Clamping jaw mechanism, gripper device, battery module production line and stacking method

Abstract

The embodiment of the invention provides a clamping jaw mechanism, a gripper device, a battery module production line and a stacking method. The clamping jaw mechanism comprises a first connecting base, a moving assembly and a clamping jaw assembly. The moving assembly comprises a moving part and a fixed part, the fixed part is arranged on the first connecting seat, and the moving part and the fixed part are movably connected; the clamping jaw assembly comprises a clamping jaw, a fixed seat, a floating seat and a first elastic assembly, the fixed seat is fixedly connected with the moving part, the clamping jaw is fixedly connected with the floating seat, and the first elastic assembly is connected with the floating seat and the fixed seat so that the floating seat can float relative to the fixed seat. According to the clamping jaw mechanism, the gripper device, the battery module production line and the stacking method provided by the embodiment of the invention, the floating seat can float relative to the fixed seat through the first elastic assembly, and when the clamping jaw retreats after the battery module enters a box, the adverse effect of part damage caused by collision between the clamping jaw and a battery module end plate is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of battery manufacturing, and particularly relates to a jaw mechanism, a gripper device, a production line of a battery module, and a stacking method. Background Art

[0002] In the related art, an end plate hole for clamping by the jaws of a gripper device is provided on a battery module. After the gripper device clamps the battery module into a box, the gripper device needs to move downward to facilitate withdrawing from the end plate hole outward, so as to release the jaws. Since the hook withdrawal space of the end plate hole is narrow, the jaws are prone to collide with the end plate of the battery module when withdrawing the hook, resulting in serious consequences such as deformation of the jaws and damage to the end plate of the battery module. Summary of the Invention

[0003] In view of this, embodiments of the present application are expected to provide a jaw mechanism, a gripper device, a production line of a battery module, and a stacking method, which can reduce the adverse effects when the jaws withdraw the hook after the battery module is put into the box.

[0004] To achieve the above object, a first aspect of the embodiments of the present application provides a jaw mechanism. The jaw mechanism includes a first connection seat, a moving component, and a jaw component. The moving component includes a moving member and a fixed member. The fixed member is disposed on the first connection seat, and the moving member is movably connected to the fixed member; the jaw component includes jaws, a fixed seat, a floating seat, and a first elastic component. The fixed seat is fixedly connected to the moving member, the jaws are fixedly connected to the floating seat, and the first elastic component connects the floating seat and the fixed seat to enable the floating seat to float relative to the fixed seat.

[0005] In the jaw mechanism of the embodiments of the present application, by configuring the jaw component as jaws, a fixed seat, a floating seat, and a first elastic component, the first elastic component can enable the floating seat to float relative to the fixed seat. In this way, when the jaws withdraw the hook after the battery module is put into the box, the adverse effects of the jaws colliding with the end plate of the battery module and causing damage to components can be reduced.

[0006] In some embodiments, the fixed seat includes a first fixing plate and a first mounting seat. The first fixing plate is connected to the moving member, and the first mounting seat is fixedly connected to the first fixing plate; the floating seat includes a first floating plate and a second mounting seat. The jaws and the second mounting seat are both fixedly connected to the first floating plate; the first elastic component includes a first elastic member, and the first elastic member connects the first mounting seat and the second mounting seat.

[0007] In this way, under the action of the first elastic member, the first floating plate can float relative to the first fixing plate.

[0008] In some embodiments, the first elastic component further includes a first guiding member. The first mounting seat has a first mounting hole, and the second mounting seat has a second mounting hole. The first guiding member passes through the first mounting hole and the second mounting hole, and the first elastic member is sleeved on the first guiding member and is located between the first mounting seat and the second mounting seat.

[0009] In this way, the first guiding member can play a guiding role for the first elastic member.

[0010] In some embodiments, the first elastic member is a spring, and the first mounting seat is located above the second mounting seat.

[0011] In this way, the spring undergoes elastic deformation to absorb energy, enabling the second mounting seat to float up and down relative to the first mounting seat.

[0012] In some embodiments, the first elastic member is a spring, and the first mounting seat is located below the second mounting seat.

[0013] In some embodiments, the first floating plate has a plurality of third mounting holes, and the clamping jaw can be selectively mounted on the first floating plate through one of the third mounting holes to adjust the mounting position of the clamping jaw on the first floating plate.

[0014] By providing a plurality of third mounting holes to adjust the mounting position of the clamping jaw on the first floating plate to meet the mounting requirements of different clamping jaw specifications.

[0015] In some embodiments, the clamping jaw assembly further includes a guiding assembly. The guiding assembly includes a guiding slide rail and a guiding slider slidably connected to the guiding slide rail. One of the guiding slide rail and the guiding slider is disposed on the first fixing plate, and the other of the guiding slide rail and the guiding slider is disposed on the first floating plate.

[0016] Through the cooperation and sliding of the guiding slider and the guiding slide rail, the first floating plate can move along the direction of the guiding slide rail.

[0017] In some embodiments, the clamping jaw assembly further includes a first locking assembly for locking the floating seat to the fixed seat.

[0018] The floating seat is locked to the fixed seat through the first locking assembly.

[0019] In some embodiments, the floating seat has a first locking hole. The first locking assembly includes a first driving member and a first locking pin. The first driving member is disposed on the fixed seat. The first locking pin is connected to the first driving member, and the first locking pin can pass through the first locking hole to lock the floating seat to the fixed seat.

[0020] Locking between the fixed seat and the floating seat can be achieved by locking through the first locking pin and the first locking hole. The position of the first locking pin is controlled by the first driving member, and thus whether the fixed plate and the floating plate are locked is controlled, so as to realize the state change of the clamping jaw relative to the fixed seat.

[0021] In some embodiments, the first locking assembly further includes a first locking block, which has a locking surface, is fixedly connected to the floating seat, and is at least partially located in the first locking hole; the first locking pin is a locking insert piece and cooperates with the locking surface.

[0022] By providing the first locking block, it is convenient for processing and manufacturing.

[0023] In some embodiments, the clamping jaw mechanism further includes a limiting mechanism, and at least part of the limiting mechanism is connected to the floating seat to limit the position of the floating seat relative to the fixed seat, so that the locking pin can be inserted into the first locking hole.

[0024] The downward movement stroke of the floating seat relative to the fixed seat can be limited by the limiting mechanism.

[0025] In some embodiments, the limiting mechanism includes an abutting seat, a limiting seat and a limiting rod. The abutting seat is fixedly connected to the fixed seat or the moving member; the limiting seat is fixedly connected to the floating seat; one of the abutting seat and the limiting seat has a limiting adjustment hole, the limiting rod is inserted through the limiting adjustment hole, and the limiting rod can abut against the other of the abutting seat and the limiting seat to adjust the initial position of the floating seat relative to the fixed seat.

[0026] In this way, the limiting rod cooperates with the abutting seat and the limiting seat, and the initial position of the floating seat relative to the fixed seat can be adjusted.

[0027] In some embodiments, the clamping jaw mechanism further includes a positioning pin, and the positioning pin is fixedly connected to the first connecting seat, and the positioning pin is used to position the clamping position of the clamping jaw.

[0028] The stability and accuracy of the clamping jaw extending into the end plate hole for clamping can be improved by the positioning pin.

[0029] In some embodiments, the clamping jaw mechanism further includes a second locking assembly, and the second locking assembly is used to lock the moving member so that the clamping jaw assembly is fixedly connected to the first connecting seat.

[0030] The locking relationship between the moving member and the first connecting seat can be controlled by the second locking assembly.

[0031] In some embodiments, the second locking assembly includes a second locking pin, a second locking block, and a second driving member. The second locking block is fixedly connected to the moving member; the second driving member is fixedly connected to the first connecting seat, the second locking pin is connected to the second driving member, and the second driving member can drive the second locking pin to be locked to the second locking block.

[0032] By locking the second locking pin to the second locking block, the moving member can be locked to the first connecting seat, reducing the shaking when the gripper grabs the battery module. The second driving member can provide the power for the movement of the second locking pin.

[0033] In some embodiments, the second locking pin is a locking gear tooth, and the second locking block is a locking rack.

[0034] In this way, the locking gear tooth and the locking rack can be abutted and cooperated to lock the moving member to the first connecting seat.

