Grabbing device and boxing equipment

Abstract

The embodiment of the invention discloses a grabbing device and boxing equipment, the grabbing device comprises a clamping assembly and a suction assembly, the clamping assembly comprises a motor, a lead screw, a first clamping mechanism and a second clamping mechanism, the motor is used for driving the lead screw to rotate, and the suction assembly is used for sucking the lead screw; the lead screw is used for driving the first clamping mechanism and the second clamping mechanism to move oppositely or reversely in the axial direction of the lead screw so as to adjust the distance between the first clamping mechanism and the second clamping mechanism. The suction assembly comprises a first air cylinder, a suction cup and a sliding sensing mechanism, the first air cylinder is used for driving the suction cup to move in the first direction, the suction cup is used for sucking the battery device, the first air cylinder is connected with the suction cup through the sliding sensing mechanism, and the sliding sensing mechanism is used for detecting the pressure borne by the battery device by the suction cup. According to the grabbing device and the boxing equipment, the efficiency and reliability of the grabbing device can be improved.

Description

Technical Field

[0001] The present application relates to the field of batteries, and more specifically, to a gripping device and a box-entering device. Background Art

[0002] With the continuous advancement of battery technology, various new energy industries that use batteries as energy storage devices have developed rapidly, and the production process requirements for battery devices are also constantly improving, especially in terms of automation, compatibility and reliability. In the production process of battery devices, it is necessary to use appropriate gripping equipment to accurately place the battery device into the box or move it to other stations. Therefore, how to improve the efficiency and reliability of gripping equipment is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a gripping device and a box-entering device, which can improve the efficiency and reliability of the gripping device.

[0004] In a first aspect, the present application provides a gripping device, which is applied to a battery device, comprising: a clamping assembly and a suction assembly, wherein the clamping assembly comprises a motor, a lead screw, a fitting, a first clamping mechanism, a second clamping mechanism and a guide rail, wherein the motor is used to drive the lead screw to rotate, and the lead screw is used to drive the first clamping mechanism and the second clamping mechanism to move toward or in the opposite direction along the axial direction of the lead screw to adjust the distance between the first clamping mechanism and the second clamping mechanism, and the fitting comprises a first fitting and a second fitting, and the first fitting and the second fitting are respectively connected to the lead screw by threaded fitting, and the lead screw It has a first thread segment and a second thread segment, the first clamping mechanism and the second clamping mechanism are connected to the first thread segment and the second thread segment respectively through the first matching piece and the second matching piece, and the thread rotation directions of the first thread segment and the second thread segment are different; the matching piece is connected to the guide rail through a slider; the suction component includes a first cylinder, a suction cup and a sliding sensing mechanism, the first cylinder is used to drive the suction cup to move along a first direction, the suction cup is used to suck the battery device, the first cylinder and the suction cup are connected through the sliding sensing mechanism, and the sliding sensing mechanism is used to detect the pressure of the suction cup on the battery device.

[0005] In the technical solution of the embodiment of the present application, on the one hand, by driving the lead screw transmission with a motor, the opening and closing degree between the first clamping mechanism and the second clamping mechanism can be accurately controlled to grasp battery devices of different sizes. When changing the model of the battery device, it is not necessary to frequently replace the clamping device, which can meet the production requirements of multi-specification products, improve the adaptability and compatibility of the clamping device, and can improve production efficiency and save production costs. And the screw thread fit can convert the rotational motion of the lead screw into the linear motion of the mating part, thereby achieving high-precision position control of the first clamping mechanism and the second clamping mechanism. The guide rail and the slider can provide a more accurate linear motion guide for the first clamping mechanism and the second clamping mechanism, so that the first clamping mechanism and the second clamping mechanism can move smoothly along the track of the guide rail, improving the stability of the clamping device. On the other hand, the cylinder drives the suction cup to drive the battery device. The cylinder drive can achieve accurate linear motion, ensuring stable operation of the suction cup when sucking and placing the battery device. The cylinder operates quickly and can quickly complete the suction and release operations. The sliding sensing mechanism can detect the magnitude of the pressure received by the battery device, reducing the risk of damage to its internal mechanism caused by excessive pressure on the battery device, improving the reliability of the clamping device, and the suction component has a simple structure and is easy to implement. In addition, the suction cup adsorbs the surface of the battery device through negative pressure, and the clamping jaw clamps the edge of the battery device through mechanical force. The combination of the two can fix the battery device more firmly, reducing the risk of shaking or falling off during handling. And in a high-speed movement or vibration environment, the combination of the suction component and the clamping component can provide higher stability, further improving the reliability of the clamping device.

[0006] In some embodiments of the first aspect, the first clamping mechanism or the second clamping mechanism includes a second cylinder and a first clamping jaw and a second clamping jaw arranged oppositely. The second cylinder is used to drive the first clamping jaw and the second clamping jaw to move along a second direction, and the second direction is perpendicular to the first direction and the axial direction of the lead screw.

[0007] In the technical solution of the embodiment of the present application, the first clamping jaw and the second clamping jaw can move along the second direction, so that the length of the part of the clamping jaw for clamping the battery device can be extended, the clamping is more firm, and the shaking of the battery device during handling can be reduced, so as to improve the clamping stability and reliability of the clamping component.

[0008] In some embodiments of the first aspect, the clamping component further includes a mating part. The mating part includes a first mating part and a second mating part. The first mating part and the second mating part are respectively connected to the lead screw through screw thread fit. The lead screw has a first thread section and a second thread section. The first clamping mechanism and the second clamping mechanism are respectively connected to the first thread section and the second thread section through the first mating part and the second mating part, and the thread helix directions of the first thread section and the second thread section are different.

[0009] In the technical solution of the embodiment of the present application, the threaded fit can convert the rotational motion of the lead screw into the linear motion of the mating part, thereby achieving high-precision position control of the first clamping mechanism and the second clamping mechanism. The thread directions of the first thread section and the second thread section are different, and the first mating part and the second mating part can move in opposite directions, thereby driving the first clamping mechanism and the second clamping mechanism to move in opposite directions to control the distance between the first clamping mechanism and the second clamping mechanism, so as to be able to clamp battery devices of different models, meet the production requirements of multi-specification products, and improve the adaptability and compatibility of the grasping device.

[0010] In some embodiments of the first aspect, the clamping assembly further has a guide rail, and the mating part is connected to the guide rail through a slider.

[0011] In the technical solution of the embodiment of the present application, the guide rail and the slider can provide a more precise linear motion guide for the first clamping mechanism and the second clamping mechanism, so that the first clamping mechanism and the second clamping mechanism can move smoothly along the trajectory of the guide rail, improving the stability of the grasping device.

[0012] In some embodiments of the first aspect, the sliding sensing mechanism includes a first connecting piece, a second connecting piece, an elastic element and a pressure sensor; the second connecting piece is fixed on the side of the first cylinder close to the suction cup, and the second connecting piece moves along the first direction under the drive of the first cylinder; the first connecting piece is fixed on the side of the suction cup close to the first cylinder, and the first connecting piece is sleeved outside the second connecting piece so that the first connecting piece moves along the first direction when the second connecting piece moves along the first direction; the elastic element is arranged between the end of the second connecting piece close to the suction cup and the bottom of the first connecting piece, and the pressure sensor is arranged at the end of the second connecting piece close to the suction cup or the bottom of the first connecting piece.

[0013] In the technical solution of the embodiment of the present application, by setting the first connecting piece and the second connecting piece, the two can slide relative to each other, and the pressure sensor can monitor the pressure magnitude during the sliding process in real time, so as to carry out feedback and control, accurately grasp the distance that the suction cup continuously moves along the first direction, reduce the risk of damage to the internal structure of the battery device due to excessive pressure on the battery device, and the elastic element can play a buffering role to avoid the driving force of the first cylinder being directly applied to the battery device, thereby improving the reliability of the grasping device.

[0014] In some embodiments of the first aspect, a first boss is formed by the end of the first connecting piece close to the first cylinder extending towards the axis of the first connecting piece, and a second boss is formed by the end of the second connecting piece close to the suction cup extending towards the outer periphery of the second connecting piece, and the first boss and the second boss are in mutual contact.

[0015] In the technical solution of the embodiment of the present application, the first boss and the second boss are in mutual abutment, which can enable relative sliding between the first connecting member and the second connecting member while reducing the risk of the first connecting member falling off the second connecting member, and improving the connection reliability between the first connecting member and the second connecting member.

[0016] In some embodiments of the first aspect, the grasping device further includes a vision positioning mechanism for identifying the position of the box body to be placed of the battery device.

[0017] In the technical solution of the embodiment of the present application, the vision positioning mechanism can identify the position of the positioning pin on the box body, thereby determining the position of the box body, and can provide accurate box body position information for the grasping device.

