Gripping device and battery production line

Abstract

The invention discloses a grabbing device and a battery production line, and the grabbing device comprises a grabbing assembly, a stacking table, a first limiting part, a second limiting part and a third limiting part. According to the scheme, the single batteries on the logistics line are transferred to the stacking table through the grabbing assembly, and then the single batteries are limited in the first direction, the second direction and the third direction through the first limiting piece, the second limiting piece and the third limiting piece, so that the multiple single batteries can be accurately stacked together; the dislocation phenomenon among a plurality of battery monomers is avoided, the assembly precision of the battery monomers is effectively improved, and meanwhile, the assembly efficiency is also improved.

Description

Technical Field

[0001] The present application relates to the technical field of batteries, and particularly relates to a grasping device and a battery production line. Background Art

[0002] During the production process of battery cells, it is necessary to clamp the battery cells with a fixture and transfer them between workstations.

[0003] In the related art, during the process of clamping and transferring battery cells, the battery cells cannot be accurately stacked together. Summary of the Invention

[0004] In view of the above problems, the present application provides a grasping device and a battery production line, which can accurately stack battery cells together.

[0005] To solve the above technical problems, in a first aspect, the present application proposes a grasping device, including: A grasping component configured to grasp battery monomers on a logistics line; A stacking table configured to place the battery monomers; A limiting component, the limiting component includes a first limiting member, a second limiting member and a third limiting member, the first limiting member, the second limiting member and the third limiting member are all arranged on the stacking table, the first limiting member is configured to limit the position of the battery monomer in a first direction, the second limiting member is configured to limit the position of the battery monomer in a second direction, and the third limiting member is configured to limit the position of the battery monomer in a third direction; wherein, the first direction is the conveying direction of the logistics line, the second direction intersects with the first direction, and the third direction is perpendicular to the plane formed by the first direction and the second direction; A detection member arranged on the stacking table for detecting the position of the battery monomer located on the stacking table.

[0006] In the technical solution of the embodiment of the present application, the battery monomers on the logistics line are transferred to the stacking table by the grasping component, and then the first limiting member, the second limiting member and the third limiting member are used to limit the battery monomers in the first direction, the second direction and the third direction, so that multiple battery monomers can be accurately stacked together, avoiding misalignment between multiple battery monomers, effectively improving the assembly accuracy of the battery monomers, and also improving the assembly efficiency. At the same time, by arranging the detection member, it is convenient to detect the position of the battery monomer on the stacking table.

[0007] In some embodiments, the first limiting member includes a first driving member and a first fixing block, and both the first driving member and the first fixing block are arranged on the stacking table; The battery cell is located between the first driving member and the first fixing block, and the first driving member is configured to push the battery cell to move along the first direction. In this way, through the cooperation of the first driving member and the first fixing block, it is convenient to limit the battery cell in the first direction.

[0008] In some embodiments, the grasping device further includes a first connecting block and a first rotating member; The first connecting block is disposed on the first driving member, and the first rotating member is disposed on a side of the first connecting block facing the first fixing block. In this way, when the first driving member pushes the first connecting block to move towards the battery cell along the first direction, the first rotating member on the first connecting block contacts the side surface of the battery cell, and the first rotating member can rotate relative to the side surface of the battery cell, thereby reducing the friction of the first rotating member on the side surface of the battery cell and avoiding friction damage on the side surface of the battery cell.

[0009] In some embodiments, the grasping device further includes an elastic member, and the elastic member is disposed between the first driving member and the first connecting block. In this way, under the action of the elastic member, the battery cell can be stably located between the first rotating member on the first connecting block and the first fixing block.

[0010] In some embodiments, the grasping device further includes a first flexible pad, and the first flexible pad is disposed on a side of the first fixing block facing the first driving member. In this way, it is possible to avoid collision damage when the battery cell contacts the first fixing block.