[0035] In some embodiments, the second locking block has at least one second locking hole, and the second locking pin can be inserted into the second locking hole.

[0036] In some embodiments, the moving member includes a first slider, and the fixing member includes a first slide rail, and the first slider is slidably connected to the first slide rail.

[0037] By the cooperation of the first slider and the first slide rail, the moving member can move along the direction of the first slide rail of the fixing member.

[0038] In some embodiments, the moving member includes a slider nut, and the fixing member includes a transmission lead screw, and the slider nut is connected to the transmission lead screw.

[0039] By the rotation of the transmission lead screw to drive the slider nut to move along the transmission lead screw, the relative movement between the moving member and the fixing member is realized.

[0040] The second aspect of the embodiments of the present application provides a gripper device for stacking battery modules. The gripper device includes a third connecting seat, a third driving member, and the gripper mechanism according to any one of the above. The two gripper mechanisms are respectively fixedly connected to the mounting seat through the corresponding first connecting seats; the third driving member is used to drive the moving member so that the two gripper mechanisms can grab the battery modules to be stacked.

[0041] By the third driving member driving the moving member, the gripper mechanism can grab the battery modules to be stacked.

[0042] In some embodiments, the gripper device further includes a side pushing mechanism, and the side pushing mechanism is fixedly connected to the third connecting seat and is used to push the stacked battery modules.

[0043] The side pushing mechanism can push the stacked battery modules to prevent the stacked modules from occupying the position of the battery modules to be stacked.

[0044] In some embodiments, the side pushing mechanism includes a second connecting seat, a lifting component, and a side pushing component. The second connecting seat is fixedly connected to the third connecting seat; the lifting component is fixedly connected to the second connecting seat; the side pushing component is connected to the lifting component, and the lifting component can drive the side pushing floating component to move, and the side pushing component is used to push the battery modules to be stacked.

[0045] The side pushing component can move along the up and down direction following the lifting component, reach the side of the stacked battery modules, and move following the robotic arm to push the stacked battery modules to the corresponding preset positions.

[0046] In some embodiments, the side pushing component includes a second fixing plate, a second floating plate, and a second elastic component. The second fixing plate is connected to the lifting component; the second floating plate is used to push the stacked battery modules; the second elastic component connects the second floating plate and the second fixing plate to enable the second floating plate to float relative to the second fixing plate.

[0047] The second fixing plate can drive the second elastic component and the second floating plate to move following the lifting component. Under the action of the second elastic component, buffering can be performed when the second floating plate pushes the battery modules.

[0048] In some embodiments, the second elastic component includes a second elastic member and a second guiding member. The second fixing plate has a third mounting hole; the second guiding member is inserted through the third mounting hole and fixedly connected to the second floating plate; the second elastic member is sleeved on the second guiding member and is located between the second fixing plate and the second floating plate.

[0049] The second guiding member can play a guiding role for the second elastic member.

[0050] In some embodiments, the lifting component includes a second slider, a second slide rail, and a fourth driving member. The second slider is fixedly connected to the second connecting seat; one end of the second slide rail is fixedly connected to the side pushing component, and the other end is slidably connected to the slider; the fourth driving member is disposed on the second connecting seat, and the fourth driving member connects the side pushing component.

[0051] By the cooperation of the second slider and the second slide rail for sliding, the side pushing component can be enabled to move along the direction of the second slide rail. The fourth driving member can provide the power for the side pushing of the side pushing component.

[0052] In some embodiments, a third driving member is respectively provided for the two jaw mechanisms, so that the third driving member is respectively drivingly connected to the corresponding moving member.

[0053] In this way, an installation space for other components can be left between the two jaw mechanisms.

[0054] In some embodiments, the two jaw mechanisms share one third driving member, so as to leave an installation space for other components between the two jaw mechanisms.

[0055] By sharing one third driving member for the two jaw mechanisms, the manufacturing cost can be saved.

[0056] In a third aspect of the embodiments of the present application, a production line of a battery module is provided. The production line includes a manipulator and the gripper device described in any one of the above, and the third connecting seat is connected to the manipulator.

[0057] When the gripper device of the embodiments of the present application is used in the battery production line, the jaws can float in the up and down direction in the gripping space, solving the problem of interference between the jaws and the end plate when the jaws unhook after the battery module is put into the box, and can push the stacked battery modules to avoid the previously put-into-the-box battery modules occupying the positions of the subsequently put-into-the-box battery modules.

[0058] In a fourth aspect of the embodiments of the present application, a stacking method of a battery module is provided, including driving a jaw assembly to clamp a battery module to be stacked; driving the gripper device to move the jaw mechanism to the stacking station of the battery module; driving a side push assembly to extend to the side push position; driving the gripper device to translate so that the side push assembly pushes the stacked battery module at the stacking station back to the original position; driving the side push assembly to retract to the initial position; driving the gripper device to move the battery module to be stacked to the stacking position; driving the gripper device to move downward to place the battery module to be stacked in place; driving the jaw assembly to disengage the jaws from the battery module.

[0059] In some embodiments, before driving the jaw assembly to clamp the battery module to be stacked, the stacking method further includes: driving a first locking assembly to lock the floating seat to the fixed seat; before driving the gripper device to move the jaw mechanism to the stacking station of the battery module, the stacking method further includes: driving a second locking assembly to fixedly connect the jaw assembly to the first connecting seat; before driving the gripper device to move downward to place the battery module to be stacked in place, the stacking method further includes: driving the first locking assembly to enable the floating seat to float relative to the fixed seat; before driving the jaw assembly to disengage the jaws from the battery module, the stacking method further includes: driving the second locking assembly to enable the jaw assembly to be movably connected to the first connecting seat.

[0060] Applying the stacking method of the embodiment of the present application to the battery production line can effectively improve the service life of the gripper, avoid the interference of the production line process caused by the occupied position of the stacked battery modules, improve the stacking efficiency of the battery modules, and reduce the equipment maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is a schematic structural diagram of a gripper mechanism according to one or more embodiments;

[0062] Figure 2 is Figure 1 an enlarged structural diagram of part A of

[0063] Figure 3 is Figure 1 a right view of

[0064] Figure 4 is Figure 1 a left view of

[0065] Figure 5 is Figure 3 a schematic sectional view taken along line 1-1 of

[0066] Figure 6 is Figure 3 a schematic sectional view taken along line 2-2 of

[0067] Figure 7 is Figure 1 a rear view of

[0068] Figure 8 is Figure 7 a schematic sectional view taken along line 3-3 of

[0069] Figure 9 is Figure 7 an enlarged structural diagram of part B of

[0070] Figure 10 is Figure 8 an enlarged structural diagram of part C of

[0071] Figure 11 is a schematic structural diagram of a first locking component according to one or more embodiments;

[0072] Figure 12 is Figure 11 a schematic structural diagram of another perspective of the first locking component shown in

[0073] Figure 13 is Figure 7 a schematic sectional view taken along line 4-4 of

[0074] Figure 14 is Figure 7 an enlarged structural diagram of part E of

[0075] Figure 15 is Figure 13 Schematic diagram of the enlarged structure at position D;

[0076] Figure 16 Schematic diagram of the structure of a locating pin according to one or more embodiments;

[0077] Figure 17 is Figure 16 Schematic diagram of the structure of the locating pin shown from another perspective;

[0078] Figure 18 is Figure 1 Schematic diagram of the structure of the jaw mechanism shown from another perspective;

[0079] Figure 19 is Figure 18 Schematic diagram of the enlarged structure at position F;

[0080] Figure 20 Schematic diagram of the structure of a gripper device according to one or more embodiments;

[0081] Figure 21 Schematic diagram of the structure of a side-pushing mechanism according to one or more embodiments;

[0082] Figure 22 is Figure 21 Schematic diagram of the structure of the side-pushing mechanism shown from another perspective;

[0083] Figure 23 is Figure 22 Left view of the side-pushing mechanism shown;

[0084] Figure 24 is Figure 22 Top view of the side-pushing mechanism shown;

[0085] Figure 25 Schematic flow diagram of a stacking method according to one or more embodiments;

[0086] Figure 26 Another schematic flow diagram of a stacking method according to one or more embodiments.