[0018] In some embodiments of the first aspect, the grasping device further includes a rangefinder for measuring the distance between the battery device and the bottom of the box body to be placed.

[0019] In the technical solution of the embodiment of the present application, through measurement, the rangefinder can ensure that there is enough clearance between the battery device and the bottom of the box body, reduce the risk of damage to the battery module caused by extrusion or collision, and the rangefinder can also be integrated with other automated devices to realize the intelligentization and automation of the battery device process and reduce human error.

[0020] In some embodiments of the first aspect, the grasping device further includes a barcode scanner for identifying the coding and status information of the battery device to place the battery device into the corresponding box body.

[0021] In the technical solution of the embodiment of the present application, the barcode scanner can quickly and accurately read the unique coding and status information of the battery device to avoid manual recording or identification errors. Moreover, through automated barcode scanning and identification, the manual operation time is reduced, and the classification and box-in speed of the battery device are accelerated.

[0022] In a second aspect, the present application provides a box-in device applied to a battery device, including: a bracket for placing a box body; a robotic arm disposed on one side of the bracket; and the grasping device according to the first aspect or any one of the embodiments of the first aspect, the grasping device is connected to the robotic arm, and the robotic arm controls the grasping device to grasp the battery device or place the battery device into the box body.

[0023] In some embodiments of the second aspect, the box-in device further includes a fixing component, the fixing component includes a tray and a third cylinder, the tray is placed on the bracket, the box body is fixed on the tray, the third cylinder is located on a side of the tray away from the box body, and the third cylinder moves along the thickness direction of the tray to separate or contact the tray from the bracket.

[0024] In the technical solution of the embodiment of the present application, the third cylinder moves back and forth along the thickness direction of the tray to separate and contact the tray from the bracket, which can automatically complete the fixing operation of the box body, reduce the labor cost, and improve the efficiency of the box loading equipment.

[0025] In some embodiments of the second aspect, a conveyor belt is provided on the bracket, and the tray is placed on the conveyor belt; the third cylinder moves in a direction close to the tray, so that the tray is connected to the third cylinder and separated from the conveyor belt on the bracket; and / or, the third cylinder moves in a direction away from the tray, so that the tray contacts the conveyor belt on the bracket and separates from the third cylinder, so that the tray moves with the conveyor belt.

[0026] In the technical solution of the embodiment of the present application, the box body on the tray can move with the tray on the conveyor belt. The box body can move from other workstations to the box loading workstation and from the box loading workstation to other processing workstations, improving the automation degree of the box loading equipment.

[0027] In some embodiments of the second aspect, a second stopper and a first stopper are sequentially arranged on the bracket along the moving direction of the conveyor belt; the first stopper can move along the thickness direction of the tray to prevent the tray from moving with the conveyor belt, and the second stopper is used to prevent the tray from rebounding after stopping moving with the conveyor belt.

[0028] In the technical solution of the embodiment of the present application, the second stopper has the function of preventing the suddenly stopped tray from rebounding, so that both sides of the tray along the moving direction of the conveyor belt are restricted from moving. The first stopper and the second stopper can quickly stop the tray, so that the cylinder can fix the tray and separate the tray from the conveyor belt, so as to realize that the grasping device grasps the battery device and puts it into the box body.

[0029] In some embodiments of the second aspect, the distance between the first stopper and the second stopper along the moving direction of the conveyor belt is greater than or equal to the size of the tray along the moving direction of the conveyor belt and less than a first threshold value.

[0030] In the technical solution of the embodiment of the present application, by setting the distance between the first stopper and the second stopper along the moving direction of the conveyor belt to be greater than or equal to the size of the tray along this direction, the tray can be stopped in time when it reaches the target position. The first threshold value can be slightly larger than the size of the tray along the moving direction of the conveyor belt, so that after the tray is blocked by the first stopper, the second stopper can prevent the tray from rebounding far and can quickly stop the tray at the target position.

[0031] In some embodiments of the second aspect, the box loading equipment further includes a storage table and a moving vehicle. The storage table is used to place the battery device to be loaded into the box, and the moving vehicle is used to transport the battery device to the storage table.

[0032] In the technical solution of the embodiment of the present application, by setting a storage table and a mobile vehicle, the battery device to be put into the box can be placed on the storage table in advance, and the battery device can be directly grabbed and put into the box after the corresponding box is in place, so as to improve the efficiency of the box loading equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Shows a partial structural schematic diagram of the battery device according to the embodiment of the present application; Figure 2 Shows a structural schematic diagram of the grasping device according to the embodiment of the present application; Figure 3 Shows a front view of the grasping device according to the embodiment of the present application; Figure 4 Shows a top view of the grasping device according to the embodiment of the present application; Figure 5 Shows a sectional schematic diagram of the grasping device according to the embodiment of the present application; Figure 6 Shows a structural schematic diagram of the clamping assembly according to the embodiment of the present application; Figure 7 Shows a structural schematic diagram of another clamping assembly according to the embodiment of the present application; Figure 8 Shows a structural schematic diagram of yet another clamping assembly according to the embodiment of the present application; Figure 9 Shows a structural schematic diagram of yet another clamping assembly according to the embodiment of the present application; Figure 10 Shows a structural schematic diagram of the suction assembly according to the embodiment of the present application; Figure 11 Shows a partial structural schematic diagram of the suction assembly according to the embodiment of the present application; Figure 12 Shows a structural schematic diagram of the box loading equipment according to the embodiment of the present application; Figure 13 Shows a structural schematic diagram of the fixing assembly according to the embodiment of the present application; Figure 14 Shows a structural schematic diagram of the storage table and the mobile vehicle according to the embodiment of the present application.

[0034] In the drawings, the drawings are not drawn to actual scale. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The following will describe the technical solutions in the embodiments of the present application with reference to the drawings.

[0036] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the following will clearly describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without making creative efforts fall within the scope of protection of this application.

[0037] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application pertains; the terms used in the description of this application in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification, claims or drawings of this application are used to distinguish different objects and not to describe a specific order or primary-secondary relationship.

[0038] Reference to "embodiment" in this application means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described in this application can be combined with other embodiments.

[0039] In the description of this application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected to", and "attached to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] The term "and / or" in this application is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally represents an "or" relationship between the associated objects before and after.

[0041] In the embodiments of the present application, the same reference numerals denote the same components, and for the sake of brevity, in different embodiments, the detailed description of the same components is omitted. It should be understood that the thickness, length, width, etc. of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width, etc. of the integrated device, are only illustrative and should not constitute any limitation to the present application.

[0042] In the present application, "a plurality of" refers to two or more (including two). Similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of sheets" refers to two or more sheets (including two sheets).

[0043] If there is no special instruction, all embodiments and optional embodiments of the present application can be combined with each other to form a new technical solution.

[0044] If there is no special instruction, all technical features and optional technical features of the present application can be combined with each other to form a new technical solution.

[0045] If there is no special instruction, all steps of the present application can be carried out in sequence or randomly, and preferably in sequence. For example, the method includes steps (a) and (b), which means that the method may include steps (a) and (b) carried out in sequence, or may also include steps (b) and (a) carried out in sequence. For example, it is mentioned that the method may further include step (c), which means that step (c) can be added to the method in any order. For example, the method may include steps (a), (b) and (c), or may also include steps (a), (c) and (b), or may also include steps (c), (a) and (b), etc.

[0046] In the embodiments of the present application, the battery cell may be a secondary battery, which refers to a battery cell that can be activated by charging after discharging to continue use.

[0047] The battery cell may be a lithium-ion battery, a sodium-ion battery, a sodium-lithium-ion battery, a lithium metal battery, a sodium metal battery, a lithium-sulfur battery, a magnesium-ion battery, a nickel-metal hydride battery, a nickel-cadmium battery, a lead-acid battery, etc., and the embodiments of the present application are not limited thereto.

[0048] The battery apparatus mentioned in the embodiments of the present application may include one or more battery cell assemblies for providing voltage and capacity. The battery cell assembly may include a plurality of battery cells, and the plurality of battery cells are connected in series, parallel or in a hybrid connection through a busbar component.

[0049] In some embodiments, the battery cell assembly is generally formed by arranging a plurality of battery cells.

[0050] As an example, the battery cell assembly can be a battery module. The battery module is formed by arranging and fixing multiple battery cells to form an independent module. As an example, the battery module can be formed by bundling multiple battery cells with cable ties.

[0051] In some embodiments, the battery device can be a battery pack, which includes a box body and one or more battery cell assemblies, and the battery cell assemblies are accommodated in the box body.

[0052] As an example, the battery cell assembly can be a battery module, and the battery cell assembly can be accommodated in the box body by fixing the battery module in the box body.

[0053] As an example, the battery cell assembly can also be accommodated in the box body by directly fixing multiple battery cells to the box body.

