A battery tray gripping and conveying device suitable for a six-axis robot arm

Abstract

The present invention discloses a battery cell tray clamping and conveying device suitable for a six-axis robot arm, which relates to the technical field of battery cell trays and comprises a robot arm body, wherein the end side of the robot arm body is fixedly connected with a connecting plate, and the upper surface side of the connecting plate is fixedly connected with a fixing plate, and the side of the fixing plate is fixedly connected with a fixing ring, and the upper surface of the clamping plate is fixedly connected with a sliding rod. In the battery cell tray clamping and conveying device suitable for a six-axis robot arm, a user can synchronously start a telescopic rod, and drive the clamping plate to move to both sides through the telescopic rod. At this time, the clamping plate synchronously drives the sliding rod to move along the auxiliary block to limit the position. Under the limiting action of the auxiliary block, the movement of the clamping plate can be improved to improve the stability. The position of the clamping plate can be adjusted through the telescopic rod, so as to clamp battery cell trays of different sizes, and further clamp the battery cell tray to limit the position, thereby improving the stability of the battery cell tray transmission.

Description

Technical Field

[0001] The present invention relates to the technical field of battery cell trays, and in particular to a battery cell tray clamping and conveying device suitable for a six-axis robot arm. Background Art

[0002] The battery cell tray is a device specially used for storing and transporting battery cells. The battery cell tray plays a vital role in the battery cell production line. It can not only be used for the storage and transportation of battery cells, but also as a transfer medium for battery cells on the production line. By placing the battery cells on the tray and using a six-axis robot arm for handling and palletizing, the automation and production efficiency of the battery cell production line can be greatly improved.

[0003] When the battery cell tray is moved in position, it is generally necessary to grab the battery cell tray to move the battery cell tray. When moving, it is necessary to ensure the stability of the battery cell tray to ensure the efficiency of battery cell transportation.

[0004] In order to overcome the above-mentioned defects, prior art 1 (publication number: CN117619751A, Chinese patent with publication date of 2024-03-01) is a battery cell tray loading mechanism, comprising a horizontally arranged operating table, a waste frame arranged on the operating table, and a battery cell placement plate. The operating table is also provided with a manipulator for moving the battery cells, and a battery cell grabbing assembly for taking out the battery cells from the tray is provided at the end of the manipulator. A battery cell detection assembly for detecting the battery cells is provided between the waste frame and the battery cell placement plate. The battery cell tray loading mechanism takes the battery cells out of the tray containing the battery cells through the battery cell grabbing assembly, and moves the taken-out battery cells through the manipulator. The manipulator drives the battery cells to move to the battery cell detection assembly for detection, so as to remove the battery cells that are tilted, bent, damaged, etc. After the battery cells are tested and meet the standards, they are placed on the battery cell placement plate, and the battery cells that do not meet the standards are placed in the waste frame. The battery cells that do not meet the standards are removed, thereby improving the overall production efficiency and product quality.

[0005] There is also prior art 2 (publication number: CN219928913U, Chinese patent with publication date of 2023-10-31) a destacking device for a battery tray, which includes a main frame, a power mechanism, and a clamping mechanism; the conveying mechanism of the battery tray is located inside the main frame, the power mechanism and the clamping mechanism are connected to the main frame, and the clamping mechanism is connected to the power mechanism. Among them, the clamping mechanism includes a clamping frame mounting plate, a clamping frame, two left and right clamping cylinders, two left and right L-shaped clamping claws, and a photoelectric system; the clamping frame mounting plate is connected to the chain, the clamping frame is connected to the clamping frame mounting plate, and the two clamping cylinders are fixed on the left and right sides of the middle rod of the clamping frame, and an L-shaped clamping claw is connected to the rod end respectively, and the inner side of the two L-shaped clamping claw vertical plates is symmetrically provided with a photoelectric system. The clamping mechanism is driven up and down by a motor to ensure the synchronous up and down movement of the left and right clamps, thereby solving the problems of jamming, asynchronism, and inadequate placement during the unstacking process of the tray, and ensuring the reliable realization of the stacking and tray separation functions.