[0087] Explanation of reference numerals

[0088] Jaw mechanism 100;

[0089] First connecting seat 10;

[0090] Moving component 20; Moving part 21; First slider 211; Fixed part 22; First slide rail 221;

[0091] Jaw assembly 30; jaw 31; fixed seat 32; first through hole 32a; first fixing plate 321; first mounting seat 322; first mounting hole 322a; floating seat 33; first locking hole 33a; first floating plate 331; third mounting hole 331a; second mounting seat 332; second mounting hole 332a; first elastic component 34; first elastic member 341; first guiding member 342; guiding component 35; guiding slide rail 351; guiding slider 352; first locking component 36; first driving member 361; first locking pin 362; first locking block 363; locking surface 3631;

[0092] Limiting mechanism 40; abutting seat 41; splicing seat 42; limiting seat 42; limiting adjustment hole 42a; limiting rod 43;

[0093] Positioning pin 50;

[0094] Second locking component 60; second locking pin 61; second locking block 62; second driving member 63;

[0095] Third driving member 70;

[0096] Gripping device 200;

[0097] Third connecting seat 110;

[0098] Side pushing mechanism 120; second connecting seat 121; lifting component 122; second slider 1221; second slide rail 1222; fourth driving member 1223; side pushing component 123; second fixing plate 1231; third mounting hole 1231a; second floating plate 1232; second elastic component 1233; second elastic member 12331; second guiding member 12332. Detailed implementation manners

[0099] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0100] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein 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 this application are intended to cover non-exclusive inclusion.

[0101] In the description of the embodiments of the present application, technical terms such as "first", "second", "third", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise clearly and specifically defined.

[0102] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present 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 herein can be combined with other embodiments.

[0103] In the embodiments of the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may mean that the first feature and the second feature are in direct contact, or the first feature and the second feature are in indirect contact through an intermediate medium. Moreover, the first feature being "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0104] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "up", "down", "front", "back", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0105] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0106] In the related art, in the production process of assembling battery modules into a battery by putting them into a box, a manipulator is used to connect with a gripper device, and the clamping jaw mechanism of the gripper device clamps the battery module through the end plate holes of the battery module. The manipulator includes a robotic arm with multiple joints and can achieve movement in multiple directions within a preset range. The manipulator controls the clamping jaw mechanism to pick up the battery module and put it into the box. After the battery module is placed in the box, the clamping jaw mechanism releases the battery module and moves away from the battery module. Therefore, after picking up the battery module and putting it into the box, the gripper device needs to move downward first to facilitate the outward movement of the clamping jaw within the end plate hole, so as to release the clamping jaw of the clamping jaw mechanism. However, the space for unhooking when the clamping jaw moves downward after the battery module is put into the box is narrow, and it is easy to collide with the end plate of the battery module during unhooking, resulting in serious consequences such as deformation of the clamping jaw and damage to the end plate of the battery module.

[0107] Based on the above situation, please refer to Figure 1 , an embodiment of the present application provides a clamping jaw mechanism 100, which includes a first connection seat 10, a moving component 20, and a clamping jaw component 30. The moving component 20 includes a moving part 21 and a fixing part 22. The fixing part 22 is arranged on the first connection seat 10, and the moving part 21 and the fixing part 22 are movably connected. The clamping jaw component 30 includes clamping jaws 31, a fixing seat 32, a floating seat 33, and a first elastic component 34. The fixing seat 32 is fixedly connected to the moving part 21, the clamping jaws 31 are fixedly connected to the floating seat 33, and the first elastic component 34 connects the floating seat 33 and the fixing seat 32 to enable the floating seat 33 to float relative to the fixing seat 32. Taking Figure 1 as an example, the floating seat 33 can float relative to the fixing seat 32 in the up and down direction.

[0108] The first connection seat 10 can be used for the installation and positioning of the fixing part 22, and other components in the clamping jaw mechanism 100 can be indirectly installed on the first connection seat 10 and move along with the first connection seat 10.

[0109] Exemplarily, the first connection seat 10 can be directly or indirectly connected to the robotic arm of the manipulator. The robotic arm can move within a preset range to realize the movement of the clamping jaw mechanism 100 and each component within a preset range. Setting the first connection seat 10 can facilitate modular production and assembly.

[0110] The moving component 20 is used to enable the clamping jaw component 30 to move relative to the first connection seat 10 in the front and back directions. The moving component 20 includes a moving part 21 and a fixing part 22 that can move relative to each other. The fixing part 22 is connected to the first connection seat 10, and the moving part 21 is fixedly connected to the clamping jaw component 30. In this way, the clamping jaw component 30 can move relative to the first connection seat 10 following the moving part 21.

[0111] The manner in which the moving member 21 and the fixed member 22 move relative to each other is not limited. For example, the moving member 21 and the fixed member 22 can move relative to each other in the manner of a slider and a slide rail, or can move relative to each other in the manner of a slider nut and a transmission lead screw.

[0112] Exemplarily, please refer to Figure 1 , the moving member 21 may include a first slider 211, and the fixed member 22 may include a first slide rail 221. By the cooperation and sliding of the first slider 211 and the first slide rail 221, the moving member 21 can be enabled to move along the direction of the first slide rail 221 of the fixed member 22.

[0113] Exemplarily, in an embodiment not shown, the moving member 21 may also include a slider nut, and the fixed member 22 may also include a transmission lead screw. By the rotation of the transmission lead screw to drive the slider nut to move along the transmission lead screw, the relative movement between the moving member 21 and the fixed member 22 is achieved.

[0114] The jaw assembly 30 includes jaws 31, a fixed seat 32, a floating seat 33, and a first elastic component 34. The first elastic component 34 directly or indirectly connects the floating seat 33 and the fixed seat 32, so that the floating seat 33 can float relative to the fixed seat 32 along the Figure 1 vertical direction therein, that is, the jaws 31 of the jaw assembly 30 can move relative to the first connection seat 10 along the vertical direction. For example, when the jaw mechanism 100 places the battery module on the horizontal plane of the box body, the first elastic component 34 connects the floating seat 33 and the fixed seat 32, so that the floating seat 33 can float relative to the fixed seat 32 along the vertical direction, that is, the jaws 31 can move relative to the first connection seat 10 along the vertical direction. In this case, Figure 1 the vertical direction therein is the vertical direction. If the battery module is placed on the inclined plane of the box body, Figure 1 the vertical direction therein can be a direction forming a corresponding angle with the vertical direction.

[0115] The jaws 31 are used to grip the battery module. Among them, the battery module may include one battery cell, or two battery cells, or more than two battery cells. The battery module may be a cuboid, including end plates at both ends, for example, at both ends in the length direction or the width direction of the battery module, and end plate holes are respectively provided on the end plates at both ends. The jaws 31 of the two jaw mechanisms 100 of the gripper device respectively extend into the end plate holes at the corresponding ends, so as to be able to grip the battery module.

[0116] The fixed seat 32 is used to mount the floating seat 33, and the fixed seat 32 is fixedly connected to the moving member 21 in the moving assembly 20, so that the floating seat 33 can move back and forth following the moving member 21. The jaws 31 are fixedly connected to the floating seat 33, so that the jaws 31 can move following the floating seat 33.

[0117] The first elastic component 34 connects the floating seat 33 and the fixed seat 32, enabling the floating seat 33 to float relative to the fixed seat 32, so that the jaw 31 can float following the floating seat 33. The first elastic component 34 can include a cylinder spring system, a mechanical spring or an elastic pad.

[0118] In this way, when the jaw assembly 30 unhooks downward after placing the battery module in the box, the first elastic component 34 can enable the jaw assembly 30 to float in the vertical direction in the clamping space, reducing the adverse effects on the battery module and the jaw 31 caused by the collision between the jaw 31 and the end plate of the battery module, such as reducing the damage to the end plate of the battery module and the jaw 31. For example, when the jaw assembly 30 unhooks downward after placing the battery module in the box, the robotic arm moves downward, and the fixed seat 32 moves downward following the robotic arm. The first elastic component 34 absorbs energy to enable the jaw 31 to move upward relative to the fixed seat 32 following the floating seat 33. In this way, when the fixed seat 32 moves downward, under the action of the first elastic component 34, the jaw 31 will not move downward synchronously with the fixed seat 32, reducing the adverse effects of component damage caused by the collision between the jaw 31 and the end plate of the battery module.