[0054] As an example, the box body can include a first box body and a second box body. The first box body and the second box body are snapped together so that a closed space is formed inside the box body to accommodate the battery cell assembly. The "closed" here means covering or closing, which can be sealed or non-sealed. The first box body can be a top cover or a bottom plate.

[0055] As an example, the box body can include a top cover, a frame, and a bottom plate. The top cover and the bottom plate are respectively connected to the frame so that a closed space is formed inside the box body to accommodate the battery cell assembly.

[0056] In some embodiments, the box body can be part of the chassis structure of a vehicle. For example, part of the box body can become at least part of the floor of the vehicle, or part of the box body can become at least part of the cross beam and longitudinal beam of the vehicle.

[0057] With the rapid development of battery technology, the new energy industry with batteries as energy storage devices has risen rapidly, posing higher requirements for the production process of battery devices, especially in terms of automation, compatibility, and reliability. During the production and handling of battery devices, the grasping device is used to accurately place the battery device into the box body or transport it to other workstations, playing a crucial role. However, existing grasping devices still have many deficiencies in terms of efficiency, stability, and adaptability, and it is difficult to meet the increasingly complex production requirements. Therefore, how to design an efficient, stable, and adaptable grasping device has become one of the important issues in the current production process of battery devices.

[0058] Therefore, the gripping device of the embodiments of the present application can solve the above problems. The gripping device of the embodiments of the present application can be applied to a battery device, and includes a clamping component and a suction component. The clamping component includes a motor, a lead screw, a fitting, a first clamping mechanism, a second clamping mechanism, and a guide rail. Among them, the motor is used to drive the lead screw to rotate, and the lead screw is used to drive the first clamping mechanism and the second clamping mechanism to move towards or away from each other along the axial direction of the lead screw, so as to adjust the distance between the first clamping mechanism and the second clamping mechanism. The fitting includes a first fitting and a second fitting. The first fitting and the second fitting are respectively connected to the lead screw through threaded cooperation. The lead screw has a first thread section and a second thread section. The first clamping mechanism and the second clamping mechanism are respectively connected to the first thread section and the second thread section through the first fitting and the second fitting. The thread directions of the first thread section and the second thread section are different; the fitting is connected to the guide rail through a slider; the suction component includes a first cylinder, a suction cup, and a sliding sensing mechanism. The first cylinder is used to drive the suction cup to move in a first direction. The suction cup is used to suck the battery device. The first cylinder and the suction cup are connected through the sliding sensing mechanism. The sliding sensing mechanism is used to detect the pressure exerted on the battery device by the suction cup.

[0059] In the technical solution of the embodiments of the present application, on the one hand, by driving the lead screw transmission through the motor, the opening and closing degree between the first clamping mechanism and the second clamping mechanism can be accurately controlled to grip battery devices of different sizes. When changing the model of the battery device, it is not necessary to frequently replace the clamping component, which can adapt to the production requirements of multi-specification products, improve the adaptability and compatibility of the gripping device, and can improve production efficiency and save production costs. Moreover, the threaded cooperation can convert the rotational motion of the lead screw into the linear motion of the fitting, thereby achieving high-precision position control of the first clamping mechanism and the second clamping mechanism. The guide rail and the slider can provide a more accurate linear motion guide for the first clamping mechanism and the second clamping mechanism, enabling the first clamping mechanism and the second clamping mechanism to move smoothly along the trajectory of the guide rail and improving the stability of the gripping device. On the other hand, by driving the suction cup to drive the battery device through the first cylinder, the first cylinder drive can achieve accurate linear motion, ensuring stable operation of the suction cup when sucking and placing the battery device. The first cylinder has a fast action speed and can quickly complete the suction and release operations. Through the sliding sensing mechanism, the magnitude of the pressure exerted on the battery device can be detected, reducing the risk of damage to its internal mechanism caused by excessive pressure on the battery device, improving the reliability of the gripping device, and the suction component has a simple structure and is easy to implement. In addition, the suction cup adsorbs the surface of the battery device through negative pressure, and the clamping jaw clamps the edge of the battery device through mechanical force. The combination of the two can fix the battery device more firmly, reducing the risk of shaking or falling off during handling. Moreover, in a high-speed movement or vibration environment, the combination of the suction component and the clamping component can provide higher stability, further improving the reliability of the gripping device.

[0060] It should be understood that the grasping device in the embodiments of the present application can be applied to a battery device. For example, during the production process of the battery device, the grasping device can grasp the battery device and transport it into a box to complete the operation of placing the battery device into the box. Figure 1 FIG. shows a partial structural schematic diagram of the battery device 40 in the embodiments of the present application. As Figure 1 shown, the battery device 40 in the embodiments of the present application may include a plurality of battery cells 41 to meet different power usage requirements. The shape of the battery cell 41 in the embodiments of the present application can be set according to actual applications. For example, the battery cell 41 can be a cuboid as Figure 1 shown, or it can also be a cylindrical shape different from Figure 1 shown or other shapes, and the embodiments of the present application are not limited thereto.

[0061] Figure 2 FIG. shows a structural schematic diagram of the grasping device 30 in the embodiments of the present application; Figure 3 FIG. shows a front view of the grasping device 30 in the embodiments of the present application. For example, Figure 3 FIG. shows Figure 2 a front view of the grasping device 30 in the X direction as Figure 4 FIG. shows an attached view of the grasping device 30 in the embodiments of the present application. For example, Figure 4 FIG. shows Figure 3 a top view of the grasping device 30 in the Z direction as Figure 5 FIG. shows a sectional schematic diagram of the grasping device 30 in the embodiments of the present application. For example, Figure 5 FIG. shows Figure 4 a sectional schematic diagram of the grasping device 30 along the section line A - A' as

[0062] As Figures 2 to 5 shown, the grasping device 30 in the embodiments of the present application may include: a clamping component 31, the clamping component 31 includes a motor 311, a lead screw 312, a first clamping mechanism 313 and a second clamping mechanism 314. The motor 311 is used to drive the lead screw 312 to rotate, and the lead screw 312 is used to drive the first clamping mechanism 313 and the second clamping mechanism 314 to move towards or away from each other along the axial direction of the lead screw 312 to adjust the distance between the first clamping mechanism 313 and the second clamping mechanism 314; a suction component 32, the suction component 32 includes a first cylinder 321, a suction cup 322 and a sliding sensing mechanism 323. The first cylinder 321 is used to drive the suction cup 322 to move in the first direction, the suction cup 322 is used to suck the battery device 40, and the first cylinder 321 and the suction cup 322 are connected through the sliding sensing mechanism 323. The sliding sensing mechanism 323 is used to detect the pressure exerted on the battery device 40 by the suction cup 322.

[0063] In some embodiments, asFigure 5 As shown, the clamping assembly 31 may further include a synchronous pulley 3111 and a synchronous belt 3112. The motor 311 is connected to one synchronous pulley 3111, the lead screw 312 is connected to the other synchronous pulley 3111, and the two synchronous pulleys 3111 are connected by the synchronous belt 3112. The transmission efficiency of the synchronous pulley 3111 and the synchronous belt 3112 is high, which can reduce energy loss and improve the transmission efficiency of the motor 311.

[0064] The motor 311 can provide driving force for the rotation of the lead screw 312. The lead screw 312 converts the rotational motion of the motor 311 into linear motion. During the rotation process, the lead screw 312 can drive the first clamping mechanism 313 and the second clamping mechanism 314 to move along the axial direction of the lead screw 312, so that the first clamping mechanism 313 and the second clamping mechanism 314 can clamp the battery device 40. By adjusting the rotation speed of the motor 311, the moving speed of the first clamping mechanism 313 and the second clamping mechanism 314 can be controlled, thereby improving the grasping speed of the grasping device 30 and enhancing the production efficiency.

[0065] The first clamping mechanism 313 and the second clamping mechanism 314 can move towards or away from each other along the axial direction of the lead screw 312, that is, the moving directions of the first clamping mechanism 313 and the second clamping mechanism 314 along the axial direction of the lead screw 312 are opposite. That is to say, the first clamping mechanism 313 and the second clamping mechanism 314 can move towards each other, or the first clamping mechanism 313 and the second clamping mechanism 314 can move away from each other, so as to adjust the distance between the first clamping mechanism 313 and the second clamping mechanism 314, and thus grasp battery devices 40 of different sizes. When changing the model of the battery device 40, it is not necessary to frequently replace the clamping assembly, which can meet the production requirements of multi-specification products, improve the adaptability and compatibility of the grasping device, and can also improve the production efficiency and save production costs.

[0066] The first cylinder 321 can provide driving force for the suction cup 322, so that the suction cup 322 can move along the first direction. Wherein, the first direction can be any direction. For example, the first direction can be the height direction of the battery device 40, and the suction cup 322 moves along the height direction of the battery device 40, so as to put the battery device 40 into the box from the top of the box. In some embodiments, the first direction can be the Z direction as shown in Figure 3 shown.