[0006] Although the existing technologies 1 and 2 can place the battery cells, they cannot stably transport the placed battery cells. The transmission method is inefficient. At the same time, the stability of the battery cell tray cannot be ensured during the transmission process. The battery cell tray may fall off during transmission, thereby damaging the battery cells.

[0007] Therefore, we propose a battery cell tray gripping and conveying device suitable for a six-axis robot arm to solve the above-mentioned problems. Summary of the invention

[0008] The purpose of the present invention is to provide a battery cell tray clamping and conveying device suitable for a six-axis robot arm, so as to solve the problem raised by the above-mentioned background technology that the placed battery cells in the current market cannot be stably conveyed, the transmission conveying method is inefficient, and at the same time, the stability of the battery cell tray cannot be ensured during the conveying process. The battery cell tray may fall off during conveyance, thereby damaging the battery cells.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a battery tray gripping and conveying device suitable for a six-axis robot arm, comprising a robot arm body, the end side of which is fixedly connected to a connecting plate. A fixing plate is fixedly connected to the side of the upper surface of the connecting plate, and a fixing ring is fixedly connected to the side of the fixing plate;

[0010] A clamping plate, the upper surface of which is fixedly connected to a slide bar, and a pushing structure capable of adjusting the position of the clamping plate is provided between the side of the clamping plate and the lower surface of the connecting plate;

[0011] A fixing rod, wherein the fixing rod is nested and connected to the fixing ring, and the lower end of the fixing rod is nested and connected to an inner rod, and the lower end of the inner rod is fixedly connected to a suction cup, and an air supply mechanism capable of further adjusting the position of the suction cup is arranged between the upper surface of the suction cup and the outer side of the clamping plate;

[0012] A connecting rod is fixedly connected to the side of the fixing ring, and a clamping block is nested and connected to the outer side of the connecting rod, and a fixing mechanism capable of limiting the position of the fixing rod is arranged between the inner side of the clamping block and the outer side of the fixing rod.

[0013] Preferably, the pushing structure includes a telescopic rod, which is fixedly connected to the lower surface of the connecting plate, and the output end of the telescopic rod is fixedly connected to the inner side of the upper end of the clamping plate, and the lower surface of the connecting plate is fixedly connected to an auxiliary block, and the interior of the auxiliary block is nested and connected to a sliding rod.

[0014] Preferably, two telescopic rods are provided along the lower surface of the connecting plate, and the sliding rod forms a sliding structure through the clamping plate and the auxiliary block.

[0015] Preferably, the air supply mechanism comprises a rotating shaft, the rotating shaft is nested and connected at the center of the clamping plate, and the inner end of the rotating shaft is internally threadedly connected to a twisted rod, and the outer end of the twisted rod is fixedly connected to an anti-slip pad;

[0016] The outer end of the rotating shaft is fixedly connected to a rotating disk, a rotating rod is hinged at the edge of the rotating disk, a limiting groove is provided on the outer side of the clamping plate, and a limiting block is nested and connected inside the limiting groove, and an extrusion plate is fixedly connected to the outer side of the limiting block, the other end of the rotating rod is hinged to the side of the extrusion plate, and a first airbag is fixedly connected between the inner side of the limiting block and the side of the clamping plate;

[0017] A second air bag is fixedly connected between the upper surface of the suction cup and the lower end of the fixing rod, and an air supply hose is penetrated and connected between the second air bag and the first air bag.

[0018] Preferably, the rotating disk forms a rotating structure through a rotating shaft, the rotating rod and the extrusion plate form a rotating structure, and the extrusion plate drives the limiting block and the limiting groove through the rotating rod to form a sliding structure.

[0019] Preferably, the inner rod forms a sliding structure with the fixed rod through the second airbag, and the second airbag is connected to the first airbag through an air supply hose.

[0020] Preferably, the fixing mechanism includes a clamping ring, which is fixedly connected to the lower side of the fixing rod, and the upper end of the fixing rod is provided with a thread, and the outer side of the upper end of the fixing rod is threadedly connected with an adjustment ring, a spring is fixedly connected between the side of the clamping block and the side of the fixing ring, and the spring is wound around the outside of the connecting rod.

[0021] Preferably, the lower diameter of the adjustment ring is larger than the upper diameter, the clamping block forms a rotating structure through the adjustment ring and the connecting rod, and the clamping block forms an elastic structure through the spring and the fixing ring.