[0011] In some embodiments, the third limiting member includes a second driving member and a second fixing block, and both the second driving member and the second fixing block are disposed on the stacking table; The second driving member is connected to the second connecting block and is configured to drive the second connecting block to move along the second direction. The second rotating member is disposed on a side of the second connecting block facing the stacking table. In this way, when the second driving member drives the second connecting block to move towards the battery cell along the second direction, the second rotating member on the second connecting block contacts the upper surface of the battery cell, and the second rotating member can rotate relative to the upper surface of the battery cell, thereby reducing the friction of the second rotating member on the upper surface of the battery cell and avoiding friction damage on the upper surface of the battery cell.

[0012] In some embodiments, the third limiting member includes a third driving member and a second fixing block, and both the third driving member and the second fixing block are disposed on the stacking table; The battery cell is located between the third driving member and the second fixing block, and the third driving member is configured to push the battery cell to move along the third direction. In this way, through the cooperation of the third driving member and the second fixing block, it is convenient to limit the position of the battery cell in the third direction.

[0013] In some embodiments, the grasping device further includes a third connecting block and a third rotating member; The third connecting block is arranged on the third driving member, and the third rotating member is arranged on the side of the third connecting block facing the second fixing block. In this way, when the third driving member pushes the third connecting block to move towards the battery cell along the third direction, the third rotating member on the third connecting block contacts the side surface of the battery cell, and the third rotating member can rotate relative to the side surface of the battery cell, so as to reduce the friction of the third rotating member on the side surface of the battery cell and avoid friction damage on the side surface of the battery cell.

[0014] In some embodiments, the grasping device further includes a second flexible pad, and the second flexible pad is arranged on the side of the second fixing block facing the third driving member. In this way, it can be avoided that the battery cell is damaged by collision when it contacts the second fixing block.

[0015] In some embodiments, the grasping device further includes a support frame and an adjusting plate. The stacking table is arranged on the support frame, and the adjusting plate is arranged on the bottom surface of the support frame for adjusting the levelness of the support frame. In this way, by adjusting the levelness of the support frame through the adjusting plate, the stacking table can be made to be in a horizontal state as a whole.

[0016] In some embodiments, the grasping device further includes a fourth driving member. The fourth driving member is arranged on the support frame, and the fourth driving member is connected to the stacking table for driving the stacking table to move along the first direction. In this way, it is convenient to transfer the battery cells stacked on the stacking table.

[0017] In some embodiments, the grasping assembly includes a fifth driving member, a sixth driving member, a clamping jaw and a support frame; The fifth driving member is arranged on the support frame. The fifth driving member is connected to the sixth driving member for driving the sixth driving member to move along the third direction, and the sixth driving member is connected to the clamping jaw for driving the clamping jaw to move along the second direction.

[0018] In a second aspect, the present application provides a battery production line, including the grasping device according to any one of the embodiments of the present application.

[0019] The above description is only an overview of the technical solution of the present application. In order to better understand the technical means of the present application, it can be implemented according to the content of the specification. Moreover, in order to make the above and other objects, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are given below. Description of the Drawings

[0020] By reading the following detailed description of the embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the embodiments and are not considered to be a limitation of the present application. Moreover, in all the drawings, the same reference numerals are used to represent the same components. In the drawings: Figure 1 is a schematic structural diagram of a grasping device provided in some embodiments of the present application; Figure 2 is a schematic diagram of a stacking table provided in some embodiments of the present application; Figure 3 is Figure 2 an enlarged schematic view of part A in Figure 4 is Figure 2 an enlarged schematic view of part B in Figure 5 is Figure 2 an enlarged schematic view of part C in Figure 6 is a schematic diagram of a support frame provided in some embodiments of the present application; Figure 7 is a schematic diagram of a grasping component provided in some embodiments of the present application.

[0021] The reference numerals in the specific embodiments are as follows: 10. Grasping component; 101. Fifth driving member; 102. Sixth driving member; 103. Claw; 104. Support frame; 11. Stacking table; 12. First limiting member; 121. First driving member; 122. First fixing block; 13. Second limiting member; 14. Third limiting member; 141. Third driving member; 142. Second fixing block; 15. First flexible pad; 16. Second flexible pad; 17. Detection member; 18. Battery cell; 19. Elastic member; 20. First connecting block; 21. First rotating member; 22. Second connecting block; 23. Second rotating member; 24. Third connecting block; 25. Third rotating member; 26. Support frame; 27. Fourth driving member; 28. Adjusting plate; 29. Logistics line. Detailed Embodiments

[0022] The embodiments of the technical solution of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "comprising" and "having" and any variations thereof in the specification and claims of this application and the above description of the drawings are intended to cover non-exclusive inclusion.

