripping device according to claim 5, characterized in that: The first distance adjustment mechanism includes a rotational drive unit and a transmission mechanism, the input end of the transmission mechanism is transmission-connected to the rotational drive unit, and the output end of the transmission mechanism is transmission-connected to the first clamping jaw assembly and / or the second clamping jaw assembly, and the transmission mechanism is used to convert the rotational torque of the rotational drive unit into linear motion and transmit it to the first clamping jaw assembly and / or the second clamping jaw assembly.

7. The battery gripping device according to claim 6, characterized in that: The transmission mechanism includes a transmission rod with threads and threads provided on the first clamping jaw assembly and / or the second clamping jaw assembly. The transmission rod is fixedly connected to the rotation drive unit. The threads of the transmission rod match the threads on the first clamping jaw assembly and / or the second clamping jaw assembly. The rotation drive unit is used to drive the transmission rod to rotate so as to drive the first clamping jaw assembly and the second clamping jaw assembly to move closer to or away from each other relative to the first frame.

8. The battery gripping device according to claim 5, characterized in that: The first distance adjustment mechanism further includes a first slide rail assembly, and the first clamping jaw assembly and / or the second clamping jaw assembly are slidably connected to the first frame via the first slide rail assembly.

9. The battery gripping device according to claim 8, characterized in that: The first slide rail assembly includes a first slide rail fixed on the first frame, and a first slider fixed on the first clamping jaw assembly and / or the second clamping jaw assembly. The first slide rail extends along a straight line direction in which the first clamping jaw assembly and the second clamping jaw assembly approach or move away from each other relative to the first frame, and the first slider is slidably connected to the first slide rail.

10. The battery gripping device according to claim 5, characterized in that: The first distance adjustment mechanism further includes a distance measuring member, which is used to measure the displacement generated when the first clamping jaw assembly and the second clamping jaw assembly move toward or away from each other relative to the first frame.

11. The battery gripping device according to claim 5, characterized in that: The first clamping member and / or the second clamping member includes a fixing frame, an abutting block and a deformable member, wherein the deformable member is located between the abutting block and the fixing frame to provide a buffering force for pushing the abutting block and the fixing frame apart.

12. The battery gripping device according to claim 11, characterized in that: The first clamping member and / or the second clamping member includes a plurality of correspondingly arranged abutting blocks and a plurality of deformable members, and the plurality of abutting blocks are arranged side by side.

13. The battery gripping device according to claim 1, characterized in that: The first driving mechanism includes a first driving member and a second slide rail assembly, the third clamping member and the fourth clamping member are both connected to the second slide rail assembly, the first driving member is connected to the second slide rail assembly, and the first driving member is used to drive the second slide rail assembly and simultaneously drive the third clamping member and the fourth clamping member to move between the first operating platform and the second operating platform.

14. The battery gripping device according to claim 13, characterized in that: The second slide rail assembly includes a second slide rail arranged on the second frame and a second slider arranged on the third clamping assembly and the fourth clamping assembly. The second slide rail extends along the setting direction of the first operating platform and the second operating platform. The first driving member is used to drive the second slider to slide in the second slide rail.

15. The battery gripping device according to claim 1, characterized in that: The second driving mechanism includes a second driving member and a third slide rail assembly, the third clamping member and the fourth clamping member are both connected to the third slide rail assembly, the second driving member is connected to the third slide rail assembly, and the second driving member is used to drive the third slide rail assembly to drive the third clamping member and the fourth clamping member to approach or move away from the pallet at the same time.

16. The battery gripping device according to claim 15, characterized in that: The third slide rail assembly includes a third slide rail provided with the first driving mechanism and a third slider provided on the third clamping jaw assembly and the fourth clamping jaw assembly. The third slide rail extends in a direction approaching or away from a direction forming an angle with the setting direction of the first operating platform and the second operating platform. The second driving member is used to drive the third slider to slide in the third slide rail.

17. The battery gripping device according to claim 1, characterized in that: The second distance adjustment mechanism includes a third driving member and a fourth slide rail assembly, the third clamping member and the fourth clamping member are connected to the fourth slide rail assembly, the third driving member is connected to the fourth slide rail assembly, and the third driving member is used to drive the fourth slide rail assembly to drive the third clamping member and the fourth clamping member to move closer to or away from each other relative to the second driving mechanism.

18. The battery gripping device according to claim 17, characterized in that: The fourth slide rail assembly includes a fourth slide rail arranged on the second driving mechanism and a fourth slider arranged on the third clamping assembly and the fourth clamping assembly. The fourth slide rail extends along the relative setting direction of the third clamping member and the fourth clamping member. The third driving member is used to drive the fourth slider to slide in the fourth slide rail.

19. A battery production line, characterized in that: include: At least one battery gripping device according to any one of claims 1 to 18; Production equipment for producing batteries to be gripped by the battery gripping device in the battery gripping equipment according to any one of claims 1 to 18.

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