[0022] Preferably, the lower side of the clamping block is designed to be zigzag, and the lower side of the clamping block can be clamped to the outer side of the clamping ring.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The user can use the robot arm body to drive the adjustment connecting plate to flip, adjust the connecting plate to a suitable position, and clamp the battery tray. The battery tray can be adsorbed by the suction cup set on the side of the connecting plate, so as to perform preliminary absorption of the battery tray and realize subsequent transmission.

[0025] The user can start the telescopic rod synchronously, and drive the clamping plate to move to both sides through the telescopic rod. At this time, the clamping plate synchronously drives the slide bar to move along the auxiliary block to limit the position. Under the limiting action of the auxiliary block, the movement stability of the clamping plate can be improved. The position of the clamping plate can be adjusted through the telescopic rod, so as to clamp the battery trays of different sizes, and further clamp the battery trays to limit the position, thereby improving the stability of the battery tray transmission;

[0026] When the clamping plate is clamping the battery tray, the anti-skid pad contacts the battery tray, the battery tray contacts the anti-skid pad, and pushes the twisted rod to move along the rotating shaft through the anti-skid pad. At this time, the rotating shaft rotates under the driving action of the twisted rod, and the rotating shaft synchronously drives the turntable to rotate. The turntable rotates and pushes the rotating rod. At this time, the rotating rod will synchronously drive the extrusion plate to move, and squeeze the first airbag through the extrusion plate. The gas inside the first airbag is transported to the inside of the second airbag through the air supply hose. At this time, the second airbag expands and synchronously pushes the suction cup downward, so that the suction cup can better contact and adsorb with the surface of the battery tray, further improving the stability of the adsorption of the battery tray.

[0027] When the extrusion plate moves, it will synchronously drive the limit block to move inside the limit groove. The limit block can be limited by the limit groove, thereby improving the stability of the extrusion plate on the first airbag. At the same time, when the second airbag expands and pushes the suction cup downward, the inner rod on the upper side of the suction cup will move along the lower end of the fixed rod, thereby improving the stability of the suction cup when moving;

[0028] When the suction cup needs to be replaced, the adjusting ring can be manually rotated, and the adjusting ring moves up along the fixing rod. After the adjusting ring is moved up and taken out, the adjusting ring does not interfere with one side of the clamping block, and the clamping block is driven to rotate and reset under the elastic force of the spring. While the clamping block rotates, its lower end does not engage with the outer side of the clamping ring. At this time, the fixing rod is not restricted, and the user can take out the fixing rod and replace the suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the three-dimensional structure of the connecting plate of the present invention;

[0031] Figure 3 This is a schematic diagram of the three-dimensional structure of the clamping plate of the present invention;

[0032] Figure 4 It is a schematic diagram of the three-dimensional structure of the slide bar of the present invention;

[0033] Figure 5 It is a schematic diagram of the three-dimensional structure of the turntable of the present invention;

[0034] Figure 6 This is a schematic diagram of the three-dimensional structure of the suction cup of the present invention;

[0035] Figure 7 It is a schematic diagram of the three-dimensional structure of the fixing ring of the present invention;

[0036] Figure 8 This is a schematic diagram of the three-dimensional structure of the card block of the present invention;

[0037] Fig. 9 It is a schematic diagram of a three-dimensional cross-sectional structure of a fixing rod of the present invention;

[0038] Fig.10 This is a schematic diagram of the three-dimensional bottom view of the connecting plate of the present invention;

[0039] Fig.11 This is a schematic diagram of the sliding three-dimensional structure of the slide bar of the present invention;

[0040] Fig.12 It is a schematic diagram of the third-dimensional structure of the second airbag expansion of the present invention.