[0067] The suction cup 322 can generate an adsorption force on the surface of the battery device 40, so as to suck the battery device 40. For example, the suction cup 322 can form a negative pressure by discharging the air between the suction cup 322 and the adsorption surface, so as to generate an adsorption force.

[0068] In some embodiments, the suction cup 322 can also be connected to a vacuum pump, which can be used to evacuate the air inside the suction cup 322, thereby reducing the internal pressure.

[0069] In some embodiments, the suction cup 322 can include a plurality of small suction cups, which are respectively connected to the vacuum pump through connecting pipes, so as to improve the adsorption force of the suction cup 322 and the reliability of the suction component.

[0070] A sliding sensing mechanism 323 can also be provided between the first cylinder 321 and the suction cup 322. The sliding sensing mechanism 323 is connected to the first cylinder 321 and the suction cup 322. The sliding sensing mechanism 323 can be used to detect the pressure exerted on the battery device 40 by the suction cup 322. During the process of the suction cup 322 sucking the battery device 40, the sliding sensing mechanism 323 can monitor the change of pressure in real time, reducing the risk of damage to the internal structure of the battery device 40 due to excessive pressure.

[0071] In some embodiments, the grasping device 30 can also include a support 36, and the clamping component 31 and the suction component 32 are respectively fixed on the support 36.

[0072] On the one hand, by driving the lead screw 312 through the motor 311, the opening and closing degree between the first clamping mechanism 313 and the second clamping mechanism 314 can be precisely controlled to grasp battery devices 40 of different sizes. When changing the model of the battery device 40, it is not necessary to frequently replace the clamping component 31, which can adapt to the production requirements of multi-specification products, improve the adaptability and compatibility of the grasping device 30, and can improve production efficiency and save production costs. On the other hand, by driving the suction cup 322 to drive the battery device 40 through the first cylinder 321, the first cylinder 321 can drive to achieve precise linear motion, ensuring that the suction cup 322 operates stably when sucking and placing the battery device 40. The first cylinder 321 has a fast action speed and can quickly complete the suction and release operations. The sliding sensing mechanism 323 can detect the magnitude of the pressure exerted on the battery device 40, reducing the risk of damage to its internal mechanism due to excessive pressure on the battery device 40, improving the reliability of the grasping device 30, and the suction component 32 has a simple structure and is easy to implement. In addition, the suction cup 322 adsorbs the surface of the battery device 40 through negative pressure, and the jaw mechanism clamps the edge of the battery device 40 through mechanical force. The combination of the two can fix the battery device 40 more firmly, reducing the risk of shaking or falling off during handling. And in a high-speed movement or vibration environment, the combination of the suction component 32 and the clamping component 31 can provide higher stability, further improving the reliability of the grasping device 30.

[0073] In some embodiments, such as Figure 3As shown, the grasping device 30 may further include a visual positioning mechanism 33 for identifying the position of the box where the battery device 40 is to be placed.

[0074] The visual positioning mechanism 33 can identify the position of the positioning pins on the box, thereby determining the position of the box and providing accurate box position information for the grasping device 30.

[0075] The visual positioning mechanism 33 can be fixed on the support 36. Its visual positioning direction can be parallel or perpendicular to the first direction, as long as it is ensured that during the visual positioning process, the visual positioning mechanism 33 can identify the positioning pins on the box. For example, the visual positioning direction can be Figure 3 the Y direction in, where the Y direction is perpendicular to the first direction. During the process of identifying the position of the box by the visual positioning mechanism 33, the grasping device 30 can be rotated to set the visual positioning direction perpendicular to the upper surface of the box, so as to identify the positioning pins on the upper surface of the box. After the visual positioning mechanism 33 determines the position of the box, the grasping device 30 is rotated again to set the moving direction of the suction cup 322 as the box-in direction of the battery device 40, so as to accurately place the battery device 40 into the box.

[0076] In some embodiments, with continued reference to Figure 3 , the visual positioning mechanism 33 may include a visual positioning unit 331 and a light source board 332. Among them, the light source board 332 is arranged on the side of the visual positioning unit 331 close to the object to be positioned and detected. The light source board 332 has through holes, and the projection of the visual positioning unit 331 on the light source board 332 along the thickness direction of the light source board 332 is located within the through hole area. The light source board 332 is arranged between the box and the visual positioning unit 331. The light of the light source board 332 directly irradiates the surface of the box, so that the visual positioning unit 331 can capture a clear image and accurately identify the position of the positioning pins on the box.

[0077] The position of the through holes can be set in any area on the light source board 332, as long as the visual positioning unit 331 can align with the through holes to detect the positioning pins on the box. For example, the through holes can be set at the geometric center of the light source board 332, and the light source board 332 can irradiate the box in a surrounding manner from all four sides, so as to provide a clearer image of the positioning pins on the surface of the box for the visual positioning unit 331, thereby improving the positioning accuracy.

[0078] It should be understood that the projection of the vision positioning unit 331 on the light source plate 332 along the thickness direction of the light source plate 332 is located within the through-hole area, that is, the orthographic projection of the vision positioning unit 331 on the light source plate 332 should be entirely mapped within the area where the through-hole is located. It can be understood that the area of the orthographic projection of the vision positioning unit 331 on the light source plate 332 should be less than or equal to the area of the region of the through-hole on the light source plate 332. The specific position of the projection of the vision positioning unit 331 on the light source plate 332 along the thickness direction of the light source plate 332 within the through-hole area is not limited. For example, the geometric center of this projection can coincide with the geometric center of the through-hole, that is, this projection is located in the central area of the through-hole.

[0079] In addition, the vision positioning unit 331 can be an image sensor, including a charge-coupled device CCD, a complementary metal-oxide-semiconductor element CMOS, a back-illuminated CMOS, a stacked CMOS, etc. In some embodiments, the vision positioning unit 331 can include a charge-coupled device CCD. The CCD can detect very weak light, has high resolution, and can also respond quickly, so as to read image data. By setting the CCD to quickly identify the positioning pins on the box body, it can respond quickly to improve the efficiency of the grasping device.

[0080] In some embodiments, the grasping device 30 further includes a rangefinder 34, and the rangefinder 34 is used to measure the distance between the battery device 40 and the bottom of the box body to be placed.

[0081] Through measurement, the rangefinder 34 can ensure that there is enough clearance between the battery device 40 and the bottom of the box body, reduce the risk of damage to the battery device 40 caused by extrusion or collision, and the rangefinder 34 can also be integrated with other automated devices to realize the intelligentization and automation of the battery device 40 process and reduce human errors.

[0082] In some embodiments, the grasping device 30 further includes a barcode scanner 35, and the barcode scanner 35 is used to identify the code and status information of the battery device 40 in order to place the battery device 40 into the corresponding box body.

[0083] The barcode scanner 35 can quickly and accurately read the unique code and status information of the battery device 40, avoiding manual recording or identification errors. Moreover, through automated barcode scanning and identification, the manual operation time is reduced, and the classification and boxing speed of the battery device 40 is accelerated.

[0084] Next, the clamping assembly 31 will be described in detail in conjunction with Figures 6 to 9 Among them, Figure 6 shows a schematic structural diagram of the clamping assembly 31 according to an embodiment of the present application. For example, Figure 6 shows Figure 3 a schematic structural diagram of the clamping assembly 31 in the grasping device 30 shown in Figures 7 to 9The structural schematic diagram of the clamping mechanism according to the embodiment of the present application is shown. For example, Figures 7 to 9 shows as Figure 6 the structural schematic diagram of the clamping mechanism of the clamping component 31 shown along the direction of the section line B-B'.

[0085] In some embodiments, as Figures 6 to 8 shown, the first clamping mechanism 313 or the second clamping mechanism 314 includes a second air cylinder 3103 and relatively arranged first clamping jaws 3101 and second clamping jaws 3102. The second air cylinder 3103 is used to drive the first clamping jaws 3101 and the second clamping jaws 3102 to move along a second direction, and the second direction is perpendicular to the first direction and the axial direction of the lead screw 312.

[0086] The second air cylinder 3103 can provide driving force for the first clamping jaws 3101 and the second clamping jaws 3102, so that the first clamping jaws 3101 and the second clamping jaws 3102 can move along the second direction. The moving directions of the first clamping jaws 3101 and the second clamping jaws 3102 can be the same or opposite. In some embodiments, the moving directions of the first clamping jaws 3101 and the second clamping jaws 3102 are opposite, so as to increase or decrease the distance between the first clamping jaws 3101 and the second clamping jaws 3102, so that the first clamping jaws 3101 and the second clamping jaws 3102 can abut against the inner side walls of the clamping slots of the battery device 40, reducing the shaking of the battery device 40 during the handling process, so as to improve the clamping stability and reliability of the clamping component 31. Wherein, the second direction can be as Figure 7 shown in the X direction.