[0024] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0025] Reference to "an 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 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 herein can be combined with other embodiments.

[0026] In the description of the embodiments of this application, the term "and / or" 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 " / " herein generally represents an "or" relationship between the associated objects before and after.

[0027] In the description of the embodiments of this application, the term "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 pieces" refers to two or more pieces (including two pieces).

[0028] In the description of the embodiments of this application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of this application and simplifying the description, rather than indicating or implying that the indicated device or element 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 this application.

[0029] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; 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 components or the interaction relationship between two components. 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 situations.

[0030] During the production process of the battery cell, it is necessary to clamp the battery cell with a fixture and transfer it to different workstations.

[0031] When the fixture clamps and transfers the battery cells, it is necessary to stack multiple battery cells neatly together for subsequent operations. In the related art, during the use of the fixture, multiple battery cells cannot be accurately stacked together, which is not convenient for subsequent operations.

[0032] Based on the above considerations, in order to accurately stack multiple battery cells together, a grasping device is designed. The grasping device includes a grasping component, a stacking platform, a limiting component, and a detection component. Among them, the grasping component is configured to grasp the battery monomers on the logistics line, the stacking platform is configured to place the battery monomers, the limiting component includes a first limiting member, a second limiting member, and a third limiting member. The first limiting member, the second limiting member, and the third limiting member are all arranged on the stacking platform. The first limiting member is configured to limit the position of the battery monomer in the first direction, the second limiting member is configured to limit the position of the battery monomer in the second direction, and the third limiting member is configured to limit the position of the battery monomer in the third direction; wherein, the first direction is the conveying direction of the logistics line, the second direction intersects the first direction, and the third direction is perpendicular to the plane formed by the first direction and the second direction; the detection component is arranged on the stacking platform for detecting the position of the battery monomer located on the stacking platform.

[0033] In the technical solution of the embodiments of the present application, the battery monomers on the logistics line are transferred to the stacking platform by the grasping component, and then the first limiting member, the second limiting member, and the third limiting member are used to limit the battery monomers in the first direction, the second direction, and the third direction, so that multiple battery monomers can be accurately stacked together, avoiding misalignment between multiple battery monomers, effectively improving the assembly accuracy of the battery monomers, and at the same time improving the assembly efficiency. At the same time, by setting the detection component, it is convenient to detect the position of the battery monomer on the stacking platform.

[0034] According to some embodiments of the present application, Figure 1 is a schematic structural diagram of the grasping device in the present application, Figure 2 is a schematic diagram of the stacking platform in the present application. As Figure 1 and Figure 2As shown in the figure, the present application provides a grasping device, which includes a grasping component 10, a stacking platform 11, a limiting component, and a detection component 17. Among them, the grasping component 10 is configured to grasp the battery cells 18 on the logistics line 29, the stacking platform 11 is configured to place the battery cells, the limiting component includes a first limiting member 12, a second limiting member 13, and a third limiting member 14. The first limiting member 12, the second limiting member 13, and the third limiting member 14 are all arranged on the stacking platform 11. The first limiting member 12 is configured to limit the position of the battery cell in the first direction, the second limiting member 13 is configured to limit the position of the battery cell in the second direction, and the third limiting member 14 is configured to limit the position of the battery cell in the third direction. Wherein, the first direction is the conveying direction of the logistics line, the second direction intersects with the first direction, and the third direction is perpendicular to the plane formed by the first direction and the second direction. The detection component 17 is arranged on the stacking platform 11 for detecting the position of the battery cell located on the stacking platform 11.