[0041] In the figure: 1. Robot arm body; 2. Clamping plate; 3. Fixing plate; 4. Suction cup; 5. Anti-skid pad; 6. Limiting groove; 7. Limiting block; 8. Turntable; 9. Turntable; 10. Extrusion plate; 11. First airbag; 12. Rotating shaft; 13. Twisted rod; 14. Second airbag; 15. Fixing rod; 16. Telescopic rod; 17. Auxiliary block; 18. Sliding rod; 19. Fixing ring; 20. Air supply hose; 21. Adjusting ring; 22. Connecting rod; 23. Spring; 24. Snap ring; 25. Block; 26. Inner rod; 27. Connecting plate. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Embodiment 1: Figure 1-Figure 4 , Fig.10 and Fig.11 The technical solution shown in the figure, the present invention provides the following technical solution: a battery tray clamping and conveying device suitable for a six-axis robot arm, disclosing a clamping plate 2, through which the battery tray can be clamped and conveyed:

[0044] The robot arm body 1, the end side of the robot arm body 1 is fixedly connected with a connecting plate 27, and the upper surface side of the connecting plate 27 is fixedly connected with a fixing plate 3, and the side of the fixing plate 3 is fixedly connected with a fixing ring 19;

[0045] A clamping plate 2, the upper surface of which is fixedly connected with a slide bar 18, and a pushing structure capable of adjusting the position of the clamping plate 2 is provided between the side of the clamping plate 2 and the lower surface of the connecting plate 27;

[0046] The pushing structure includes a telescopic rod 16, which is fixedly connected to the lower surface of the connecting plate 27, and the output end of the telescopic rod 16 is fixedly connected to the inner side of the upper end of the clamping plate 2, and the lower surface of the connecting plate 27 is fixedly connected to an auxiliary block 17, and the interior of the auxiliary block 17 is nested and connected to a sliding rod 18. Two telescopic rods 16 are arranged along the lower surface of the connecting plate 27, and the sliding rod 18 forms a sliding structure with the auxiliary block 17 through the clamping plate 2.

[0047] The user can use the robot arm body 1 to drive the adjustment connecting plate 27 to flip, so that the connecting plate 27 is adjusted to a suitable position, and the battery cell tray can be clamped. The suction cup 4 provided on the side of the connecting plate 27 can be used to adsorb the battery cell tray, thereby preliminarily sucking the battery cell tray to achieve subsequent transmission. The user can synchronously start the telescopic rod 16 and drive the clamping plate 2 to move to both sides through the telescopic rod 16. At this time, the clamping plate 2 synchronously drives the sliding rod 18 to move along the auxiliary block 17 to limit the movement. Under the limiting action of the auxiliary block 17, the movement stability of the clamping plate 2 can be improved. The position of the clamping plate 2 can be adjusted by the telescopic rod 16, so as to clamp battery cell trays of different sizes, and further clamp the battery cell tray to limit the position, thereby improving the stability of the battery cell tray transmission.

[0048] Embodiment 2: Figure 3-Figure 6 , Fig. 9 and Fig.12 The technical solution shown in the figure, the present invention provides the following technical solution: a battery tray gripping and conveying device suitable for a six-axis robot arm, disclosing an air supply mechanism, through which the gripping and conveying effect of the battery tray can be further improved:

[0049] A fixing rod 15, the fixing rod 15 is nested and connected to the fixing ring 19, and the lower end of the fixing rod 15 is nested and connected to the inner rod 26, and the lower end of the inner rod 26 is fixedly connected to the suction cup 4, and an air supply mechanism that can further adjust the position of the suction cup 4 is provided between the upper surface of the suction cup 4 and the outer side of the clamping plate 2;

[0050] The air supply mechanism includes a rotating shaft 12, which is nested and connected at the center of the clamping plate 2, and the inner end of the rotating shaft 12 is internally threadedly connected to a twisted rod 13, and the outer end of the twisted rod 13 is fixedly connected to a non-slip pad 5, the outer end of the rotating shaft 12 is fixedly connected to a turntable 9, and a rotating rod 8 is hinged at the edge of the turntable 9, a limiting groove 6 is provided on the outer side of the clamping plate 2, and the inner part of the limiting groove 6 is nested and connected to a limiting block 7, and the outer side of the limiting block 7 is fixedly connected to an extrusion plate 10, the other end of the rotating rod 8 is hinged to the side of the extrusion plate 10, a first air bag 11 is fixedly connected between the inner side of the limiting block 7 and the side of the clamping plate 2, a second air bag 14 is fixedly connected between the upper surface of the suction cup 4 and the lower end of the fixed rod 15, and an air supply hose 20 is connected through the second air bag 14 and the first air bag 11;

[0051] The turntable 9 forms a rotating structure through the rotating shaft 12, the rotating rod 8 and the extrusion plate 10 form a rotating structure, and the extrusion plate 10 drives the limit block 7 and the limit groove 6 through the rotating rod 8 to form a sliding structure, the inner rod 26 forms a sliding structure with the fixed rod 15 through the second airbag 14, and the second airbag 14 is connected to the first airbag 11 through the air supply hose 20.