[0087] The first clamping mechanism 313 and the second clamping mechanism 314 can clamp and carry the battery device 40 by placing the clamping jaws in the clamping slots 401 of the battery device 40; the first clamping mechanism 313 and the second clamping mechanism 314 can also directly clamp and carry the battery device 40 through the opposite acting forces between them. In some embodiments, the first clamping mechanism 313 and the second clamping mechanism 314 can also be used as an auxiliary grasping method of the suction component, that is, before grasping the battery device 40, the battery device 40 is first adsorbed by the suction component 32, so that the battery device 40 moves along the first direction following the suction cup 322, making the battery device 40 suspended on the side away from the suction cup 322 along the first direction. The clamping jaws of the first clamping mechanism 313 and the second clamping mechanism 314 abut against the suspended side wall of the battery device 40, so as to clamp the battery device 40, so as to reduce the risk of the battery device 40 falling.

[0088] In some embodiments, the clamping jaws of the first clamping mechanism 313 or the second clamping mechanism 314 are placed in the clamping slots 401 of the battery device 40. As Figure 8As shown, the first jaw 3101, the second jaw 3102, and the intermediate fixed jaw 3104 are all placed in the clamping slot 401 of the battery device 40 to clamp the battery device 40. As Figure 9 shown, the first jaw 3101 and the second jaw 3102 can also move in the X direction, and the first jaw 3101 and the second jaw 3102 are in contact with the inner side wall 4011 of the clamping slot 401, so as to reduce the movement of the battery device 40 in the X direction during the clamping process, thereby improving the stability and reliability of the clamping assembly.

[0089] It should be understood that during the process of the first clamping mechanism 313 or the second clamping mechanism 314 clamping the battery device 40, first, the first jaw 3101 and the second jaw 3102 are in an initial state, that is, the first jaw 3101 and the second jaw 3102 are in contact with the fixed jaw 3104 respectively; secondly, the rotation of the lead screw 312 drives the first jaw 3101, the second jaw 3102, and the fixed jaw 3104 in the initial state to extend into the clamping slot 401; then, the second cylinder 3103 drives the first jaw 3101 and the second jaw 3102 to move away from each other in the second direction until the first jaw 3101 and the second jaw 3102 are in contact with the inner side wall 4011 of the clamping slot 401, thereby completing the clamping process of the first clamping mechanism 313 or the second clamping mechanism 314. The process of the first clamping mechanism 313 or the second clamping mechanism 314 releasing the battery device 40 can be the reverse process of clamping, which will not be elaborated here too much.

[0090] In some embodiments, as Figure 6 shown, the clamping assembly 31 further includes a fitting 315. The fitting 315 includes a first fitting 3151 and a second fitting 3152. The first fitting 3151 and the second fitting 3152 are respectively connected to the lead screw 312 through a threaded fit. The lead screw 312 has a first threaded section 3121 and a second threaded section 3122. The first clamping mechanism 313 and the second clamping mechanism 314 are respectively connected to the first threaded section 3121 and the second threaded section 3122 through the first fitting 3151 and the second fitting 3152, and the thread directions of the first threaded section 3121 and the second threaded section 3122 are different.

[0091] The first clamping mechanism 313 is connected to the first threaded section 3121 through the first fitting 3151, so that the first clamping mechanism 313 can move on the first threaded section 3121 of the lead screw 312; the second clamping mechanism 314 is connected to the second threaded section 3122 through the second fitting 3152, so that the second clamping mechanism 314 can move on the second threaded section 3122 of the lead screw 312. The threaded fit can convert the rotational motion of the lead screw 312 into the linear motion of the fitting 315, thereby achieving high-precision position control of the first clamping mechanism 313 and the second clamping mechanism 314.

[0092] The thread directions of the first thread section 3121 and the second thread section 3122 are different. That is, if the first thread section 3121 is set to left-handed, the second thread section 3122 can be set to right-handed, or if the first thread section 3121 is set to right-handed, the second thread section 3122 can be set to left-handed. In this way, during the rotation of the lead screw 312, the first fitting 3151 and the second fitting 3152 can move in opposite directions, thereby driving the first clamping mechanism 313 and the second clamping mechanism 314 to move in opposite directions, so as to control the distance between the first clamping mechanism 313 and the second clamping mechanism 314, and thus be able to clamp battery devices 40 of different models, meet the production requirements of multi-specification products, and improve the adaptability and compatibility of the grasping device 30.

[0093] In some embodiments, with continued reference to Figure 6 , the clamping assembly 31 further has a guide rail 316, and the fitting 315 is connected to the guide rail 316 through a slider 317.

[0094] One slider 317 and one guide rail 316 can be provided, or two or more can be provided. For example, two sliders 317 and two guide rails 316 can be provided. The first fitting 3151 is connected to the first guide rail 316 through the first slider 317, and the second fitting 3152 is connected to the second guide rail 316 through the second slider 317. Moreover, the first slider 317 and the first guide rail 316 are correspondingly arranged, and the second slider 317 and the second guide rail 316 are correspondingly arranged.

[0095] The guide rail 316 and the slider 317 can provide a more precise linear motion guide for the first clamping mechanism 313 and the second clamping mechanism 314, so that the first clamping mechanism 313 and the second clamping mechanism 314 can move smoothly along the track of the guide rail 316, and improve the stability of the grasping device 30.

[0096] In some embodiments, the guide rail 316 can be fixed on the support 36 and is located on one side of the support 36 close to the first clamping mechanism 313 or the second clamping mechanism 314.

[0097] Next, the suction assembly 32 will be described in detail in conjunction with Figure 10 and Figure 11 . Among them, Figure 10 shows a schematic structural diagram of the suction assembly 32 according to an embodiment of the present application. For example, Figure 10 shows a schematic structural diagram of the suction assembly 32 in the grasping device 30 as shown in Figure 5 ; Figure 11 shows a partial structural schematic diagram of the suction assembly 32 according to an embodiment of the present application. For example, Figure 11 shows a schematic diagram of the suction assembly 32 in the grasping device 30 as shown in Figure 10Schematic structural diagram of partial C of the suction component 32 shown.

[0098] In some embodiments, as Figure 10 and Figure 11 shown, the sliding sensing mechanism 323 includes a first connecting member 3231, a second connecting member 3232, an elastic element 3233, and a pressure sensor 3234; the second connecting member 3232 is fixed to one side of the first cylinder 321 close to the suction cup 322, and the second connecting member 3232 moves along the first direction under the drive of the first cylinder 321; the first connecting member 3231 is fixed to one side of the suction cup 322 close to the first cylinder 321, and the first connecting member 3231 is sleeved outside the second connecting member 3232 so that the first connecting member 3231 moves along the first direction when the second connecting member 3232 moves along the first direction; the elastic element 3233 is arranged between the end of the second connecting member 3232 close to the suction cup 322 and the bottom of the first connecting member 3231, and the pressure sensor 3234 is arranged at the end of the second connecting member 3232 close to the suction cup 322 or the bottom of the first connecting member 3231.

[0099] The first connecting member 3231 is sleeved outside the second connecting member 3232, so that relative movement can occur between the first connecting member 3231 and the second connecting member 3232. For example, the first connecting member 3231 can move along the axial direction of the second connecting member 3232, or the second connecting member 3232 can move along the axial direction of the first connecting member 3231.

[0100] The elastic element 3233 can be a metal elastic element, a non-metal elastic element, or a composite elastic element, and the shape of the elastic element 3233 can be a block shape, a cylindrical shape, etc.

[0101] The elastic element 3233 can serve as a buffer between the first connecting member 3231 and the second connecting member 3232, capable of absorbing pressure and reducing the risk of the battery device 40 being crushed.

[0102] The elastic element 3233 can be arranged at any position between the end of the second connecting member 3232 close to the suction cup 322 and the bottom of the first connecting member 3231. For example, the elastic element 3233 can be arranged at the end of the second connecting member 3232 close to the suction cup 322, or can be arranged at the bottom of the first connecting member 3231. The elastic element 3233 can also be arranged inside the second connecting member 3232 on the side close to the suction cup 322 and extend to the end of the second connecting member 3232 close to the suction cup 322, so that part of the elastic element 3233 is located inside the second connecting member 3232 and part is located inside the first connecting member 3231.