[0035] In this embodiment, the first direction is as Figure 2 shown in the X-axis direction in Figure 2 the figure, the second direction is as Figure 2 shown in the Z-axis direction in the figure, and the third direction is as shown in the Y-axis direction in the figure. Among them, the included angle between the X-axis and the Z-axis can be 80°, 85°, 90°, etc. For the convenience of description below, it is taken as an example that the X-axis and the Z-axis are perpendicular to each other. At the same time, the Y-axis is perpendicular to the plane formed by the X-axis and the Z-axis.

[0036] The grasping component 10 in this embodiment can be a mechanical claw, a six-degree-of-freedom manipulator, etc., and can be specifically determined according to the actual situation, and this embodiment of the specification does not limit this.

[0037] The first limiting member 12 in this embodiment may include a fixed block and an electric telescopic rod. After the electric telescopic rod pushes the battery cell 18 to move along the X-axis direction and contacts the fixed block, at this time, the battery cell 18 can be limited in the X-axis direction. For the structures of the second limiting member 13 and the third limiting member 14, reference can be made to the structure of the first limiting member 12, and details are not described here.

[0038] Referring to Figure 2 the figure, the first limiting member 12 in this embodiment is used to limit the position of the battery cell 18 in the left-right direction, the second limiting member 13 is used to limit the position of the battery cell 18 in the up-down direction, and the third limiting member 14 is used to limit the position of the battery cell 18 in the front-back direction.

[0039] The detection component 17 in this embodiment can be infrared rays, a position sensor, etc., and can be specifically determined according to the actual situation, and this embodiment of the specification does not limit this.

[0040] After the battery cell 18 is fixed on the stacking platform 11, the position of the battery cell 18 on the stacking platform 11 is detected by the detecting member 17, so that the position of the battery cell 18 can be conveniently viewed.

[0041] During use, the battery cell 18 on the logistics line 29 is transferred to the stacking platform 11 by the grasping assembly 10, and then the first limiting member 12, the second limiting member 13, and the third limiting member 14 are used to limit the battery cell 18 in the X, Z, and Y directions, so that a plurality of battery cells 18 can be accurately stacked together, avoiding misalignment between the plurality of battery cells 18, effectively improving the assembly accuracy of the battery cell 18, and also improving the assembly efficiency.

[0042] According to some embodiments of the present application, such as Figure 2 As shown, the first limiting member 12 includes a first driving member 121 and a first fixing block 122. Among them, the first driving member 121 and the first fixing block 122 are both arranged on the stacking platform 11; when the battery cell is located between the first driving member 121 and the first fixing block 122, the first driving member 121 is configured to push the battery cell to move along the first direction.

[0043] The first driving member 121 in this embodiment can be an electric telescopic rod, a hydraulic cylinder, etc., and can be specifically determined according to the actual situation, and this specification embodiment does not limit this.

[0044] In this embodiment, both the first driving member 121 and the first fixing block 122 can be fixed on the stacking platform 11 by bolts. When the grasping assembly 10 transfers the battery cell 18 on the logistics line 29 between the first driving member 121 and the first fixing block 122, the left side of the battery cell 18 is pushed along the X-axis direction by the first driving member 121, so that the right side of the battery cell 18 abuts against the first fixing block 122. In this way, under the limitation of the first fixing block 122, it is convenient to limit the battery cell 18 in the X-axis direction.

[0045] According to some embodiments of the present application, such as Figure 3 And in combination with Figure 2 As shown, the grasping device further includes a first connecting block 20 and a first rotating member 21. Among them, the first connecting block 20 is arranged on the first driving member 121, and the first rotating member 21 is arranged on the side of the first connecting block 20 facing the first fixing block 122.

[0046] The first connecting block 20 in this embodiment is connected to the telescopic end of the first driving member 121. The first rotating member 21 can be a bearing, a ball, etc., such as Figure 3As shown, the first rotating member 21 can be connected to the side of the first connecting block 20 facing the first fixing block 122 through a pin shaft. The first rotating member 21 can rotate relative to the first connecting block 20, and at least part of the first rotating member 21 is located outside the right side of the first connecting block 20.

