A pincer-type blade cell gripper

Abstract

The application provides a clamp type blade battery gripper, which comprises a fixing device, at least one gripper device arranged below the fixing device, a plurality of gripper groups in the gripper device, a first gripper plate and a second gripper plate in each gripper group, a bottom part of the first gripper plate and the second gripper plate being hinged to a bottom part of a gripper plate fixing plate through a first hinge shaft respectively, a top part of the gripper plate fixing plate being fixed to a bottom part of the fixing device, a first air cylinder and a second air cylinder in the gripper device, all the first gripper plates being connected to the gripper device through a first connecting mechanism, all the second gripper plates being connected to the gripper device through a second connecting mechanism, the first air cylinder and the second air cylinder being used for driving the first gripper plates and the second gripper plates to swing around the first hinge shaft respectively, and the swinging directions of the first gripper plates and the second gripper plates being opposite, so as to clamp or release the blade battery. The technical scheme of the application solves the problems of the prior art, such as large self-weight of the battery gripper, complex structure and inconvenient maintenance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of blade battery clamp, in particular to a clamp type blade battery gripper. BACKGROUND

[0002] In the existing battery production line, the carrying operation of the blade battery adopts a multi-cylinder independent driving gripper, which can realize the synchronous grabbing of 8 batteries and maintain a spacing of 21mm. However, with the increase in the number of blade battery grabbing, many new problems will arise, the most core problem being the increase in the load of the robot caused by the excessive weight of the device, and the higher failure rate. The core reasons for the excessive weight and the increase in failure rate are:

[0003] The traditional blade battery gripper has a gripper group with a first gripper plate and a second gripper plate, both of which are driven by independent cylinders. The two cylinders drive the first gripper plate and the second gripper plate to move towards or away from each other to clamp a single blade battery. As shown in the patent disclosed in application number "2022225067462". Moreover, each blade battery needs to be grabbed and held by two gripper groups, and when 8 blade batteries are grabbed, 16 cylinders are needed just to fix the blade batteries, which greatly increases the weight of the entire blade battery gripper, about 40kg. The increase in the weight of the gripper device will affect the movement speed and carrying accuracy of the robot.

[0004] When a cylinder structure is used, each cylinder needs at least two air paths, and at least 32 air paths and 32 magnetic switches are needed to grab 8 blade batteries, which results in an excessive number of internal parts, a greatly increased failure rate, and great inconvenience in maintenance, with an average maintenance time of more than 2 hours.

[0005] The use of a large number of cylinders in the device increases the manufacturing cost, and the consumption of compressed air during use is also very large, resulting in a high use cost of the device. In addition, because the distance between the two adjacent blade batteries is constant, in order to be able to install 16 cylinders, sufficient space needs to be left on the upper part of the entire blade battery gripper to install the cylinders, which will undoubtedly increase the horizontal size (the size perpendicular to the direction of the blade battery) of the entire blade battery gripper, thus limiting the movement range of the robot.

[0006] Therefore, a new battery gripper is needed, which has the characteristics of lighter weight, simplicity and low failure rate. SUMMARY

[0007] The technical means adopted by the present application are as follows:

[0008] A pincer type blade battery gripper, comprising a fixing device, at least one gripper device arranged below the fixing device along the length direction of the blade battery, the gripper device comprising a plurality of gripper groups arranged along the arrangement direction of the blade battery;

[0009] The gripper group comprises a first gripper plate and a second gripper plate respectively arranged on both sides of the blade battery, the middle part of the first gripper plate and the second gripper plate is respectively hinged to the bottom of the gripper plate fixing plate through a first hinge shaft, and the extension direction of the first hinge shaft is parallel to the length direction of the blade battery, and the top of the gripper plate fixing plate is fixed to the bottom of the fixing device;

[0010] The gripper device further comprises a first air cylinder and a second air cylinder respectively arranged at both ends of the arrangement direction of the blade battery, the first air cylinder is connected to all the first gripper plates of the gripper device through a first connecting mechanism, for driving the first gripper plates to swing around the first hinge shaft, and the second air cylinder is connected to all the second gripper plates of the gripper device through a second connecting mechanism, for driving the second gripper plates to swing around the first hinge shaft;

[0011] The swinging directions of the first gripper plate and the second gripper plate are opposite, for clamping or releasing the blade battery.