[0103] The pressure sensor 3234 can be fixed to the end of the second connecting member 3232 near the suction cup 322 or to the bottom of the first connecting member 3231. The positions of the pressure sensor 3234 and the elastic element 3233 can be interchanged. For example, when the pressure sensor 3234 is fixed to the end of the second connecting member 3232 near the suction cup 322, the elastic element 3233 can be arranged between the pressure sensor 3234 and the bottom of the first connecting member 3231; when the pressure sensor 3234 is fixed to the bottom of the first connecting member 3231, the elastic element 3233 can be arranged between the end of the second connecting member 3232 near the suction cup 322 and the pressure sensor 3234.

[0104] The first connecting member 3231 can be a hollow pipe fitting with openings at both ends along its axial direction, or a hollow pipe fitting with an opening at one end. For example, when the first connecting member 3231 is a hollow pipe fitting with an opening at the end near the first cylinder 321, the bottom of the first connecting member 3231 can refer to the inner end face on the side of the first connecting member 3231 near the suction cup 322; when the first connecting member 3231 is a hollow pipe fitting with openings at both ends along its axial direction, the bottom of the first connecting member 3231 can refer to the part where the projection of the suction cup 322 in its thickness direction coincides with the first connecting member 3231.

[0105] In some embodiments, the pressure sensor 3234 is fixed to the bottom of the first connecting member 3231, and the elastic element 3233 is arranged between the end of the second connecting member 3232 near the suction cup 322 and the pressure sensor 3234. Next, taking the positional relationship between the pressure sensor 3234 and the elastic element 3233 in this embodiment as an example, the working principles of the pressure sensor 3234 and the elastic element 3233 are described in detail during the process of the suction assembly 32 sucking the battery device 40 and placing it into the box body.

[0106] During the process of the suction assembly 32 sucking the battery device 40 and placing it into the box body, and the battery device 40 has not touched the bottom of the box body, when the first cylinder 321 drives the second connecting member 3232 to move in the first direction, the first connecting member 3231, the elastic element 3233, the pressure sensor 3234, and the suction cup 322 move along the first direction following the second connecting member 3232. That is, the first connecting member 3231, the elastic element 3233, the pressure sensor 3234, the suction cup 322 and the second connecting member 3232 remain relatively stationary.

[0107] After the suction component 32 sucks the battery device 40 and places it into the box body, and the battery device 40 touches the bottom of the box body, the suction cup 322, the first connecting piece 3231, and the pressure sensor 3234 basically remain stationary, and the second connecting piece 3232 and the elastic element 3233 continue to move in the first direction. During the continuous movement of the second connecting piece 3232 and the elastic element 3233, since one end of the elastic element 3233 close to the pressure sensor 3234 abuts against the pressure sensor 3234 and cannot move further, the elastic element 3233 is compressed, and a pressure is generated on the pressure sensor 3234. The pressure sensor 3234 detects whether the magnitude of this pressure reaches a threshold value. If it reaches the threshold value, the first cylinder 321 stops driving, the second connecting piece 3232 stops moving, and the operation of the suction component 32 entering the box is completed.

[0108] In some embodiments, the pressure sensor 3234 can be connected to a control system to monitor the magnitude of the pressure in real time, so as to improve the automation degree of the grasping device 30.

[0109] In some embodiments, the pressure sensor 3234 can also record the pressure data in historical operations for subsequent analysis and optimization of the process flow of the grasping device 30.

[0110] By setting the first connecting piece 3231 and the second connecting piece 3232, the two can slide relative to each other, and the magnitude of the pressure during the sliding process is monitored in real time by the pressure sensor, so as to perform feedback and control, accurately grasp the distance that the suction cup 322 continues to move in the first direction, reduce the risk of damage to the internal structure of the battery device 40 due to excessive pressure, and the elastic element 3233 can play a buffering role to prevent the driving force of the first cylinder 321 from being directly applied to the battery device 40, thereby improving the reliability of the grasping device 30.

[0111] In some embodiments, continue to refer to Figure 11 , an end of the first connecting piece 3231 close to the first cylinder 321 extends towards the axis of the first connecting piece 3231 to form a first boss 3231a, and an end of the second connecting piece 3232 close to the suction cup 322 extends towards the outer periphery of the second connecting piece 3232 to form a second boss 3232a, and the first boss 3231a and the second boss 3232a are in mutual contact.

[0112] The mutual contact of the first boss 3231a and the second boss 3232a can reduce the risk of the first connecting piece 3231 falling off the second connecting piece 3232 while allowing the first connecting piece 3231 and the second connecting piece 3232 to slide relative to each other, and improve the connection reliability between the first connecting piece 3231 and the second connecting piece 3232.

[0113] According to some embodiments of the present application, the present application further provides a case loading device. Figure 12 The structural schematic diagram of the case loading device according to the embodiment of the present application is shown. For example, Figure 12 shows including Figure 2 The structural schematic diagram of the case loading device 1 including the grasping device 30 shown. The case loading device 1 according to the embodiment of the present application may include: a bracket 10 for placing a box body 50; a robotic arm 20 disposed on one side of the bracket 10; and the grasping device 30 described in any one of the above embodiments. The grasping device 30 is connected to the robotic arm 20, and the robotic arm 20 controls the grasping device 30 to grasp the battery device 40 or place the battery device 40 into the box body 50.

[0114] It should be understood that in the embodiment of the present application, the bracket 10 serves as the working platform of the case loading device 1 and can be used to place the box body 50. The robotic arm 20 controls the grasping device 30 to clamp and suck the battery device 40. In some embodiments, the robotic arm 20 can be a standard six-axis robotic arm and can linearly move along the x-axis, y-axis, and z-axis respectively, and can also rotate around the x-axis, y-axis, and z-axis respectively. For example, the x-axis, y-axis, and z-axis are respectively Figure 12 the x direction, y direction, and z direction shown.

[0115] In some embodiments, as Figure 12 shown, the case loading device 1 may further include a fixing component 60. As Figure 13 shown, Figure 13 The structural schematic diagram of the fixing component according to the embodiment of the present application is shown. For example, Figure 13 shows Figure 12 The structural schematic diagram of the fixing component 60 in the case loading device 1 shown. As Figure 13 shown, the fixing component 60 includes a tray 61 and a third cylinder 62. The tray 61 is placed on the bracket 10, the box body 50 is fixed on the tray 61, the third cylinder 62 is located on the side of the tray 61 away from the box body 50, and the third cylinder 62 moves along the thickness direction of the tray 61, so that the tray 61 is separated from or in contact with the bracket 10.

[0116] It should be understood that the thickness direction of the tray 61 can be Figure 12 the z direction shown in. The positional relationship among the tray 61, the box body 50, and the third cylinder 62 can be that the third cylinder 62, the tray 61, and the box body 50 are sequentially arranged along the z direction, that is, the tray 61 is located between the box body 50 and the third cylinder 62.

[0117] When the third cylinder 62 does not need to work, the tray 61 is placed on the bracket 10, and there is a certain distance between the third cylinder 62 and the tray 61. When the grasping device 30 is ready to place the battery device 40 into the box body 50, the third cylinder 62 moves along the z direction towards the tray 61 and is fixedly connected to the tray 61. At the same time, the third cylinder 62 drives the tray 61 to continue moving along the z direction, so that the tray 61 is separated from the bracket 10. The grasping device 30 grasps the battery device 40 and places it into the box body 50. After the box-in operation is completed, the third cylinder 62 moves along the z direction away from the tray 61, so that the tray 61 is placed on the bracket 10 again. The third cylinder 62 continues to move until the third cylinder 62 and the tray 61 can be separated, and the third cylinder 62 returns to its original position. At this time, there is a certain distance between the third cylinder 62 and the tray 61.

[0118] It should be understood that after the third cylinder 62 contacts the tray 61, the third cylinder 62 and the tray 61 are relatively fixed, so that the tray 61 can be fixed during the box-in process, and thus the box body 50 fixed on the tray 61 remains stationary. The fixing method between the third cylinder 62 and the tray 61 may include: one or more of the methods such as snap fixing, magnetic fixing, suction cup fixing, and positioning pin fixing. The third cylinder 62 moves back and forth along the thickness direction of the tray 61 to realize the separation and contact between the tray 61 and the bracket 10, and can automatically complete the fixing operation of the box body 50, reduce labor costs, and improve the efficiency of the box-in equipment.

[0119] In some embodiments, a conveyor belt may also be provided on the bracket 10. The tray 61 is placed on the conveyor belt. The cylinder 62 moves in the direction close to the tray 61, so that the tray 61 is connected to the cylinder 62 and separated from the conveyor belt on the bracket 10, and / or the cylinder 62 moves in the direction away from the tray 61, so that the tray 61 contacts the conveyor belt on the bracket 10 and separates from the cylinder 62, so that the tray 61 moves with the conveyor belt. The box body 50 on the tray 61 can move with the tray 61 on the conveyor belt. The box body 50 can move from other workstations to the box-in workstation and move from the box-in workstation to other processing workstations, improving the automation degree of the box-in equipment.