[0047] In this way, when the first driving member 121 pushes the first connecting block 20 to move towards the battery cell 18 along the X-axis direction, the first rotating member 21 on the first connecting block 20 contacts the left side surface of the battery cell 18. At this time, the first rotating member 21 is in rolling contact with the left side surface of the battery cell 18, so that the friction of the first rotating member 21 on the left side surface of the battery cell 18 can be reduced, and the left side surface of the battery cell 18 can be prevented from being damaged by friction.

[0048] According to some embodiments of the present application, such as Figure 3 and in combination with Figure 2 As shown, the grasping device further includes an elastic member 19, and the elastic member 19 is arranged between the first driving member 121 and the first connecting block 20.

[0049] In this embodiment, the elastic member 19 can refer to an elastic member that can deform under an external force and return to its original state after the external force is removed. The elastic member 19 can be elastically compressed in the X-axis direction. The elastic member 19 can be made of a metal material or a non-metal material, such as: leaf spring, helical spring, gas spring, rubber spring, etc. Specifically, it can be determined according to the actual situation, and the embodiments of this specification do not limit this.

[0050] Referring to Figure 3 As shown, one end of the elastic member 19 is connected to the first driving member 121, and the other end is connected to the first connecting block 20. When in use, the first driving member 121 drives the elastic member 19 and the first connecting block 20 to move along the X-axis direction. When the first rotating member 21 on the first connecting block 20 contacts the left side surface of the battery cell 18, the first driving member 121 continues to drive the elastic member 19 and the first connecting block 20 to move to the right along the X-axis direction until the right side surface of the battery cell 18 contacts the first fixing block 122. At this time, the first driving member 121 continues to move a certain distance to the right along the X-axis direction, and the elastic member 19 is in a compressed state under force. The elastic member 19 exerts a rightward acting force on the first connecting block 20, and the first connecting block 20 exerts a rightward acting force on the battery cell 18 through the first rotating member 21. Since the right side of the battery cell 18 cannot move under the limit of the first fixing block 122, at this time, the battery cell 18 can be stably located between the first connecting block 20 and the first fixing block 122.

[0051] According to some embodiments of the present application, such as Figure 2 As shown, the grasping device further includes a first flexible pad 15, and the first flexible pad 15 is arranged on the side of the first fixing block 122 facing the first driving member 121.

[0052] The first flexible pad 15 in this embodiment can be a rubber pad, an asbestos pad, etc., and specifically can be determined according to the actual situation, and the embodiments of this specification do not limit this.

[0053] When the battery cell 18 moves to the right under the action of the thrust, the right side of the battery cell 18 directly contacts the first flexible pad 15, thereby avoiding the collision and damage of the right side of the battery cell 18 with the first fixing block 122.

[0054] According to some embodiments of the present application, such as Figure 4 and in combination with Figure 2 As shown, the grasping device further includes a second connecting block 22 and a second rotating member 23. Among them, the second limiting member 13 includes a second driving member; the second driving member is connected to the second connecting block 22 and is configured to drive the second connecting block 22 to move along the second direction, and the second rotating member 23 is disposed on the side of the second connecting block 22 facing the stacking table 11.

[0055] The second driving member in this embodiment can be an electric telescopic rod, a hydraulic cylinder, etc., and specifically can be determined according to the actual situation, and the embodiments of this specification do not limit this.

[0056] The second connecting block 22 in this embodiment is connected to the telescopic end of the second driving member. The second rotating member 23 can be a bearing, a ball, etc. As Figure 4 shown, the second rotating member 23 can be connected to the side of the second connecting block 22 facing the stacking table 11 through a pin shaft. The second rotating member 23 can rotate relative to the second connecting block 22, and at least part of the second rotating member 23 is located outside the lower side of the second connecting block 22.

[0057] When the grasping assembly 10 transfers the battery cell 18 on the logistics line 29 between the first driving member 121 and the first fixing block 122, the first driving member 121 pushes the left side of the battery cell 18 along the X-axis direction so that the right side of the battery cell 18 abuts against the first fixing block 122, thereby completing the limitation of the battery cell 18 in the X-axis direction.