[0012] Preferably, a plurality of rubber pins are installed on the lower part of the first gripper plate and the second gripper plate.

[0013] Preferably, the side walls of the first gripper plate and the second gripper plate in the same gripper group are connected through an obliquely arranged connecting rod, the two ends of the connecting rod are respectively hinged to the first gripper plate and the second gripper plate through a second hinge shaft, and the second hinge shaft is parallel to the length direction of the blade battery.

[0014] Preferably, the middle part of the first gripper plate and the second gripper plate in the same gripper group is connected through a spring, and the spring is lower than the first hinge shaft.

[0015] Preferably, the first connecting mechanism comprises a first push-pull piece, a first bolt corresponding to the number of the first grab plates, a first spring corresponding to the number of the first grab plates, and a first fixed block corresponding to the number of the first grab plates; the extension direction of the first push-pull piece is parallel to the arrangement direction of the blade batteries, the top of the first push-pull piece is slidably connected with the fixing device, and the end of the first push-pull piece is connected with the first air cylinder; the screw end of the first bolt horizontally penetrates through the first through hole in the top of the first grab plate corresponding to the first bolt, and penetrates through the first fixed block fixed to the bottom of the first push-pull piece; the screw end of the first bolt is provided with a first nut, there is a gap between the first through hole and the screw rod of the first bolt, and the inner diameter of the first through hole is smaller than the outer diameter of the nut of the first bolt; the first spring is sleeved outside the screw rod of the first bolt and located between the first fixed block and the first through hole.

[0016] The second connecting mechanism comprises a second push-pull piece, a second bolt corresponding to the number of the second grab plates, a second spring corresponding to the number of the second grab plates, and a second fixed block corresponding to the number of the second grab plates; the extension direction of the second push-pull piece is parallel to the arrangement direction of the blade batteries, the top of the second push-pull piece is slidably connected with the fixing device, and the end of the second push-pull piece is connected with the second air cylinder; the screw end of the second bolt horizontally penetrates through the second through hole in the top of the second grab plate corresponding to the second bolt, and penetrates through the second fixed block fixed to the bottom of the second push-pull piece; the screw end of the second bolt is provided with a second nut, there is a gap between the second through hole and the screw rod of the second bolt, and the inner diameter of the second through hole is smaller than the outer diameter of the nut of the second bolt; the second spring is sleeved outside the screw rod of the second bolt and located between the second fixed block and the second through hole.

[0017] Preferably, the plurality of groups of the grabber groups in the same grabber device are arranged in two rows, and adjacent two groups of the grabber groups in the two rows are staggered.

[0018] The first push-pull piece is two first push-pull rods, and the two first push-pull rods are located above the first grab plates of the two rows of groups of the grabber groups, respectively; the ends of the two first push-pull rods are connected as a whole through a first connecting piece.

[0019] The second push-pull piece is two second push-pull rods, and the two second push-pull rods are located above the second grab plates of the two rows of groups of the grabber groups, respectively; the ends of the two second push-pull rods are connected as a whole through a second connecting piece.

[0020] The first connecting piece and the second connecting piece are connected with the first air cylinder and the second air cylinder through air cylinder mounting plates, respectively.

[0021] Preferably, the top of one of the first push-pull rods and one of the second push-pull rods is raised and connected to the fixing device through a sliding mechanism, and the other of the first push-pull rod and the other of the second push-pull rod are located between the top-raised first push-pull rod and the top-raised second push-pull rod.

[0022] The sliding mechanism comprises guide rails fixed to the top of the first push-pull rod and the second push-pull rod, the extension direction of the guide rails is parallel to the arrangement direction of the blade batteries, and the bottom of the fixing device is fixed with sliding blocks that embrace and slide with the guide rails.