[0119] It can be understood that the gripper device is provided with two jaw mechanisms 100. The two jaw assemblies 30 of the two jaw mechanisms 100 respectively move their respective moving parts 21 in opposite directions, so that the jaw assemblies 30 can clamp or release the battery module. When the two moving parts 21 move towards each other, the jaws 31 can clamp the battery module. When the two moving parts 21 move away from each other, the jaws 31 can release the battery module.

[0120] In some embodiments, please refer to Figure 2 , the fixed seat 32 includes a first fixing plate 321 and a first mounting seat 322. The first fixing plate 321 is connected to the moving part 21, and the first mounting seat 322 is connected to the first fixing plate 321. The floating seat 33 includes a first floating plate 331 and a second mounting seat 332. The jaw 31 and the second mounting seat 332 are both fixedly connected to the first floating plate 331. The first elastic component 34 includes a first elastic member 341, and the first elastic member 341 connects the first mounting seat 322 and the second mounting seat 332.

[0121] The first fixing plate 321 is used for fixedly connecting with the moving part 21. The first floating seat 331 is mounted on the moving part 21 through the first fixing plate 321.

[0122] The first elastic member 341 is used for connecting the first mounting seat 322 and the second mounting seat 332. In this way, the first elastic member 341 can deform and absorb energy, and the first floating plate 331 can drive the jaw 31 to float relative to the first fixing plate 321 in the vertical direction under the action of the first elastic member 341, reducing the adverse effects of component damage caused by the collision between the jaw 31 and the end plate of the battery module.

[0123] Exemplarily, the jaw 31 has a jaw hook, see Figure 2 . The jaw hook faces the front side. The battery module has an end plate hole. After the jaw 31 places the end plate hole of the battery module, the jaw hook retracts from the end plate hole. Since the retraction space of the end plate hole is small, when the jaw hook retracts in the end plate hole, the deformation energy absorption of the first elastic member 341 can enable the jaw hook to float in the up and down direction in the clamping space, avoiding serious collision with the end plate of the battery module and causing damage to the battery module and the jaw 31.

[0124] In some embodiments, the first elastic member 341 may be a spring or an elastic pad. The spring may be set as a compression spring or a tension spring.

[0125] Exemplarily, please refer to Figure 2 . The first mounting seat 322 is located above the second mounting seat 332, and the first elastic member 341 may be a compression spring.

[0126] Exemplarily, the first mounting seat 322 is located below the second mounting seat 332, and the first elastic member 341 may be a tension spring.

[0127] In some embodiments, the first elastic assembly 34 further includes a first guiding member 342. The first mounting seat 322 has a first mounting hole 322a, and the second mounting seat 332 has a second mounting hole 332a. The first guiding member 342 passes through the first mounting hole 322a and the second mounting hole 332a. The first elastic member 341 is sleeved on the first guiding member 342 and is located between the first mounting seat 322 and the second mounting seat 332. Thus, the first guiding member 342 can play a guiding and positioning role for the first elastic member 341.

[0128] The first elastic member 341 can be fixedly connected to the first mounting seat 322 and the second mounting seat 332 at both ends to improve the stability of the first elastic member 341. The first elastic member 341 may also not be fixedly connected to the first mounting seat 322 and the second mounting seat 332 at both ends, which is convenient for installation and maintenance.

[0129] Exemplarily, the first guiding member 342 is fixedly connected to the second mounting seat 332 and slidably connected to the first mounting seat 322; or the first guiding member 342 is slidably connected to the second mounting seat 332 and fixedly connected to the first mounting seat 322; or the first guiding member 342 is slidably connected to the second mounting seat 332 and is also slidably connected to the first mounting seat 322. Under the action of the first elastic member 341, the first guiding member 342 can drive the second mounting seat 332 to float up and down relative to the first mounting seat 322.

[0130] In some embodiments, please refer to Figure 2, the first mounting seat 322 is located above the second mounting seat 332. The gravity of the battery module held by the clamping jaw 31 can be borne by the first guiding member 342, without the first elastic member 341 being stressed, which can improve the stability of the moving operation after the clamping jaw 31 holds the battery module.

[0131] In some embodiments, please refer to Figures 3 - 5 , the clamping jaw assembly 30 further includes a guiding assembly 35 for enabling the fixed seat 32 and the floating seat 33 to slide relative to each other, that is, the first fixing plate 321 and the first floating plate 331 can slide relative to each other. The way of relative sliding between the first fixing plate 321 and the first floating plate 331 is not limited.

[0132] Exemplarily, please refer to Figure 5 , the guiding assembly 35 includes a guiding slide rail 351 and a guiding slider 352 slidably connected to the guiding slide rail 351. The guiding slide rail 351 is arranged in the up-and-down direction. One or more pairs of guiding assemblies 35 can be provided as needed.

[0133] By the cooperation of the guiding slider 352 and the guiding slide rail 351 for sliding, the first floating plate 331 can be enabled to move along the direction of the guiding slide rail, thereby improving the smoothness and stability of the floating of the first floating plate 331 relative to the first fixing plate 321 when the clamping jaw 31 unhooks.

[0134] Exemplarily, please refer to Figure 5 , the guiding slide rail 351 is arranged on the first fixing plate 321, and the guiding slider 352 is arranged on the first floating plate 331. Thus, the first floating plate 331 can drive the clamping jaw 31 to float up and down along the guiding slide rail 351 of the first fixing plate 321 following the guiding slider 352.

[0135] In some embodiments, please refer to Figure 6 , the first floating plate 331 has a plurality of third mounting holes 331a, and the clamping jaw 31 can be selectively mounted on the first floating plate 331 through one of the third mounting holes 331a to adjust the mounting position of the clamping jaw 31 on the first floating plate 331, which can meet the mounting requirements of different specifications of the clamping jaw 31 or adapt to the requirements of different battery module specifications. The third mounting holes 331a can also be used to mount other components.

[0136] In some embodiments, please refer to Figures 7 - 12 , the clamping jaw assembly 30 further includes a first locking assembly 36 for locking the floating seat 33 to the fixed seat 32. The driving member of the first locking assembly 36 can include a driving cylinder, a driving oil cylinder or a driving electric cylinder.

[0137] In some embodiments, please refer to Figure 10, the fixed seat 32 has a first through hole 32a, and the floating seat 33 has a first locking hole 33a. Specifically, the first through hole 32a can be formed on the first fixed plate 321, and the first locking hole 33a can be formed on the first floating plate 331. The first locking assembly 36 includes a first driving member 361 and a first locking pin 362. The first driving member 361 is disposed on the fixed seat 32, and the first locking pin 362 is connected to the first driving member 361. For example, the first driving member 361 can be set as a driving cylinder, and the first locking pin 362 is connected to the piston rod of the driving cylinder. The piston rod of the driving cylinder can pass through the first through hole 32a, or the cylinder barrel of the driving cylinder can pass through the first through hole 32a, driving the first locking pin 362 to pass through the first locking hole 33a to lock the floating seat 33 to the fixed seat 32.

[0138] When the first locking pin 362 is locked with the first locking hole 33a, the fixed seat 32 and the floating seat 33 can be locked, so that the position of the jaw 31 relative to the fixed seat 32 can be fixed, preventing the jaw 31 from shaking when gripping the battery module.

[0139] When the first locking pin 362 is unlocked from the first locking hole 33a, the floating seat 33 can float up and down relative to the fixed seat 32. Thus, the jaw 31 can float up and down following the floating seat 33. When the jaw 31 retracts the hook after placing the battery module, the damage caused by interference with the end plate of the battery module is reduced.

[0140] The first driving member 361 is used to provide the power for the movement of the first locking pin 362. By controlling the position of the first locking pin 362 through the first driving member 361, and then controlling whether the floating seat 33 and the fixed seat 32 are locked, the state of the jaw 31 relative to the fixed seat 32 is switched, enabling the jaw 31 to stably grip when gripping the battery module and to float in the up and down direction when retracting the hook to reduce the impact force on the jaw 31.

[0141] Exemplarily, the first driving member 361 can be set as a pneumatic cylinder, an oil cylinder or an electric cylinder, which can reduce costs and is easy to install and maintain.