[0052] When the clamping plate 2 is clamping the battery cell tray, the anti-skid pad 5 contacts the battery cell tray, the battery cell tray resists the anti-skid pad 5, and pushes the twisted rod 13 to move along the rotating shaft 12 through the anti-skid pad 5. At this time, the rotating shaft 12 rotates under the driving action of the twisted rod 13, and the rotating shaft 12 rotates synchronously to drive the turntable 9 to rotate when the rotating shaft 12 rotates. The turntable 9 rotates and pushes the rotating rod 8. At this time, the rotating rod 8 will synchronously drive the extrusion plate 10 to move. While the extrusion plate 10 moves, it will synchronously drive the limit block 7 to move inside the limit groove 6. The limit block 7 can be limited by the limit groove 6, thereby improving the stability of the extrusion plate 10 squeezing the first air bag 11. The gas inside the first air bag 11 is transported to the inside of the second air bag 14 through the air supply hose 20. At this time, the second air bag 14 expands, and synchronously pushes the suction cup 4 to move downward, so that the suction cup 4 can better contact and adsorb with the surface of the battery cell tray, further improving the stability of the adsorption of the battery cell tray.

[0053] Embodiment 3: Figure 6 , Figure 7 and Figure 8 The technical solution shown in the figure, the present invention provides the following technical solution: a battery tray gripping and conveying device suitable for a six-axis robot arm, a fixing mechanism is disclosed, and the gripping and conveying effect of the battery tray can be further improved through an air supply mechanism:

[0054] A connecting rod 22, the connecting rod 22 is fixedly connected to the side of the fixing ring 19, and a clamping block 25 is nested and connected to the outer side of the connecting rod 22, and a fixing mechanism that can limit the position of the fixing rod 15 is provided between the inner side of the clamping block 25 and the outer side of the fixing rod 15;

[0055] The fixing mechanism includes a snap ring 24, which is fixedly connected to the lower side of the fixing rod 15, and the upper end of the fixing rod 15 is provided with a thread, and the outer side of the upper end of the fixing rod 15 is threadedly connected with an adjusting ring 21, a spring 23 is fixedly connected between the side of the block 25 and the side of the fixing ring 19, and the spring 23 is wound around the outer side of the connecting rod 22, the lower side diameter of the adjusting ring 21 is larger than the upper side diameter, the block 25 forms a rotating structure with the connecting rod 22 through the adjusting ring 21, and the block 25 forms an elastic structure with the fixing ring 19 through the spring 23, the lower side of the block 25 is designed to be tortuous, and the lower side of the block 25 can be clamped to the outer side of the snap ring 24.

[0056] When the suction cup 4 needs to be replaced, the adjusting ring 21 can be manually rotated. At this time, the adjusting ring 21 moves up along the fixing rod 15. After the adjusting ring 21 is moved up and taken out, the adjusting ring 21 does not interfere with one side of the block 25. The block 25 is driven to rotate and reset under the elastic force of the spring 23. While the block 25 rotates, its lower end is not engaged with the outer side of the clamping ring 24. At this time, the fixing rod 15 is not restricted. The user can take out the fixing rod 15 and replace the suction cup 4.