[0058] Subsequently, the second driving member drives the second connecting block 22 to move downward along the Z-axis direction. When the second rotating member 23 on the second connecting block 22 contacts the battery cell 18, the battery cell 18 can complete the limitation in the Z-axis direction under the limitation of the stacking table 11 and the second rotating member 23.

[0059] When the second driving member drives the second connecting block 22 to move toward the battery cell 18 along the Z-axis direction, the second rotating member 23 on the second connecting block 22 contacts the upper surface of the battery cell 18. At this time, the second rotating member 23 is in rolling contact with the upper surface of the battery cell 18, so that the friction of the second rotating member 23 on the upper surface of the battery cell 18 can be reduced, and frictional damage on the upper surface of the battery cell 18 can be avoided.

[0060] According to some embodiments of the present application, as Figure 2 shown, the third limiting member 14 includes a third driving member 141 and a second fixing block 142. The third driving member 141 and the second fixing block 142 are both arranged on the stacking table 11; when the battery cell is located between the third driving member 141 and the second fixing block 142, the third driving member 141 is configured to push the battery cell to move in the third direction.

[0061] The third driving member 141 in this embodiment can be an electric telescopic rod, a hydraulic cylinder, etc., and can be specifically determined according to actual situations, and the embodiments of this specification do not limit this.

[0062] In this embodiment, both the third driving member 141 and the second fixing block 142 can be fixed to the stacking table 11 by bolts. When the grasping assembly 10 transfers the battery cell 18 on the logistics line 29 to between the first driving member 121 and the first fixing block 122, the left side of the battery cell 18 is pushed by the first driving member 121 along the X-axis direction, so that the right side of the battery cell 18 abuts against the first fixing block 122, thereby completing the limiting of the battery cell 18 in the X-axis direction.

[0063] Subsequently, the second driving member drives the second connecting block 22 to move downward along the Z-axis direction. When the second rotating member 23 on the second connecting block 22 contacts the battery cell 18, the battery cell 18 can complete the limiting in the Z-axis direction under the limitation of the stacking table 11 and the second rotating member 23.

[0064] Finally, the front side of the battery cell 18 is pushed by the third driving member 141 along the Y-axis direction, so that the rear side of the battery cell 18 abuts against the second fixing block 142. In this way, under the limitation of the second fixing block 142, it is convenient to limit the battery cell 18 in the Y-axis direction.

[0065] According to some embodiments of the present application, as Figure 5 and combined with Figure 2 shown, the grasping device further includes a third connecting block 24 and a third rotating member 25; wherein, the third connecting block 24 is arranged on the third driving member 141, and the third rotating member 25 is arranged on the side of the third connecting block 24 facing the second fixing block 142.

[0066] In this embodiment, the third connecting block 24 is connected to the telescopic end on the third driving member 141. The third rotating member 25 can be a bearing, a ball, etc. For example, Figure 5 As shown, the third rotating member 25 can be connected to the side of the third connecting block 24 facing the second fixing block 142 by a pin shaft. The third rotating member 25 can rotate relative to the third connecting block 24, and at least a part of the third rotating member 25 is located outside the rear side of the third connecting block 24.

[0067] In this way, when the third driving member 141 pushes the third connecting block 24 to move towards the battery cell 18 along the Y-axis direction, the third rotating member 25 on the third connecting block 24 contacts the side surface of the battery cell 18. At this time, the third rotating member 25 is in rolling contact with the front side surface of the battery cell 18, so that the friction of the third rotating member 25 against the front side surface of the battery cell 18 can be reduced, and the front side surface of the battery cell 18 can be prevented from being damaged by friction.

[0068] According to some embodiments of the present application, for example, Figure 2 As shown, the grasping device further includes a second flexible pad 16, and the second flexible pad 16 is disposed on the side of the second fixing block 142 facing the third driving member 141.

[0069] The second flexible pad 16 in this embodiment can be a rubber pad, an asbestos pad, etc., and can be specifically determined according to actual situations, and the embodiments of this specification do not limit this.