[0023] Preferably, the fixing device comprises a fixed mounting plate and a floating mounting plate located below the fixed mounting plate, a plurality of vertically arranged guide columns pass through the fixed mounting plate and are fixed to the floating mounting plate, the top of the guide columns is provided with a limiting nut, and a limiting sensor is arranged between the floating mounting plate and the fixed mounting plate.

[0024] Preferably, the guide column is sleeved with an anti-falling spring, and the anti-falling spring is located between the floating mounting plate and the fixed mounting plate.

[0025] Preferably, the fixing device is provided with a battery bottom-holding device at both ends in the length direction of the blade battery; the battery bottom-holding device comprises a cylinder fixing frame fixed to the side wall of the fixing device, a bottom-holding cylinder vertically fixed to the cylinder fixing frame, a hinge member hinged to the output end of the bottom-holding cylinder and the bottom of the cylinder fixing frame, a turnover plate hinged to the hinge member, and an L-shaped battery baffle fixed to the bottom of the turnover plate; the bottom-holding cylinder drives the turnover plate and the L-shaped battery baffle to turn over 90° to hold the end of the blade battery.

[0026] The hinge member comprises a first hinge member and a second hinge member; the first hinge member is vertically arranged, the side wall thereof is fixed to the turnover plate, and the upper end thereof is hinged to the bottom of the cylinder fixing frame; the second hinge member is outwardly inclined, the top thereof is hinged to the output end of the bottom-holding cylinder, and the bottom end thereof is hinged to the bottom side wall of the first hinge member.

[0027] Compared with the prior art, the present application has the following advantages:

[0028] 1. The clamp type blade battery gripper provided by the application adopts a single cylinder to drive different gripper sets in the same movement direction to move the gripper plates, compared with the traditional blade battery gripper which adopts independent cylinders to drive two gripper plates, the application only needs four cylinders and eight gas paths to clamp eight blade batteries, the number of cylinders is reduced by 75% compared with the traditional blade battery gripper, the risk of gas leakage is reduced by 75%, the weight is reduced from 40 kg to 17 kg, the overall structure is more compact, and maintenance is more convenient.

[0029] 2. By arranging connecting rods on the two gripper plates of the same gripper set, synchronous clamping of multiple blade batteries can be realized, and the clamping action of the two gripper plates of the same gripper set is more coordinated, effectively preventing the blade batteries from shifting during clamping.

[0030] 3. By arranging rubber pins on the gripper plates, the friction can be effectively increased to prevent the blade batteries from slipping, and the friction coefficient is increased by 40% compared with the traditional battery gripper.

[0031] 4. The anti-falling spring arranged on the guide column can play a shock-absorbing role when the robot overturns the battery gripper.

[0032] 5. The arrangement of the battery bottom device can realize the rapid movement of the blade battery and the overall device, and the blade battery will not shake or dislocate during the rapid movement of the robot.

[0033] 6. Due to the reduction of the use of cylinders, the overall equipment cost is reduced by 35%, and the energy consumption is reduced by 60%.

[0034] 7. The multiple groups of gripper sets in the same gripper device are arranged in two rows, and adjacent two gripper sets in the two rows are staggered, which can reduce the horizontal space of the blade battery gripper as much as possible.

[0035] 8. By arranging the limit sensor, it can be judged whether the blade battery collides with the battery transfer basket, and the limit sensor can be triggered after the collision, improving the anti-collision precision.

[0036] Based on the above reasons, the application can be widely popularized in the field of blade battery clamps. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0038] Figure 1The overall structure schematic diagram of the clamp type blade battery gripper of the present application.

[0039] Figure 2 The structure schematic diagram of the gripper device of the present application.

[0040] Figure 3 The structure schematic diagram of the gripper group of the present application.

[0041] Figure 4 The connection schematic diagram of the gripper group and the connecting mechanism of the present application.

[0042] Figure 5 The arrangement schematic diagram of the first push-pull piece and the second push-pull piece of the present application.

[0043] Figure 6 The structure schematic diagram of the fixing device of the present application.

[0044] Figure 7 The structure schematic diagram of the battery bottoming device of the present application.