[0120] It should be understood that a stop member may be provided on the bracket 10, so that when the tray 61 moves to the position where box-in is required or other processing positions with the conveyor belt, the stop member can stop the tray 61, and the tray 61 is separated from the conveyor belt by the cylinder 62, so that the grasping device 30 can place the battery device 40 into the box body 50 on the tray 61. For example, as Figure 13 shown, a second stop member 12 and a first stop member 11 are sequentially arranged on the bracket 10 along the moving direction of the conveyor belt. The first stop member 11 can move along the thickness direction of the tray 61 to prevent the tray 61 from moving with the conveyor belt, and the second stop member 12 is used to prevent the tray 61 from rebounding after stopping moving with the conveyor belt.

[0121] It should be understood that the thickness direction of the tray 61 can be Figure 13 the z direction shown in, that is, the first stopper 11 can move along the z direction, and the moving direction of the conveyor belt can be Figure 13 the x direction shown in. The direction in which the tray 61 rebounds is the direction opposite to the moving direction of the conveyor belt. The first stopper 11 can be arranged at a position on the bracket 10 corresponding to the box body 50. Before the tray 61 carrying the box body 50 moves to the box loading position, the first stopper 11 moves upward along the z direction, so that the tray 61 moving along with the conveyor belt can be stopped from continuing to move after reaching the position of the first stopper 11.

[0122] The second stopper 12 has the function of preventing the suddenly stopped tray 61 from rebounding, so that both sides of the tray 61 in the moving direction of the conveyor belt are restricted from moving. The first stopper 11 and the second stopper 12 can quickly stop the tray 61, so that the air cylinder 62 can fix the tray 61 and separate the tray 61 from the conveyor belt, so as to realize that the grasping device 30 grasps the battery device 40 and puts it into the box body 50.

[0123] In some embodiments, the distance between the first stopper 11 and the second stopper 12 in the moving direction of the conveyor belt is greater than or equal to the dimension of the tray 61 in the moving direction of the conveyor belt and less than a first threshold value. It should be understood that the moving direction of the conveyor belt can be Figure 13 the x direction in. The distance between the first stopper 11 and the second stopper 12 in the x direction should be greater than or equal to the dimension of the tray 61 in the x direction, so that the tray 61 can be stopped in time when it reaches the target position. The first threshold value can be slightly greater than the dimension of the tray 61 in the x direction, so that after the tray 61 is blocked by the first stopper 11, the second stopper 12 can effectively prevent the tray 61 from rebounding far and can quickly stop the tray 61 at the target position.

[0124] In some embodiments, as Figure 14 shown, the box loading device 1 further includes a storage table 70 and a mobile cart 80. The storage table 70 is used to place the battery device 40 to be boxed, and the mobile cart 80 is used to transport the battery device 40 to the storage table 70. By providing the storage table 70 and the mobile cart 80, the battery device 40 to be boxed can be placed on the storage table in advance, and the battery device 40 can be directly grasped and put into the box body after the corresponding box body is in place, so as to improve the efficiency of the box loading device.

[0125] The battery device 40 to be boxed can be temporarily placed on the mobile cart 80. In some embodiments, as Figure 14 shown, the storage table 70 has a clamping member 72, so that the mobile cart 80 can be fixed on the storage table to reduce the unnecessary movement of the mobile cart.

[0126] In some embodiments, the storage table 70 further includes a guide member 71 for guiding the moving cart 80 to quickly enter the storage table 70.

[0127] In some embodiments, as Figures 1 to 14 shown, the method flow of the case loading device 1 for grasping the battery device 40 and placing it into the box body 50 may include the following steps: Step 1: The box body is fixed on the tray 61, and the tray 61 is placed on the conveyor belt of the bracket 10 and moves along with the conveyor belt. When the tray 61 reaches the area for case loading operation, the first stopper 11 on the bracket in this area moves upward along the z direction and acts together with the second stopper 12 to stop the movement of the tray 61. The third cylinder 62 of the fixing assembly 60 moves along the z direction to separate the tray 61 from the conveyor belt and fix the tray 61. At this time, the box body 50 is located at the case loading operation station.

[0128] Step 2: The robotic arm 20 controls the barcode scanner 35 in the grasping device 30 to identify the identification number and status information of the battery device 40. If it is confirmed to be correct, the robotic arm 20 controls the clamping assembly 31 and the suction assembly 32 in the grasping device 30 to grasp the battery device 40.

[0129] Step 3: The robotic arm 20 controls the grasping device 30 to drive the battery device 40 to move above the box body 50. The robotic arm 20 rotates the grasping device 30 to align the visual positioning mechanism 33 with the surface of the box body 50 and identify the positioning pins on the surface of the box body 50, so as to determine the position of the box body 50.

[0130] Step 4: The robotic arm 20 rotates the grasping device 30 to place the grasped battery device 40 at the corresponding position directly above the box body 50. The robotic arm 20 controls the rangefinder 34 in the grasping device 30 to measure the distance from the battery device 40 to the bottom of the box body 50.

[0131] Step 5: The robotic arm 20 controls the clamping assembly 31 to release the battery device 40, and the first cylinder 321 of the suction assembly 32 is driven to drive the battery device 40 to gradually move into the box body 50. When the pressure sensor 3234 detects that the pressure on the battery device 40 is greater than the threshold, the first cylinder 321 stops moving, and the suction cup 322 releases the battery device 40.

[0132] Step 6: The first cylinder 321 returns to its original position, and the robotic arm 20 returns to its original position. At the same time, the third cylinder 62 of the fixing assembly 60 moves along the z direction to reset the tray 61. The tray 61 is placed back on the conveyor belt again, and the first stopper 11 moves downward along the z direction to reset. The tray 61 can continue to move along with the conveyor belt.

[0133] According to some embodiments of the present application, refer to Figures 2 to 11, this application provides a grasping device, including: a clamping component 31, the clamping component 31 includes a motor 311, a lead screw 312, a first clamping mechanism 313 and a second clamping mechanism 314. The motor 311 is used to drive the lead screw 312 to rotate, and the lead screw 312 is used to drive the first clamping mechanism 313 and the second clamping mechanism 314 to move towards or away from each other along the axial direction of the lead screw 312, so as to adjust the distance between the first clamping mechanism 313 and the second clamping mechanism 314; a suction component 32, the suction component 32 includes a first cylinder 321, a suction cup 322 and a sliding sensing mechanism 323. The first cylinder 321 is used to drive the suction cup 322 to move along the first direction, the suction cup 322 is used to suck the battery device 40, and the first cylinder 321 and the suction cup 322 are connected through the sliding sensing mechanism 323, and the sliding sensing mechanism 323 is used to detect the pressure of the battery device 40 received by the suction cup 322.

[0134] The first clamping mechanism 313 or the second clamping mechanism 314 includes a second cylinder 3103 and a first clamping jaw 3101 and a second clamping jaw 3102 arranged oppositely. The second cylinder 3103 is used to drive the first clamping jaw 3101 and the second clamping jaw 3102 to move along the second direction, and the second direction is perpendicular to the first direction and the axial direction of the lead screw 312.

[0135] The clamping component 31 further includes a fitting 315, the fitting 315 includes a first fitting 3151 and a second fitting 3152. The first fitting 3151 and the second fitting 3152 are respectively connected to the lead screw 312 through thread fitting. The lead screw 312 has a first thread section 3121 and a second thread section 3122. The first clamping mechanism 313 and the second clamping mechanism 314 are respectively connected to the first thread section 3121 and the second thread section 3122 through the first fitting 3151 and the second fitting 3152, and the thread directions of the first thread section 3121 and the second thread section 3122 are different.

[0136] The clamping component 31 further has a guide rail 316, and the fitting 315 is connected to the guide rail 316 through a slider 317.

[0137] The sliding sensing mechanism 323 includes a first connecting member 3231, a second connecting member 3232, an elastic element 3233, and a pressure sensor 3234; the second connecting member 3232 is fixed to one side of the first cylinder 321 close to the suction cup 322, and the second connecting member 3232 moves along the first direction under the drive of the first cylinder 321; the first connecting member 3231 is fixed to one side of the suction cup 322 close to the first cylinder 321, and the first connecting member 3231 is sleeved outside the second connecting member 3232 so that the first connecting member 3231 moves along the first direction when the second connecting member 3232 moves along the first direction; the elastic element 3233 is disposed between the end of the second connecting member 3232 close to the suction cup 322 and the bottom of the first connecting member 3231, and the pressure sensor 3234 is disposed at the end of the second connecting member 3232 close to the suction cup 322 or the bottom of the first connecting member 3231.