[0070] When the battery cell 18 moves backward under the action of the thrust, the rear side surface of the battery cell 18 directly contacts the second flexible pad 16, so that the rear side surface of the battery cell 18 can be prevented from colliding and being damaged with the second fixing block 142.

[0071] According to some embodiments of the present application, for example, Figure 6 As shown, the grasping device further includes a support frame 26 and an adjusting plate 28. Among them, the stacking table 11 is disposed on the support frame 26, and the adjusting plate 28 is disposed on the bottom surface of the support frame 26 for adjusting the levelness of the support frame 26.

[0072] In this embodiment, the stacking table 11 can be connected to the upper part of the support frame 26 by bolts, or connected to the upper part of the support frame 26 through the cooperation of a slider and a slide rail, and can be specifically determined according to actual situations, and the embodiments of this specification do not limit this.

[0073] The adjusting plate 28 in this embodiment includes bolts and a connecting plate. A plurality of bolts are evenly distributed on the bottom surface of the support frame 26. One end of each bolt is threadedly connected to the bottom surface of the support frame 26, and the other end is fixedly connected to the connecting plate. When the support frame 26 is placed on a plane, the connecting plate contacts the plane. At this time, by rotating the bolts, the bolts extend into or out of the support frame 26, so that the levelness of the support frame 26 can be adjusted, and further the entire stacking table 11 can be made horizontal.

[0074] According to some embodiments of the present application, as Figure 6 shown, the grasping device further includes a fourth driving member 27. The fourth driving member 27 is disposed on the support frame 26, and the fourth driving member 27 is connected to the stacking table 11 for driving the stacking table 11 to move in the first direction.

[0075] The fourth driving member 27 in this embodiment can be an electric telescopic rod, a hydraulic rod, a ball screw mechanism, etc., and can be specifically determined according to actual situations, and this embodiment of the specification does not limit this.

[0076] The first direction in this embodiment can refer to the above description and will not be elaborated here.

[0077] Refer to Figure 6 shown. After the battery cell 18 is fixed on the stacking table 11, by driving the stacking table 11 to move in the X-axis direction through the fourth driving member 27, it is convenient to transfer the battery cells 18 stacked on the stacking table 11 to other workstations.

[0078] According to some embodiments of the present application, as Figure 7 shown, the grasping assembly 10 includes a fifth driving member 101, a sixth driving member 102, a clamping jaw 103, and a support frame 104. Among them, the fifth driving member 101 is disposed on the support frame 104, and the fifth driving member 101 is connected to the sixth driving member 102 for driving the sixth driving member 102 to move in the third direction. The sixth driving member 102 is connected to the clamping jaw 103 for driving the clamping jaw 103 to move in the second direction.

[0079] The fifth driving member 101 and the sixth driving member 102 in this embodiment can both be linear module mechanisms, electric telescopic rods, etc., and can be specifically determined according to actual situations, and this embodiment of the specification does not limit this.

[0080] The clamping jaw 103 in this embodiment can be a mechanical jaw, a hydraulic clamping jaw, etc. The connection structure between the clamping jaw 103 and the sixth driving member 102 can refer to the connection structure between the robotic arm and the clamping jaw in the related art and will not be elaborated here.

[0081] Refer to Figure 7As shown in the figure, the fifth driving member 101 drives the sixth driving member 102 to move in the Y-axis direction, so that the position of the jaw 103 on the sixth driving member 102 corresponds to that of the battery cell 18 on the logistics line 29 in the Y-axis direction. Then, the sixth driving member 102 drives the jaw 103 to move downward in the Z-axis direction. When the jaw 103 is flush with the battery cell 18 on the logistics line 29, the jaw 103 is controlled to pick up the battery cell 18. Subsequently, the sixth driving member 102 drives the jaw 103 to move upward in the Z-axis direction in the reverse direction. At this time, the fifth driving member 101 is used to drive the sixth driving member 102 to move, so that the battery cell 18 picked up by the jaw 103 on the sixth driving member 102 is located between the first driving member 121 and the first fixing block 122 on the stacking table 11. Finally, the jaw 103 is opened so that the battery cell 18 falls between the first driving member 121 and the first fixing block 122.