[0045] In the figure:

[0046] 1, fixing device; 11, fixed mounting plate; 12, floating mounting plate; 13, guide column; 14, limiting nut; 15, anti-falling spring; 16, limiting sensor;

[0047] 2, gripper device; 21, gripper group; 211, first gripper plate; 212, second gripper plate; 213, first hinge shaft; 214, gripper plate fixing plate; 215, rubber peg; 216, connecting rod; 217, second hinge shaft; 22, first air cylinder; 23, second air cylinder; 24, first connecting mechanism; 241, first bolt; 242, first spring; 243, first fixed block; 244, first nut; 245, spring opening spring; 246, first push-pull rod; 247, first connecting piece; 248, air cylinder mounting plate; 25, second connecting mechanism; 251, second bolt; 252, second spring; 253, second fixed block; 254, second nut; 255, second push-pull rod; 256, second connecting piece; 26, sliding mechanism; 261, guide rail; 262, sliding block;

[0048] 3, battery bottoming device; 31, air cylinder fixing frame; 32, bottoming air cylinder; 33, turnover plate; 34, L-shaped battery baffle; 35, first hinge piece; 36, second hinge piece;

[0049] 4, blade battery. DETAILED DESCRIPTION

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of this invention can be combined with each other. The invention will now be described in detail with reference to the accompanying drawings and embodiments. To make the objectives, technical solutions, and advantages of the embodiments of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0051] like Figures 1-7 As shown, a clamp-type blade battery gripper includes a fixing device 1. At least one gripping device 2 is arranged below the fixing device 1 along the length of the blade battery 4. Preferably, there are two gripping devices 2, which respectively clamp the left and right sides of the blade battery 4.

[0052] like Figure 2 As shown, each gripper device 2 includes multiple sets (eight sets in this specific embodiment) of gripper sets 21 arranged along the arrangement direction of the blade battery 4, a first cylinder 22 and a second cylinder 23 located at both ends of the arrangement direction of the blade battery 4, a first connecting mechanism 24 and a second connecting mechanism 25.

[0053] like Figure 3 As shown, the gripper assembly 21 includes a first gripping plate 211 and a second gripping plate 212 located on both sides of the blade battery 4. The middle portions of the first gripping plate 211 and the second gripping plate 212 are respectively hinged to the bottom of the gripping plate fixing plate 214 via a first hinge shaft 213, and the extension direction of the first hinge shaft 213 is parallel to the length direction of the blade battery 4. The two ends of the first hinge shaft 213 are respectively fixed to the two gripping plate fixing plates 214. The middle portions of the first gripping plate 211 and the second gripping plate 212 are respectively sleeved on the two first hinge shafts 213 and rotated with them. The top of the gripping plate fixing plate 214 is connected to... The bottom of the fixing device 1 is fixed; the output end of the first cylinder 22 is connected to all the first gripping plates 211 in the gripper device 2 through the first connecting mechanism 24, and the output end of the second cylinder 23 is connected to all the second gripping plates 212 in the gripper device 2 through the second connecting mechanism 25. Through the driving of the first cylinder 22 and the second cylinder 23, and the connection relationship of the first connecting mechanism 24 and the second connecting mechanism 25, all the first gripping plates 211 and the second gripping plates 212 swing in opposite directions around their first hinge axis 213, so as to achieve the effect of clamping or releasing the blade battery 4.

[0054] In order to improve the clamping effect of the first and second gripper plates 211 and 212, a plurality of rubber pins 215 are installed on the lower part of the first and second gripper plates 211 and 212.

[0055] In order to realize the synchronous linkage of the first and second gripper plates 211 and 212, the side walls of the first and second gripper plates 211 and 212 in the same gripper group 21 are connected by an inclined connecting rod 216, the two ends of the connecting rod 216 are respectively connected to the first and second gripper plates 211 and 212 through second hinge shafts 217, and the second hinge shafts 217 are parallel to the length direction of the blade battery 4.