[0142] In some embodiments, please refer to Figures 9 - 12 , the first locking assembly 36 further includes a first locking block 363. The first locking block 363 has a locking surface 3631, and the width of the locking surface 3631 can be greater than the thickness of the first floating plate 331. The first locking block 363 is fixedly connected to the floating seat 33. Specifically, the first locking block 363 is fixedly connected to the first floating plate 331 and is at least partially located in the first locking hole 33a.

[0143] By providing the first locking block 363, only the locking surface 3631 needs to be precision machined. Since the first locking block 363 is smaller in volume than the first floating plate 331, it is convenient for processing and manufacturing. The width of the locking surface 3631 can be greater than the thickness of the first floating plate 331, which can improve the locking stability.

[0144] Exemplarily, the first locking pin 362 is a locking insert, and the first locking pin 362 cooperates with the locking surface 3631. The lower surface of the locking insert contacts the locking surface 3631 of the first locking block 363, and the locking insert is inserted into the first locking hole 33a and locked with the first locking block 363, so as to lock the floating seat 33 and the fixed seat 32. The jaw 31 can be fixed in the up and down direction on the jaw mechanism 100 to prevent the jaw 31 from shaking when clamping the battery module.

[0145] Exemplarily, there is a gap between the upper surface of the locking insert and the first locking hole 33a, which is convenient for the locking insert to be inserted into the first locking hole 33a and locked with the first locking block 363. After the jaw 31 clamps the battery module, due to the gravity of the battery module, the gap between the upper surface of the locking insert and the first locking hole 33a will not affect the clamping stability when the jaw mechanism 100 moves.

[0146] When the locking insert leaves the first locking hole 33a and unlocks from the first locking block 363, the floating seat 33 can float up and down relative to the fixed seat 32. In this way, the jaw 31 can float up and down with the floating seat 33. It reduces the damage caused by the interference between the jaw 31 and the end plate of the battery module when the jaw 31 hooks down after placing the battery module.

[0147] When the locking insert is inserted into the first locking hole 33a and locked with the first locking block 363, the floating seat 33 is fixed to the fixed seat 32. In this way, the jaw 31 can move with the moving member 21, and the relative position between the jaw 31 and the moving member 21 does not change, improving the clamping stability of the jaw 31 during the movement process to improve the stability of clamping the battery module.

[0148] In some embodiments, please refer to Figure 7 、 Figures 13 - 15 , the jaw mechanism 100 further includes a limiting mechanism 40. The limiting mechanism 40 is at least partially connected to the floating seat 33 to limit the position of the floating seat 33 relative to the fixed seat 32 along the floating direction, so that the first locking pin 362 can be inserted into the first locking hole 33a. The above floating direction is the Figure 1 up and down direction in

[0149] In some embodiments, please refer to Figure 14 and Figure 15, the limiting mechanism 40 includes an abutting seat 41 and a limiting seat 42. The abutting seat 41 is fixedly connected to the fixed seat 32 or the moving member 21. The limiting seat 42 is fixedly connected to the floating seat 33. The abutting seat 41 is used to limit the downward movement stroke of the limiting seat 42 relative to the fixed seat 32, so as to limit the downward movement stroke of the floating seat 33 relative to the fixed seat 32.

[0150] The limiting mechanism 40 further includes a limiting rod 43, which is used to adjust the initial position of the floating seat 33 relative to the fixed seat 32. For example, the limiting seat 42 has a limiting adjustment hole 42a, the limiting rod 43 passes through the limiting adjustment hole 42a, and the limiting rod 43 can abut against the abutting seat 41 to adjust the initial position of the floating seat 33 relative to the fixed seat 32. The abutting seat 41 is used to limit the downward movement stroke of the limiting rod 43 relative to the fixed seat 32, so as to limit the downward movement stroke of the floating seat 33 relative to the fixed seat 32.

[0151] The limiting rod 43 is fixedly connected to the limiting seat 42 and can abut against the abutting seat 41 at the same time. In this way, the downward movement stroke of the floating seat 33 can be limited, so that the first locking pin 362 can be inserted into the first locking hole 33a on the fixed seat 32.

[0152] The abutting seat 41 is used to limit the limiting rod 43, and the limiting seat 42 is used to fix the limiting rod 43. The limiting seat 42 has a limiting adjustment hole 42a. By inserting the limiting rod 43 into the limiting adjustment hole 42a, the position of the limiting rod 43 in the adjustment hole 42a can be adjusted. After adjustment, the limiting rod 43 is locked, and the limiting rod 43 can move up and down along with the limiting seat 42.

[0153] The fixing method of the limiting rod 43 and the limiting seat 42 is not limited. For example, the limiting rod 43 can be set as a bolt and fixed on the limiting seat 42 through a nut.

[0154] In some embodiments, not shown in the drawings, the abutting seat 41 has a limiting adjustment hole, and the limiting rod 43 can also be fixedly connected to the abutting seat 41 and can abut against the limiting seat 42 at the same time. For example, the limiting rod 43 passes through the limiting adjustment hole. After adjusting the initial position of the floating seat 33, the limiting rod 43 is fixedly connected to the abutting seat 41. In this way, the downward movement stroke of the floating seat 33 can be limited, so that the first locking pin 362 can be inserted into the first locking hole 33a on the fixed seat 32.

[0155] The fixing method of the limiting rod 43 and the abutting seat 41 is not limited. For example, the limiting rod 43 can be set as a bolt and fixed on the abutting seat 41 through a nut.

[0156] In some embodiments, please refer to Figure 7 、 Figure 16 and Figure 17, the jaw mechanism 100 further includes a positioning pin 50, which is fixedly connected to the first connecting seat 10 and is used to position the clamping position of the jaw 31. The end of the positioning pin 50 can be formed into a conical shape or a frustum shape to be positioned after guiding with the positioning hole of the battery module.

[0157] By first guiding and then positioning and mating with the positioning hole of the battery module through the positioning pin 50, the accuracy and stability of the clamping of the extending end of the jaw 31 into the end plate hole can be improved.

[0158] In some embodiments, please refer to Figure 18 and Figure 19 , the jaw mechanism 100 further includes a second locking assembly 60, which is used to lock the moving member 21 so that the jaw assembly 30 is fixedly connected to the first connecting seat 10. The driving member of the second locking assembly 60 can include a driving cylinder, a driving oil cylinder or a driving electric cylinder.

[0159] Through the second locking assembly 60, the locking relationship between the moving member 21 and the first connecting seat 10 can be controlled. When clamping the battery module, the second locking assembly 60 locks the moving member 21 to stabilize the jaw 31 and improve the stability of the jaw 31 when clamping the battery module. Before the hook is retracted when placing the battery module, the second locking assembly 60 releases the locking of the moving member 21 so that the jaw 31 can move in the front-back direction.

[0160] Specifically, please refer to Figure 19 , the second locking assembly 60 includes a second locking pin 61, a second locking block 62 and a second driving member 63. The second locking block 62 is fixedly connected to the moving member 21, and the second locking pin 61 is connected to the second driving member 63. For example, the second driving member 63 can be set as a driving cylinder, and the second locking pin 61 is connected to the piston rod of the driving cylinder. The second driving member 63 can drive the second locking pin 61 to be locked and connected to the second locking block 62.

[0161] When the second locking pin 61 is locked with the second locking block 62, the moving member 21 can be locked with the first connecting seat 10, reducing the shaking when the jaw 31 clamps the battery module.

[0162] When the second locking pin 61 is unlocked from the second locking block 62, the moving member 21 can move back and forth relative to the first connecting seat 10. Thus, the jaw 31 can move back and forth following the moving member 21.

[0163] The locking method of the second locking pin 61 and the second locking block 62 is not limited as long as relative fixation can be achieved.

[0164] Exemplarily, please refer to Figure 6 and Figure 19, the second locking pin 61 is a locking insert tooth, and the second locking block 62 is a locking rack. The locking rack has a plurality of continuous locking teeth. The locking insert tooth is inserted between two adjacent locking teeth and abuts and cooperates with the adjacent locking teeth.

[0165] Exemplarily, not shown in the drawings, the second locking block 62 has at least one second locking hole, and the second locking pin 61 can be inserted into the second locking hole.

[0166] The second driving member 63 is used to provide the power for the movement of the second locking pin 61. By controlling the position of the second locking pin 61 through the second driving member 63, the locking state between the moving member 21 and the first connecting seat 10 is further controlled, so as to control whether the jaw assembly 30 is in a locked state relative to the first connecting seat 10. This enables the jaws 31 to stably grip the battery module during gripping and to move along to release the battery module during unhooking.