[0082] It should be noted that the structure of the above-mentioned grasping component is only an example. In other alternative solutions, other structures can also be adopted. For example, the grasping component further includes a vision sensor, which is arranged on the jaw and so on. The present application does not impose special restrictions on the specific structure of the grasping component, as long as the above structure can achieve the purpose of the present application.

[0083] The present application also provides a battery production line, including the grasping device according to any one of the embodiments of the present application.

[0084] The specific structure of the grasping device in this embodiment refers to the above-mentioned embodiment. Since all the technical solutions of the above-mentioned all embodiments are adopted in this battery production line, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated here one by one.

[0085] 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 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 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 grasping device, characterized in that, Comprising: A grasping component configured to grasp battery cells on a logistics line; A stacking table configured to place the battery cells; A limiting component including a first limiting member, a second limiting member, and a third limiting member. The first limiting member, the second limiting member, and the third limiting member are all disposed on the stacking table. The first limiting member is configured to limit the position of the battery cell in a first direction, the second limiting member is configured to limit the position of the battery cell in a second direction, and the third limiting member is configured to limit the position of the battery cell in a third direction. Wherein, the first direction is the conveying direction of the logistics line, the second direction intersects the first direction, and the third direction is perpendicular to the plane formed by the first direction and the second direction; A detecting member disposed on the stacking table for detecting the position of the battery cell located on the stacking table.

2. The gripping device according to claim 1, wherein The first limiting member includes a first driving member and a first fixing block, and both the first driving member and the first fixing block are disposed on the stacking table; The battery cell is located between the first driving member and the first fixing block, and the first driving member is configured to push the battery cell to move along the first direction.

3. The gripping device according to claim 2, characterized in that, The grasping device further includes a first connecting block and a first rotating member; The first connecting block is disposed on the first driving member, and the first rotating member is disposed on the side of the first connecting block facing the first fixing block.

4. The gripping device according to claim 3, characterized in that, The grasping device further includes an elastic member disposed between the first driving member and the first connecting block.

5. The gripping device according to any one of claims 2 to 4, characterized in that, The grasping device further includes a first flexible pad disposed on the side of the first fixing block facing the first driving member.

6. The grasping device according to claim 1, wherein The grasping device further includes a second connecting block and a second rotating member, and the second limiting member includes a second driving member; The second driving member is connected to the second connecting block and is configured to drive the second connecting block to move along the second direction, and the second rotating member is disposed on the side of the second connecting block facing the stacking table.

7. The gripping device according to claim 1, wherein, The third limiting member includes a third driving member and a second fixing block, and both the third driving member and the second fixing block are disposed on the stacking table; The battery cell is located between the third driving member and the second fixing block, and the third driving member is configured to push the battery cell to move along the third direction.

8. The gripping device according to claim 7, wherein, The grasping device further includes a third connecting block and a third rotating member; The third connecting block is disposed on the third driving member, and the third rotating member is disposed on the side of the third connecting block facing the second fixing block.

9. The gripping device according to claim 7 or 8, characterized in that, The grasping device further includes a second flexible pad disposed on the side of the second fixing block facing the third driving member.

10. The gripping device according to claim 1, characterized in that, The grasping device further includes a support frame and an adjusting plate. The stacking table is disposed on the support frame, and the adjusting plate is disposed on the bottom surface of the support frame for adjusting the levelness of the support frame.

11. The gripping device according to claim 10, wherein, The gripping device further includes a fourth driving member, the fourth driving member is disposed on the support frame, and the fourth driving member is connected to the stacking table for driving the stacking table to move along the first direction.

12. The gripping device according to claim 1, characterized in that, The gripping assembly includes a fifth driving member, a sixth driving member, a jaw and a support frame; The fifth driving member is disposed on the support frame, the fifth driving member is connected to the sixth driving member for driving the sixth driving member to move along the third direction, and the sixth driving member is connected to the jaw for driving the jaw to move along the second direction.

13. A battery production line, characterized in that, It includes the gripping device according to any one of claims 1 to 12.

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