[0056] As shown in Figures 4-5 The first connecting mechanism 24 includes a first push-pull piece, a number of first bolts 241 corresponding to the number of first gripper plates 211, a number of first springs 242 corresponding to the number of first gripper plates 211, and a number of first fixed blocks 243 corresponding to the number of first gripper plates 211. The extension direction of the first push-pull piece is parallel to the arrangement direction of the blade battery 4, the top of the first push-pull piece is connected to the fixed device 1 in a sliding manner, and the end of the first push-pull piece is connected to the first air cylinder 22. The screw end of the first bolt 241 horizontally passes through the first through hole in the top of the corresponding first gripper plate 211, and passes through the first fixed block 243 fixed to the bottom of the first push-pull piece. The screw end of the first bolt 241 is provided with a first nut 244, there is a gap between the first through hole and the screw rod of the first bolt 241, and the inner diameter of the first through hole is smaller than the outer diameter of the nut of the first bolt 241. The first through hole can be a long strip hole extending in the vertical direction. The first spring 242 is sleeved on the screw rod of the first bolt 241 and located between the first fixed block 243 and the first through hole.

[0057] The second connecting mechanism 25 comprises a second push-pull piece, a second bolt 251 corresponding to the number of the second grab plates 212, a second spring 252 corresponding to the number of the second grab plates 212, and a second fixed block 253 corresponding to the number of the second grab plates 212. The extension direction of the second push-pull piece is parallel to the arrangement direction of the blade battery 4. The top of the second push-pull piece is in sliding connection with the fixing device 1, and the end of the second push-pull piece is connected with the second air cylinder 23. The screw end of the second bolt 251 horizontally penetrates through the second through hole in the top of the corresponding second grab plate 212, and penetrates through the second fixed block 253 fixed to the bottom of the second push-pull piece. The screw end of the second bolt 251 is provided with a second nut 254. There is a gap between the second through hole and the screw rod of the second bolt 251, and the inner diameter of the second through hole is smaller than the outer diameter of the nut of the second bolt 251. The second through hole can be a long strip hole extending in the vertical direction. The second spring 252 is sleeved outside the screw rod of the second bolt 251 and located between the second fixed block 253 and the second through hole.

[0058] Through the driving of the first air cylinder 22 and the second air cylinder 23, the first push-pull piece and the second push-pull piece move, and then the first fixed block 243 and the first spring 242 push the first grab plate 211 to swing, and the second fixed block 253 and the second spring 252 push the second grab plate 212 to swing, so as to clamp the blade battery 4. The process of releasing the blade battery 4 is that the first air cylinder 22 and the second air cylinder 23 drive the first push-pull piece and the second push-pull piece to move reversely, and the nut of the first bolt 241 and the second bolt 251 drives the first grab plate 211 and the second grab plate 212 to reset. In order to realize the quick release and quick reset of the gripper, the middle parts of the first grab plate 211 and the second grab plate 212 in the same gripper group 21 are connected through a spring 245, and the spring 245 is lower than the first hinge shaft 213. During the release of the gripper, the compressed spring 245 can quickly separate the first grab plate 211 and the second grab plate 212, so as to realize the quick reset.

[0059] In the above scheme, the gripper groups 21, the first connecting mechanism 24 and the second connecting mechanism 25 all adopt a single-row type. Since the distance between two adjacent blade batteries is relatively small, if a single-row scheme is adopted, the gripper and parts need to be made very thin and small, the manufacturing difficulty is increased, and close fitting can easily cause mutual interference and friction. In view of the above situation, the present application divides the plurality of gripper groups 21 in the same gripper device 2 into two rows, adopts a double-row structure, and the adjacent two gripper groups 21 in the two rows of gripper groups 21 are staggered. Under the premise of ensuring the clamping effect, the installation space is sufficient. In the scheme of adopting a double-row structure of the gripper group 21, the first connecting mechanism 24 and the second connecting mechanism 25 also need to be changed, but only the first push-pull piece and the second push-pull piece need to be changed into two rod structures. The specific scheme is as follows: the first push-pull piece is two first push-pull rods 246, and the two first push-pull rods 246 are located above the first gripper plates 211 of the two rows of gripper groups 21 respectively, and the ends of the two first push-pull rods 246 are connected into one body through a first connecting piece 247; the connection mode of the first gripper plate 211 and the first push-pull rod 246 is the same as the above scheme, still adopting a first fixed block 243, a first bolt 241, a first spring 242 and the like. The second push-pull piece is two second push-pull rods 255, and the two second push-pull rods 255 are located above the second gripper plates 212 of the two rows of gripper groups 21 respectively, and the ends of the two second push-pull rods 255 are connected into one body through a second connecting piece 256; the first connecting piece 247 and the second connecting piece 256 are connected with the first air cylinder 22 and the second air cylinder 23 through an air cylinder mounting plate 248 respectively.