[0138] The end of the first connecting member 3231 close to the first cylinder 321 extends towards the axis of the first connecting member 3231 to form a first boss 3231a, and the end of the second connecting member 3232 close to the suction cup 322 extends towards the outer periphery of the second connecting member 3232 to form a second boss 3232a, and the first boss 3231a and the second boss 3232a are in mutual contact.

[0139] The grasping device 30 may further include a visual positioning mechanism 33, and the visual positioning mechanism 33 is used to identify the position of the box body to be placed for the battery device 40.

[0140] The grasping device 30 further includes a rangefinder 34, and the rangefinder 34 is used to measure the distance between the battery device 40 and the bottom of the box body to be placed.

[0141] The grasping device 30 further includes a barcode scanner 35, and the barcode scanner 35 is used to identify the code and status information of the battery device 40 so as to place the battery device 40 into the corresponding box body.

[0142] According to some embodiments of the present application, see Figures 2 to 11 , the present application further provides an in-box device 1, including: a bracket 10 for placing a box body 50; a robotic arm 20 disposed on one side of the bracket 10; and the grasping device 30 described in any one of the above embodiments, the grasping device 30 is connected to the robotic arm 20, and the robotic arm 20 controls the grasping device 30 to grasp the battery device 40 or place the battery device 40 into the box body 50.

[0143] The in-box device 1 may further include a fixing component 60, and the fixing component 60 includes a tray 61 and a third cylinder 62. The tray 61 is placed on the bracket 10, the box body 50 is fixed on the tray 61, the third cylinder 62 is located on the side of the tray 61 away from the box body 50, and the third cylinder 62 moves along the thickness direction of the tray 61 so that the tray 61 is separated from or in contact with the bracket 10.

[0144] A conveyor belt may also be provided on the bracket 10. The tray 61 is placed on the conveyor belt. The air cylinder 62 moves in the direction close to the tray 61, so that the tray 61 is connected to the air cylinder 62 and separated from the conveyor belt on the bracket 10, and / or the air cylinder 62 moves in the direction away from the tray 61, so that the tray 61 contacts the conveyor belt on the bracket 10 and separates from the air cylinder 62, so that the tray 61 moves with the conveyor belt.

[0145] The distance between the first stopper 11 and the second stopper 12 in the moving direction of the conveyor belt is greater than or equal to the dimension of the tray 61 in the moving direction of the conveyor belt and less than the first threshold value.

[0146] The case loading device 1 further includes a storage table 70 and a moving cart 80. The storage table 70 is used to place the battery device 40 to be loaded into the case, and the moving cart 80 is used to transport the battery device 40 to the storage table 70.

[0147] Finally, it should be noted that 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be covered within the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A gripping device, applied to a battery device (40), characterized in that: include: A clamping assembly (31), the clamping assembly (31) comprising a motor (311), a lead screw (312), a matching piece (315), a first clamping mechanism (313), a second clamping mechanism (314), and a guide rail (316); The motor (311) is used to drive the lead screw (312) to rotate, and the lead screw (312) is used to drive the first clamping mechanism (313) and the second clamping mechanism (314) to move toward or away from each other along the axial direction of the lead screw (312), so as to adjust the distance between the first clamping mechanism (313) and the second clamping mechanism (314); The mating piece (315) comprises a first mating piece (3151) and a second mating piece (3152); the first mating piece (3151) and the second mating piece (3152) are respectively connected to the lead screw (312) by threaded mating; the lead screw (312) has a first thread segment (3121) and a second thread segment (3122); the first clamping mechanism (313) and the second clamping mechanism (314) are respectively connected to the first thread segment (3121) and the second thread segment (3122) by the first mating piece (3151) and the second mating piece (3152); the first thread segment (3121) and the second thread segment (3122) have different thread rotation directions; The matching piece (315) is connected to the guide rail (316) via a slider (317); A suction assembly (32), the suction assembly (32) comprising a first cylinder (321), a suction cup (322) and a sliding sensing mechanism (323), the first cylinder (321) being used to drive the suction cup (322) to move along a first direction, the suction cup (322) being used to suck the battery device (40), the first cylinder (321) and the suction cup (322) being connected via the sliding sensing mechanism (323), the sliding sensing mechanism (323) being used to detect the pressure exerted on the battery device (40) by the suction cup (322).

2. The gripping device according to claim 1, characterized in that: The first clamping mechanism (313) or the second clamping mechanism (314) comprises a second cylinder (3103) and a first clamping jaw (3101) and a second clamping jaw (3102) that are arranged opposite to each other, wherein the second cylinder (3103) is used to drive the first clamping jaw (3101) and the second clamping jaw (3102) to move along a second direction, and the second direction is perpendicular to the first direction and the axial direction of the lead screw (312).

3. The gripping device according to claim 1, characterized in that: The sliding sensing mechanism (323) comprises a first connecting member (3231), a second connecting member (3232), an elastic element (3233) and a pressure sensor (3234); The second connecting member (3232) is fixed to a side of the first cylinder (321) close to the suction cup (322), and the second connecting member (3232) moves along the first direction under the drive of the first cylinder (321); The first connecting member (3231) is fixed to a side of the suction cup (322) close to the first cylinder (321), and the first connecting member (3231) is sleeved on the outside of the second connecting member (3232), so that the first connecting member (3231) moves along the first direction when the second connecting member (3232) moves along the first direction; The elastic element (3233) is arranged between the end of the second connecting member (3232) close to the suction cup (322) and the bottom of the first connecting member (3231), and the pressure sensor (3234) is arranged at the end of the second connecting member (3232) close to the suction cup (322) or the bottom of the first connecting member (3231).

4. The gripping device according to claim 3, characterized in that: The end of the first connecting member (3231) close to the first cylinder (321) extends toward the axis of the first connecting member (3231) to form a first boss (3231a), and the end of the second connecting member (3232) close to the suction cup (322) extends toward the periphery of the second connecting member (3232) to form a second boss (3232a), and the first boss (3231a) and the second boss (3232a) are in contact with each other.

5. The gripping device according to any one of claims 1 to 3, characterized in that: The grasping device further comprises a visual positioning mechanism (33), wherein the visual positioning mechanism (33) is used to identify the position of a box to be placed in which the battery device (40) is to be placed.

6. The gripping device according to any one of claims 1 to 3, characterized in that The gripping device further comprises a distance meter (34), wherein the distance meter (34) is used to measure the distance between the battery device (40) and the bottom of the box to be placed.

7. The gripping device according to any one of claims 1 to 3, characterized in that The grabbing device also includes a barcode scanning gun (35), and the barcode scanning gun (35) is used to identify the code and status information of the battery device (40) so as to place the battery device (40) into a corresponding box.

8. A boxing device, applied to a battery device (40), characterized in that: include: A bracket (10) for placing the box (50); A mechanical arm (20) disposed on one side of the support (10); According to any one of claims 1 to 7, the gripping device (30) is connected to the robotic arm (20), and the robotic arm (20) controls the gripping device (30) to grip the battery device (40) or to place the battery device (40) into a box (50).

9. The box loading device according to claim 8, characterized in that: The box loading device further comprises a fixing assembly (60), wherein the fixing assembly (60) comprises a tray (61) and a third cylinder (62), wherein the tray (61) is placed on the bracket (10), and the box body (50) is fixed on the tray (61), and the third cylinder (62) is located on a side of the tray (61) away from the box body (50), and the third cylinder (62) moves along a thickness direction of the tray (61), so that the tray (61) is separated from or in contact with the bracket (10).

10. The box loading device according to claim 9, characterized in that: A conveyor belt is arranged on the support (10), and the tray (61) is placed on the conveyor belt; The third cylinder (62) moves in a direction approaching the pallet (61), so that the pallet (61) is connected to the third cylinder (62) and separated from the conveyor belt on the bracket (10); and / or, The third cylinder (62) moves in a direction away from the pallet (61), so that the pallet (61) contacts the conveyor belt on the bracket (10) and separates from the third cylinder (62), so that the pallet (61) moves with the conveyor belt.

11. The box loading device according to claim 10, characterized in that: A second stopper (12) and a first stopper (11) are sequentially arranged on the bracket (10) along the moving direction of the conveyor belt; The first stopper (11) is capable of moving along the thickness direction of the tray (61) to prevent the tray (61) from moving with the conveyor belt, and the second stopper (12) is used to prevent the tray (61) from rebounding after stopping moving with the conveyor belt.

12. The box loading device according to claim 11, characterized in that: The distance between the first stopper (11) and the second stopper (12) along the moving direction of the conveyor belt is greater than or equal to the size of the tray (61) along the moving direction of the conveyor belt, and is less than a first threshold value.

13. The box loading device according to any one of claims 8 to 12, characterized in that: The box-entering equipment further comprises a storage table (70) and a moving vehicle (80), wherein the storage table (70) is used to place the battery device (40) to be boxed, and the moving vehicle (80) is used to transport the battery device (40) to the storage table (70).

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