[0167] Exemplarily, the second driving member 63 can be set as a cylinder, an oil cylinder or an electric cylinder, which can reduce costs and is easy to install and maintain.

[0168] Please refer to Figure 20 , the embodiment of the present application further provides a gripper device 200 for stacking battery modules. The gripper device 200 includes a mounting seat 110, a third driving member 70, and any one of the above-mentioned jaw mechanisms 100. The two jaw mechanisms 100 are respectively fixedly connected to the mounting seat 110 through corresponding first connecting seats 10. The third driving member 70 is used to drive the moving member 21 so that the jaw mechanism 100 can grip the battery module to be stacked.

[0169] The third connecting seat 110 is the installation basis for each component and is used for the installation and positioning of components such as the jaw mechanism 100. The third connecting seat 110 is connected to the robotic arm of the manipulator. The robotic arm can move within a preset range to realize the movement of the third connecting seat 110 and each component within the preset range. The two jaw mechanisms 100 can grip the battery module, and under the movement of the robotic arm of the manipulator, the jaw mechanism 100 gripping the battery module is transported to a preset position.

[0170] In some embodiments, the first connecting seat 10 can be integrally formed with the third connecting seat 110, or it can be understood that the first connecting seat 10 can be cancelled, and the fixing member 22 is directly fixedly connected to the third connecting seat 110.

[0171] In some embodiments, the first connecting seat 10 can be fixedly connected to the third connecting seat 110. In this way, the jaw mechanism 100 can be produced modularly. After the jaw mechanism 100 is assembled, it is fixedly connected to the third connecting seat 110 through the first connecting seat 10, which can optimize the production process and improve the assembly efficiency.

[0172] The two jaw mechanisms 100 can be configured as an interchangeable structure, that is, the front and rear jaw mechanisms 100 are configured with the same structure, and there is no need to distinguish them during assembly, which reduces the part models and improves the assembly efficiency. The two jaw mechanisms 100 can also be configured as a mirror-symmetrical structure, and the front jaw mechanism and the rear jaw mechanism are distinguished during assembly. For example, when the two jaw mechanisms 100 are configured as an interchangeable structure, the second locking components 60 of the two jaw mechanisms 100 are respectively located at different front and rear positions. When the two jaw mechanisms 100 are configured as a mirror-symmetrical structure, the second locking components 60 of the two jaw mechanisms 100 are respectively located on the same side in the front or the rear, which is convenient for the driving parts of the second locking components 60 to uniformly arrange the power lines. For example, when the driving part is a cylinder, it is convenient to connect the air pipes on the same side.

[0173] In some embodiments, each of the two jaw mechanisms 100 is provided with a third driving part 70, so that the third driving part 70 is respectively drivingly connected with the corresponding moving part 21, so as to leave an installation space for other components between the two jaw mechanisms 100. In this embodiment, the third driving part 70 can be used as a component of the jaw mechanism 100, that is, the jaw mechanism 100 can further include the third driving part 70. In the modular production of the jaw mechanism 100, the third driving part 70 is installed in the jaw mechanism 100.

[0174] In some embodiments, the two jaw mechanisms 100 share a third driving part 70, and by synchronously controlling the two jaw mechanisms 100 through the third driving part 70, the manufacturing cost can be saved.

[0175] During the process of placing the battery modules into the box body, when two or more battery modules are in the same box body, due to the glue in the box body, after the previously stacked battery module enters the box and reaches the preset position, it may slip relative to the box body, occupying the position for the subsequent battery module to enter the box and interfering with the operation of the subsequent battery module entering the box.

[0176] In view of this, the gripper device 200 further includes a side pushing mechanism 120, and the side pushing mechanism 120 is fixedly connected to the third connecting seat 110 and is used to push the stacked battery modules to corresponding set positions.

[0177] The side pushing mechanism 120 can push the battery modules that have entered the box to prevent the previously entered battery modules from occupying the positions of the subsequent entered battery modules.

[0178] In some embodiments, please refer to Figures 21 - 24, the side pushing mechanism 120 includes a second connecting seat 121, a lifting component 122, and a side pushing component 123. The second connecting seat 121 is fixedly connected to the third connecting seat 110. The lifting component 122 is fixedly connected to the second connecting seat 121. The side pushing component 123 is used to push the battery modules to be stacked. The side pushing component 123 is connected to the lifting component 122, and the lifting component 122 can drive the side pushing floating component to move in the up and down directions.

[0179] In some embodiments, the second connecting seat 121 can be integrally formed with the third connecting seat 110, or it can be understood that the second connecting seat 121 can be cancelled, and the lifting component 122 is directly fixedly connected to the third connecting seat 110.

[0180] In some embodiments, the second connecting seat 121 can be fixedly connected to the third connecting seat 110. In this way, the side pushing mechanism 120 can be produced modularly. After the side pushing mechanism 120 is assembled, it is fixedly connected to the third connecting seat 110 through the second connecting seat 121, which can optimize the production process and improve the assembly efficiency.

[0181] The specific structure of the side pushing component 123 is not limited. Exemplarily, please refer to Figure 21 , the side pushing component 123 includes a second fixing plate 1231, a second floating plate 1232, and a second elastic component 1233. The second fixing plate 1231 is connected to the lifting component 122. The second floating plate 1232 is used to push the stacked battery modules. The second elastic component 1233 connects the second floating plate 1232 and the second fixing plate 1231, so that the second floating plate 1232 can float relative to the second fixing plate 1231.

[0182] The side pushing component 123 can move along the up and down directions following the lifting component 122. When it is necessary to push the battery modules, the side pushing component 123 moves downward to the side of the battery modules that have been put into the box, and moves following the robotic arm. For example, Figure 20 in moving leftward in [], the stacked battery modules are pushed to the corresponding set positions. After pushing the battery modules, the side pushing component 123 returns to the initial position along the upward direction to avoid interfering with the gripper mechanism 100 in placing the battery modules.

[0183] The second fixing plate 1231 can drive the second elastic component 1233 and the second floating plate 1232 to move following the lifting component 122. The second floating plate 1232 can move following the second fixing plate 1231 under the action of the robotic arm. For example, Figure 20 in the left and right directions in [], to push the stacked battery modules.

[0184] Under the action of the second elastic component 1233, it can buffer when the second floating plate 1232 pushes the battery modules, reducing damage to the battery modules.

[0185] In some embodiments, the second elastic component 1233 includes a second elastic member 12331 and a second guiding member 12332. The second fixing plate 1231 has a third mounting hole 1231a. The second guiding member 12332 passes through the third mounting hole 1231a and is connected to the second floating plate 1232. The second elastic member 12331 is sleeved on the second guiding member 12332 and is located between the second floating plate 1232 and the second fixing plate 1231. The second guiding member 12332 can play a role in guiding and positioning the second elastic member 12331.

[0186] The second elastic member 12331 can be fixedly connected to the second floating plate 1232 and the second fixing plate 1231 at both ends to improve the stability of the second elastic member 12331. The second elastic member 12331 can also not be fixedly connected to the second floating plate 1232 and the second fixing plate 1231 at both ends, which is convenient for installation and maintenance.

[0187] Exemplarily, the second guiding member 12332 is fixedly connected to the second floating plate 1232 and slidably connected to the second fixing plate 1231; or the second guiding member 12332 is slidably connected to the second floating plate 1232 and fixedly connected to the second fixing plate 1231; or the second guiding member 12332 is slidably connected to the second floating plate 1232 and also slidably connected to the second fixing plate 1231. Under the action of the second elastic member 12331, the second guiding member 12332 can drive the second floating plate 1232 to float up and down relative to the second fixing plate 1231.

[0188] Exemplarily, the second elastic member 12331 can be a spring or an elastic pad. The spring can be set as a compression spring.