[0060] In order to realize better sliding fit of the first connecting mechanism 24 and the second connecting mechanism 25 with the fixing device 1, the top of one of the first push-pull rods 246 and one of the second push-pull rods 255 is increased, and is connected with the fixing device 1 through a sliding mechanism 26, and the other first push-pull rod 246 and the other second push-pull rod 255 are located between the top increased first push-pull rod 246 and the second push-pull rod 255;

[0061] The sliding mechanism 26 includes a guide rail 261 fixed to the top of the first push-pull rod 246 and the second push-pull rod 255, the extension direction of the guide rail 261 is parallel to the arrangement direction of the blade battery 4, and the bottom of the fixing device 1 is fixed with a sliding block 262 which holds the guide rail 261 and is in sliding fit with the guide rail 261.

[0062] As Figure 6As shown, in order to achieve collision prevention, the present invention sets the fixing device as a double-layer structure, and the two layers can slide relative to each other. A limit sensor 16 is set between the two layers. When mutual movement triggers the limit sensor, a signal is emitted. The specific scheme is as follows: The fixing device 1 includes a fixed mounting plate 11 and a floating mounting plate 12 located below the fixed mounting plate 11. Multiple vertically arranged guide posts 13 pass through the fixed mounting plate 11 and are fixed to the floating mounting plate 12. The top of the guide post 13 has a limit nut 14. A limit sensor is provided between the floating mounting plate 12 and the fixed mounting plate 11. The gripper device 2 is installed at the bottom of the floating mounting plate 12.

[0063] Because the robot sometimes inverts the entire clamp-type blade battery gripper during operation, and because the fixing device 1 is a double-layer sliding fit, the floating mounting plate 12 is prone to sliding down quickly and hitting the fixed mounting plate 11. Therefore, the present invention has an anti-fall spring 15 on the guide post 13, and the anti-fall spring 15 is located between the floating mounting plate 12 and the fixed mounting plate 11.

[0064] like Figure 7 As shown, in order to achieve stable handling of the blade battery 4 and rapid movement of the robot, the fixing device 1 of the present invention is equipped with battery bottom-holding devices 3 at both ends of the blade battery 4 along its length. The battery bottom-holding device 3 includes a cylinder fixing frame 31 fixed to the side wall of the fixing device 1, a bottom-holding cylinder 32 vertically fixed to the cylinder fixing frame 31, a hinge member hinged to the output end of the bottom-holding cylinder 32 and the bottom of the cylinder fixing frame 31, a flip plate 33 hinged to the hinge member, and an L-shaped battery fixed to the bottom of the flip plate 33. Baffle 34; the bottom-holding cylinder 32 drives the flipping plate 33 and the L-shaped battery baffle 34 to flip 90° through the hinge to hold the lower edge of the blade battery 4; the hinge includes a first hinge 35 and a second hinge 36. The first hinge 35 is vertically arranged and its side wall is fixed to the flipping plate 33. Its upper end is hinged to the bottom of the cylinder fixing frame 31. The second hinge 36 is inclined to the outside and its top is hinged to the output end of the bottom-holding cylinder 32. Its bottom end is hinged to the bottom side wall of the first hinge 35.