[0057] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A battery tray gripping and conveying device suitable for a six-axis robot arm, comprising a robot arm body (1), the end side of the robot arm body (1) being fixedly connected to a connecting plate (27), the upper surface side of the connecting plate (27) being fixedly connected to a fixing plate (3), and the side of the fixing plate (3) being fixedly connected to a fixing ring (19); It is characterized in that The gripping and conveying device also includes: A clamping plate (2), wherein the upper surface of the clamping plate (2) is fixedly connected to a slide bar (18), and a pushing structure capable of adjusting the position of the clamping plate (2) is provided between the side of the clamping plate (2) and the lower surface of the connecting plate (27), wherein the pushing structure comprises a telescopic rod (16), wherein the telescopic rod (16) is fixedly connected to the lower surface of the connecting plate (27), and the output end of the telescopic rod (16) is fixedly connected to the inner side of the upper end of the clamping plate (2), and the lower surface of the connecting plate (27) is fixedly connected to an auxiliary block (17), and the interior of the auxiliary block (17) is nestedly connected to the slide bar (18); A fixing rod (15), wherein the fixing rod (15) is nested and connected to the fixing ring (19), and the lower end of the fixing rod (15) is nested and connected to an inner rod (26), and the lower end of the inner rod (26) is fixedly connected to a suction cup (4), and an air supply mechanism capable of further adjusting the position of the suction cup (4) is provided between the upper surface of the suction cup (4) and the outer side of the clamping plate (2), and the air supply mechanism comprises a rotating shaft (12), and the rotating shaft (12) is nested and connected at the center of the clamping plate (2), and the inner end of the rotating shaft (12) is internally threadedly connected to a twisted rod (13), and the outer end of the twisted rod (13) is fixedly connected to an anti-slip pad (5); The outer end of the rotating shaft (12) is fixedly connected to a rotating disk (9), and a rotating rod (8) is hinged at the edge of the rotating disk (9). A limiting groove (6) is provided on the outer side of the clamping plate (2), and a limiting block (7) is nested and connected inside the limiting groove (6), and an extrusion plate (10) is fixedly connected to the outer side of the limiting block (7). The other end of the rotating rod (8) is hinged to the side of the extrusion plate (10), and a first air bag (11) is fixedly connected between the inner side of the limiting block (7) and the side of the clamping plate (2); A second air bag (14) is fixedly connected between the upper surface of the suction cup (4) and the lower end of the fixing rod (15), and an air supply hose (20) is connected through the second air bag (14) and the first air bag (11); A connecting rod (22), the connecting rod (22) being fixedly connected to the side of the fixing ring (19), and a clamping block (25) being nested and connected to the outer side of the connecting rod (22), and a fixing mechanism capable of limiting the position of the fixing rod (15) is provided between the inner side of the clamping block (25) and the outer side of the fixing rod (15), the fixing mechanism comprising a clamping ring (24), the clamping ring (24) being fixedly connected to the lower side of the fixing rod (15), and the upper end of the fixing rod (15) being provided with a thread, and the outer side of the upper end of the fixing rod (15) being threadedly connected to an adjusting ring (21), and a spring (23) being fixedly connected between the side of the clamping block (25) and the side of the fixing ring (19), and the spring (23) being wound around the outer side of the connecting rod (22).

2. The battery tray gripping and conveying device suitable for a six-axis robot arm according to claim 1, characterized in that: Two telescopic rods (16) are arranged along the lower surface of the connecting plate (27), and the sliding rod (18) forms a sliding structure with the auxiliary block (17) through the clamping plate (2).

3. The battery tray gripping and conveying device suitable for a six-axis robot arm according to claim 1, characterized in that: The rotating disk (9) forms a rotating structure via a rotating shaft (12), the rotating rod (8) and the extrusion plate (10) form a rotating structure, and the extrusion plate (10) drives the limit block (7) and the limit groove (6) via the rotating rod (8) to form a sliding structure.

4. The battery tray gripping and conveying device suitable for a six-axis robot arm according to claim 1, characterized in that: The inner rod (26) forms a sliding structure with the fixed rod (15) through the second airbag (14), and the second airbag (14) is connected to the first airbag (11) through the air supply hose (20).

5. The battery tray gripping and conveying device suitable for a six-axis robot arm according to claim 1, characterized in that: The lower diameter of the adjustment ring (21) is larger than the upper diameter; the clamping block (25) forms a rotating structure through the adjustment ring (21) and the connecting rod (22); and the clamping block (25) forms an elastic structure through the spring (23) and the fixing ring (19).

6. The battery tray gripping and conveying device suitable for a six-axis robot arm according to claim 1, characterized in that: The lower side of the clamping block (25) is designed to be zigzag, and the lower side of the clamping block (25) can be clamped to the outer side of the clamping ring (24).

Images