[0189] The specific structure of the lifting component 122 is not limited. Exemplarily, the lifting component 122 includes a second slider 1221, a second sliding rail 1222 and a fourth driving member 1223. The second slider 1221 is fixedly connected to the second connecting seat 121. One end of the second sliding rail 1222 is fixedly connected to the side pushing component 123, and the other end is slidably connected to the second slider 1221; the fourth driving member 1223 is arranged on the second connecting seat 121, and the fourth driving member 1223 is connected to the side pushing component 123. For example, the fourth driving member 1223 can be set as a driving cylinder, and the piston rod of the driving cylinder is connected to the side pushing component 123 so that the side pushing component 123 can move in the up and down direction. The second slider 1221 and the second sliding rail 1222 cooperate to slide, enabling the side pushing component 123 to move along the direction of the second sliding rail 1222.

[0190] The fourth driving member 1223 is used to provide the power for the side pushing component 123 to move in the up and down direction to control the state of the side pushing component 123. Exemplarily, the fourth driving member 1223 can be set as an air cylinder, an oil cylinder or an electric cylinder, which can reduce costs and is easy to install and maintain.

[0191] In some embodiments, the lifting assembly 122 can also be replaced by a folding assembly (not shown in the drawings) to deploy or fold the side pushing assembly 123 by rotation. The folding assembly includes a fixing member and a folding member that are rotatably connected. The fixing member is fixedly connected to the second connecting seat 121, and the folding member is fixedly connected to the pushing assembly 123. The fourth driving member 1223 is used to drive the folding member to rotate around the fixing member.

[0192] The embodiment of the present application also provides a production line for battery modules, including a manipulator and any one of the above-mentioned gripper devices 200. The third connecting seat 110 is connected to the manipulator.

[0193] The battery production line uses the gripper device 200 of the embodiment of the present application. The clamping jaw 31 can float in the vertical direction in the gripping space, solving the problem of interference between the clamping jaw and the end plate when the hook is retracted after the battery module is put into the box. In the embodiment where the gripper device 200 includes a side pushing mechanism 120, it can push the stacked battery modules, avoiding the situation where the previously boxed battery modules occupy the positions of the subsequently boxed battery modules. This reduces the maintenance cost of the production equipment, saves the time for dealing with the stacking interference of the battery modules, and improves the production efficiency.

[0194] The embodiment of the present application also provides a stacking method for battery modules. Please refer to Figure 25 , and the order of the numbered steps is not limited. The order of some steps can be adjusted according to the actual situation. Specifically, it includes the following steps:

[0195] S1: Drive the clamping jaw assembly to clamp the battery module to be stacked;

[0196] S2: Drive the gripper device to move the clamping jaw mechanism to the stacking station of the battery module;

[0197] S3: Drive the side pushing assembly to extend to the side pushing position;

[0198] S4: Drive the gripper device to translate, so that the side pushing assembly pushes the stacked battery module at the stacking station back to its original position;

[0199] S5: Drive the side pushing assembly to retract to the initial position;

[0200] S6: Drive the gripper device to move the battery module to be stacked to the stacking position;

[0201] S7: Drive the gripper device to move downward to place the battery module to be stacked in place;

[0202] S8: Drive the clamping jaw assembly to disengage the clamping jaw from the battery module.

[0203] The stacking method can use any of the above gripper devices with a side-pushing mechanism to perform the operation of placing the battery module into the box. Before placing the battery module to be stacked at the preset stacking position in the box, first use the side-pushing component to push the stacked battery modules to the corresponding set position, so as to solve the problem that the stacked battery modules may slip and occupy the placement space of the subsequently stacked battery modules, so as to prevent the battery module to be stacked from colliding with the stacked battery modules due to interference in the placement position.

[0204] The above "battery module returns to the original position" means that the battery module returns to the set stacking position.

[0205] In some embodiments, the stacking method includes the following steps. Please refer to Figure 26 , specifically including the following steps:

[0206] T1: Drive the first locking component to lock the floating seat to the fixed seat;

[0207] T2: Drive the jaw component to clamp the battery module to be stacked;

[0208] T3: Drive the second locking component to fixedly connect the jaw component to the first connecting seat;

[0209] T4: Drive the gripper device to move the jaw mechanism to the stacking station of the battery module;

[0210] T5: Drive the side-pushing component to extend to the side-pushing position;

[0211] T6: Drive the gripper device to translate, so that the side-pushing component pushes the stacked battery modules at the stacking station back to the original position;

[0212] T7: Drive the side-pushing component to retract to the initial position;

[0213] T8: Drive the gripper device to move the battery module to be stacked to the stacking position;

[0214] T9: Drive the first locking component to enable the floating seat to float relative to the fixed seat;

[0215] T10: Drive the gripper device to move downward to place the battery module to be stacked in place;

[0216] T11: Drive the second locking component to enable the jaw component to be movably connected to the first connecting seat;

[0217] T12: Drive the jaw component to disengage the jaws from the battery module.

[0218] The stacking method can apply any one of the above gripper devices with the first locking component, the second locking component, the third locking component and the side pushing mechanism to perform the operation of loading the battery module into the box. Before the gripper mechanism grips the battery module, the floating seat is locked to the fixed seat through the first locking component to facilitate the gripper to stably extend into the end plate hole. After gripping the battery module, the gripper assembly is fixedly connected to the first connecting seat through the second locking component to facilitate stably moving the battery module to the stacking station. Before stacking, the battery modules stacked on the box are pushed to the set position through the side pushing component to prevent the stacked battery modules from slipping and occupying the stacking position of the subsequent battery module. Then, the first locking component is unlocked to enable the floating seat to float relative to the fixed seat, and the battery module to be stacked is placed at the preset position on the box to reduce the impact of the gripper on the end plate when the gripper mechanism descends. Finally, the second locking component is unlocked, and the gripper is moved outwards to disengage the gripper from the battery module.

[0219] When the battery production line uses the stacking method of the embodiment of the present application, it can effectively improve the service life of the gripper, reduce the damage of components caused by the collision between the gripper and the end plate of the battery module, avoid the interference of the production line process caused by the occupied position of the stacked battery modules, improve the stacking efficiency of the battery module, and reduce the equipment maintenance cost.

[0220] Taking a specific embodiment as an example, the partial stacking process of the gripper device 200 of the embodiment of the present application will be described.

[0221] 1) The first driving member 361 drives the first locking pin 362 to extend out, so that the first locking pin 362 extends into the first locking hole 33a to lock the fixed seat 32 and the floating seat 33, so that the gripper 31 can stably grip the battery module during the grasping and handling process.

[0222] 2) The robotic arm moves, so that the grippers 31 of the two gripper mechanisms 100 are located on both sides of the end plate of the battery module. The third driving member 70 drives the two moving members 21, so that the two grippers 31 move towards the battery module and extend into the end plate hole to clamp the end plate of the battery module.

[0223] 3) The second driving member 63 drives the second locking pin 61 to extend out, so that the second locking pin 61 is locked and connected to the second locking block 62 to lock the moving member 21 and the first connecting seat 10, so that the gripper 31 maintains the state of clamping the battery module, preventing the clamping failure of the gripper 31 caused by the failure of the third driving member 70 and the like.

[0224] 4) The gripper 31 clamps the battery module and moves to the stacking station of the battery module following the robotic arm.

[0225] 5) The fourth driving member 1223 drives the side pushing component 123 to extend to the side pushing position.

[0226] 6) The robotic arm moves, and the side-pushing component 123 follows the movement of the robotic arm to push the stacked battery modules back to their original positions, that is, to push the stacked battery modules back to the corresponding preset positions.

[0227] 7) The fourth driving member 1223 drives the side-pushing component 123 back to its initial position to facilitate the operation of the gripper mechanism 100 for placing the battery modules into the box.

[0228] 8) The robotic arm moves, and the gripper 31 follows the movement of the robotic arm to the stacking position of the battery module to be stacked, so as to move the battery module to be stacked to the preset stacking position.

[0229] 9) The first driving member 361 drives the first locking pin 362 to retract, and the first locking pin 362 releases the locking with the first locking hole 33a, and the floating seat 33 can float relative to the fixed seat 32.

[0230] 10) The robotic arm moves downward, and the gripper 31 follows the movement of the robotic arm to place the battery module to be stacked in place.

[0231] 11) The second driving member 63 drives the second locking pin 61 to retract, so that the second locking pin 61 is locked and connected to the second locking block 62, and the moving member 21 and the first connecting seat 10 are unlocked.

[0232] 12) The robotic arm moves downward, and the floating seat 33 and the gripper 31 float upward relative to the fixed seat 32. The third driving member 70 drives the two moving members 21 to move the two grippers 31 in a separating direction to disengage from the battery module.