[0065] In operation: The robot moves a clamp-type blade battery gripper to the gripping position, and the first cylinder 22 and the second cylinder 23 operate. Since the first cylinder 22 and the second cylinder 23 drive the first connecting mechanism 24 and the second connecting mechanism 25 in the same way, only in opposite directions, the movement process of the first cylinder 22, the first connecting mechanism 24 and the first gripper 211 is described in detail here, as follows:

[0066] likeFigures 2-5 As shown, the output end of the first cylinder 22 extends, driving the first push-pull rod 246 to move left, and in turn the first fixed block 243 also moves left, compressing the first spring 242, which in turn pushes the top of the first grab plate 211 to move left. Since the middle of the first grab plate 211 is hinged to the grab plate fixed plate 214 through the first hinge shaft 213, the first grab plate 211 will swing around the first hinge shaft 213, and the lower end of the first grab plate 211 will move right to approach the blade battery 4. The second grab plate 212 moves in the same way as the first grab plate 211, and also moves to approach the blade battery 4, and in turn the first grab plate 211 and the second grab plate 212 clamp the blade battery 4. The first grab plate 211 and the second grab plate 212 will compress the repulsive spring 245 during the movement towards each other. Because the actions of the first cylinder 22 and the second cylinder 23 may not be completely synchronized in theory, and the assembly errors of the first connecting mechanism 24 and the second connecting mechanism 25, and the spring forces of the first spring 242 and the second spring 252 are difficult to be exactly the same, in order to center the relative position of the blade battery 4 and the gripper group, the connecting rod 216 is specially used to connect the first grab plate 211 and the second grab plate 212, and the two ends of the connecting rod 216 are hinged to the first grab plate 211 and the second grab plate 212 respectively. In this way, when the upper end of the first grab plate 211 swings left (the lower end will swing right), the lower end of the second grab plate 212 will immediately swing left, and the swinging of the first grab plate 211 and the second grab plate 212 is synchronized through the mechanical structure, ensuring that the clamping position is centered. When the battery needs to be released, the first cylinder 22 and the second cylinder 23 retract their output ends, pulling the first push-pull rod 246 and the second push-pull rod 255 to reset, at this time the reset force of the repulsive spring 245 will quickly repel the first grab plate 211 and the second grab plate 212. Still taking the first connecting mechanism 24 as an example, during the retraction of the output end of the first cylinder 22, the first push-pull rod 246 moves right, the first fixed block 243 moves right, and the first grab plate 211 resets under the pull of the repulsive spring 245 and the first spring 242 and the nut of the first bolt 241.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tongs-type blade cell gripper comprising a fixture, characterized in that, The lower part of the fixing device is provided with at least one gripper device along the length direction of the blade battery, and the gripper device comprises a plurality of groups of gripper groups arranged along the arrangement direction of the blade battery; The gripper group comprises a first gripper plate and a second gripper plate respectively arranged on the two sides of the blade battery, and the middle parts of the first gripper plate and the second gripper plate are respectively hinged to the bottom of a gripper plate fixing plate through a first hinge shaft, and the extension direction of the first hinge shaft is parallel to the length direction of the blade battery; the top of the gripper plate fixing plate is fixed to the bottom of the fixing device; The gripper device further comprises a first air cylinder and a second air cylinder respectively arranged at the two ends of the arrangement direction of the blade battery, the first air cylinder is connected to all the first gripper plates of the gripper device through a first connecting mechanism, and is used for driving the first gripper plates to swing around the first hinge shaft; the second air cylinder is connected to all the second gripper plates of the gripper device through a second connecting mechanism, and is used for driving the second gripper plates to swing around the first hinge shaft; The swinging directions of the first gripper plate and the second gripper plate are opposite, and are used for clamping or releasing the blade battery; The first connecting mechanism comprises a first push-pull piece, a first bolt corresponding in number to the first gripper plates, a first spring corresponding in number to the first gripper plates, and a first fixed block corresponding in number to the first gripper plates; the extension direction of the first push-pull piece is parallel to the arrangement direction of the blade battery, the top of the first push-pull piece is slidingly connected to the fixing device, and the end part of the first push-pull piece is connected to the first air cylinder; the screw rod end of the first bolt horizontally penetrates through the first through hole in the top of the corresponding first gripper plate, and penetrates through the first fixed block fixed to the bottom of the first push-pull piece; the first nut is mounted on the screw rod end of the first bolt; there is a gap between the first through hole and the screw rod of the first bolt, and the inner diameter of the first through hole is smaller than the outer diameter of the nut of the first bolt; the first spring is sleeved outside the screw rod of the first bolt, and is located between the first fixed block and the first through hole; The second connecting mechanism comprises a second push-pull piece, a second bolt corresponding in number to the second gripper plates, a second spring corresponding in number to the second gripper plates, and a second fixed block corresponding in number to the second gripper plates; the extension direction of the second push-pull piece is parallel to the arrangement direction of the blade battery, the top of the second push-pull piece is slidingly connected to the fixing device, and the end part of the second push-pull piece is connected to the second air cylinder; the screw rod end of the second bolt horizontally penetrates through the second through hole in the top of the corresponding second gripper plate, and penetrates through the second fixed block fixed to the bottom of the second push-pull piece; the second nut is mounted on the screw rod end of the second bolt; there is a gap between the second through hole and the screw rod of the second bolt, and the inner diameter of the second through hole is smaller than the outer diameter of the nut of the second bolt; the second spring is sleeved outside the screw rod of the second bolt, and is located between the second fixed block and the second through hole.