[0233] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting 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 recorded 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 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.

Claims

1. A jaw mechanism, characterized in that, Comprising: A first connecting seat; A moving assembly, including a moving part and a fixing part, the fixing part is arranged on the first connecting seat, and the moving part is movably connected to the fixing part; And A jaw assembly, including jaws, a fixed seat, a floating seat and a first elastic assembly, the fixed seat is fixedly connected to the moving part, the jaws are fixedly connected to the floating seat, and the first elastic assembly connects the floating seat and the fixed seat to enable the floating seat to float relative to the fixed seat.

2. The jaw mechanism according to claim 1, characterized in that, The fixed seat includes a first fixing plate and a first mounting seat, the first fixing plate is connected to the moving part, and the first mounting seat is fixedly connected to the first fixing plate; The floating seat includes a first floating plate and a second mounting seat, and both the jaws and the second mounting seat are fixedly connected to the first floating plate; The first elastic assembly includes a first elastic member, and the first elastic member connects the first mounting seat and the second mounting seat.

3. The jaw mechanism according to claim 2, characterized in that, The first elastic assembly further includes a first guiding member, the first mounting seat has a first mounting hole, and the second mounting seat has a second mounting hole; The first guiding member passes through the first mounting hole and the second mounting hole, and the first elastic member is sleeved on the first guiding member and is located between the first mounting seat and the second mounting seat.

4. The jaw mechanism according to claim 3, characterized in that, The first elastic member is a spring, the first mounting seat is located above the second mounting seat, or the first mounting seat is located below the second mounting seat.

5. The jaw mechanism according to claim 2, characterized in that, The first floating plate has a plurality of third mounting holes, and the jaws can be selectively mounted on the first floating plate through the third mounting holes to adjust the mounting position of the jaws on the first floating plate.

6. The jaw mechanism according to claim 2, wherein, The jaw assembly further includes a guiding assembly, and the guiding assembly includes a guiding slide rail and a guiding slider slidably connected to the guiding slide rail; One of the guiding slide rail and the guiding slider is arranged on the first fixing plate, and the other of the guiding slide rail and the guiding slider is arranged on the first floating plate.

7. The jaw mechanism according to claim 1, characterized in that, The jaw assembly further includes: A first locking assembly for locking the floating seat to the fixed seat.

8. The jaw mechanism according to claim 7, characterized in that, The floating seat has a first locking hole, and the first locking assembly includes: A first driving member arranged on the fixed seat; and A first locking pin connected to the first driving member and capable of passing through the first locking hole to lock the floating seat to the fixed seat.

9. The jaw mechanism according to claim 8, characterized in that The first locking assembly further includes a first locking block having a locking surface, fixedly connected to the floating seat and at least partially located in the first locking hole; The first locking pin is a locking insert piece and cooperates with the locking surface.

10. The jaw mechanism according to claim 8, wherein The jaw mechanism further includes: A limiting mechanism, at least partially connected to the floating seat to limit the position of the floating seat relative to the fixed seat so that the locking pin can be inserted into the first locking hole.

11. The jaw mechanism according to claim 10, wherein, The limiting mechanism includes: An abutting seat fixedly connected to the fixed seat or the moving part; A limiting seat, the limiting seat is fixedly connected to the floating seat; and A limiting rod, one of the abutting seat and the limiting seat has a limiting adjustment hole, the limiting rod passes through the limiting adjustment hole and can abut against the other of the abutting seat and the limiting seat to adjust the initial position of the floating seat relative to the fixed seat.

12. The jaw mechanism according to claim 1, wherein, The jaw mechanism further includes: A positioning pin fixedly connected to the first connecting seat for positioning the gripping position of the jaw.

13. The jaw mechanism according to claim 1, characterized in that, The jaw mechanism further includes: A second locking assembly for locking the moving member so that the jaw assembly is fixedly connected to the first connecting seat.

14. The jaw mechanism according to claim 13, characterized in that, The second locking assembly includes: A second locking pin; A second locking block fixedly connected to the moving member; and A second driving member fixedly connected to the first connecting seat, the second locking pin is connected to the second driving member, and the second driving member can drive the second locking pin to be locked and connected to the second locking block.

15. The jaw mechanism according to claim 14, characterized in that, The second locking pin is a locking insert tooth, and the second locking block is a locking rack; or, The second locking block has at least one second locking hole, and the second locking pin can be inserted into the second locking hole.

16. The jaw mechanism according to any one of claims 1 to 15, characterized in that, The moving member includes a first slider, the fixed member includes a first sliding rail, and the first slider is slidably connected to the first sliding rail; or, The moving member includes a slider nut, the fixed member includes a transmission lead screw, and the slider nut is connected to the transmission lead screw.

17. A gripper device for stacking battery modules, characterized in that, It includes: A third connecting seat; The jaw mechanism according to any one of claims 1 to 16, the two jaw mechanisms are respectively fixedly connected to the third connecting seat through the corresponding first connecting seats; and A third driving member for driving the moving member so that the two jaw mechanisms can grip the battery modules to be stacked.

18. The gripper device according to claim 17, characterized in that, The gripper device further includes: A side pushing mechanism fixedly connected to the third connecting seat for pushing the stacked battery modules.

19. The gripper device according to claim 18, characterized in that, The side pushing mechanism includes: A second connecting seat fixedly connected to the third connecting seat; A lifting assembly fixedly connected to the second connecting seat; and A side pushing assembly connected to the lifting assembly, the lifting assembly can drive the side pushing assembly to move, and the side pushing assembly is used for pushing the battery modules to be stacked.

20. The gripper device according to claim 19, characterized in that, The side pushing assembly includes: A second fixing plate connected to the lifting assembly; A second floating plate for pushing the stacked battery modules; and A second elastic assembly connecting the second floating plate and the second fixing plate so that the second floating plate can float relative to the second fixing plate.

21. The gripper device according to claim 20, wherein The second elastic assembly includes a second elastic member and a second guiding member, and the second fixing plate has a third mounting hole; The second guiding member passes through the third mounting hole and is fixedly connected to the second floating plate; the second elastic member is sleeved on the second guiding member and is located between the second fixing plate and the second floating plate.

22. The gripper device according to claim 19, characterized in that, The lifting assembly includes: A second slider fixedly connected to the second connecting seat; A second sliding rail, one end of which is fixedly connected to the side pushing assembly and the other end of which is slidably connected to the slider; and A fourth driving member disposed on the second connecting seat, and the fourth driving member connects the side pushing assembly.

23. The gripper device according to any one of claims 17 to 22, characterized in that One of the third driving members is provided for each of the two jaw mechanisms, so that the third driving members are respectively drivingly connected to the corresponding moving members; or, The two jaw mechanisms share one third driving member, so that the third driving member synchronously drives the two moving members.

24. A production line for a battery module, characterized in that, Comprising: A manipulator; The gripper device according to any one of claims 17 to 23, wherein the third connecting seat is connected to the manipulator.

25. A stacking method for a battery module, characterized in that, Comprising: A driving jaw assembly to clamp the battery modules to be stacked; A driving gripper device to move the jaw mechanism to the stacking station of the battery modules; A driving side pushing assembly to extend to the side pushing position; A driving gripper device to translate, so that the side pushing assembly pushes the stacked battery modules at the stacking station back to the original position; A driving side pushing assembly to retract to the initial position; A driving gripper device to move the battery modules to be stacked to the stacking position; A driving gripper device to move downward to place the battery modules to be stacked in place; A driving jaw assembly to disengage the jaws from the battery modules.

26. The stacking method according to claim 25, wherein Before driving the jaw assembly to clamp the battery modules to be stacked, the stacking method further includes: A driving first locking assembly to lock the floating seat to the fixed seat; Before driving the gripper device to move the jaw mechanism to the stacking station of the battery modules, the stacking method further includes: A driving second locking assembly to fixedly connect the jaw assembly to the first connecting seat; Before driving the gripper device to move downward to place the battery modules to be stacked in place, the stacking method further includes: A driving first locking assembly to enable the floating seat to float relative to the fixed seat; Before driving the jaw assembly to disengage the jaws from the battery modules, the stacking method further includes: A driving second locking assembly to enable the jaw assembly to be movably connected to the first connecting seat.

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