2. A pinch-grip blade cell gripper according to claim 1, characterised in that: The lower parts of the first gripper plate and the second gripper plate are respectively provided with a plurality of rubber spikes.

3. A pinch-grip blade cell gripper according to claim 1, wherein: The side walls of the first and second clamping plates in the same said gripper group are connected by a tiltably arranged connecting rod, two ends of the connecting rod are respectively hingedly connected with the first and second clamping plates through second hinge shafts, and the second hinge shafts are parallel to the length direction of the blade battery.

4. A pinch-grip blade cell gripper according to claim 1, characterized in that: The middle parts of the first and second clamping plates in the same said gripper group are connected by a spring, and the spring is lower than the first hinge shaft.

5. A pinch-grip blade cell gripper according to claim 1, wherein: The multiple said gripper groups in the same said gripper device are arranged in two rows, and adjacent two said gripper groups in the two rows are staggered. The first push-pull member is two first push-pull rods, and the two first push-pull rods are respectively located above the first clamping plates of the two rows of said gripper groups, and the ends of the two first push-pull rods are connected into one through a first connecting member. The second push-pull member is two second push-pull rods, and the two second push-pull rods are respectively located above the second clamping plates of the two rows of said gripper groups, and the ends of the two second push-pull rods are connected into one through a second connecting member. The first connecting member and the second connecting member are respectively connected with the first cylinder and the second cylinder through a cylinder mounting plate.

6. A pinch-grip blade cell gripper according to claim 5, wherein: The top of one of the first push-pull rods and one of the second push-pull rods is raised, and is slidably connected with the fixing device through a sliding mechanism, and the other first push-pull rod and the other second push-pull rod are located between the top-raised first push-pull rod and the second push-pull rod. The sliding mechanism includes a guide rail fixed to the top of the first push-pull rod and the second push-pull rod, the extension direction of the guide rail is parallel to the arrangement direction of the blade battery, and the bottom of the fixing device is fixed with a sliding block that holds and slidably cooperates with the guide rail.

7. A pinch-grip blade cell gripper according to claim 1, wherein: The fixing device includes a fixed mounting plate and a floating mounting plate located below the fixed mounting plate, multiple vertically arranged guide columns pass through the fixed mounting plate and are fixed with the floating mounting plate, and the top of the guide column has a limiting nut, and the floating mounting plate and the fixed mounting plate have a limiting sensor therebetween.

8. A pinch-grip blade cell gripper according to claim 7, characterised in that: The guide column is sleeved with an anti-falling spring, and the anti-falling spring is located between the floating mounting plate and the fixed mounting plate.

9. A pinch-grip blade cell gripper according to claim 1, wherein: The fixing device is respectively provided with a battery bottom-holding device at both ends in the length direction of the blade battery; the battery bottom-holding device includes a cylinder fixing frame fixed to the side wall of the fixing device, a bottom-holding cylinder vertically fixed on the cylinder fixing frame, a hinge member hingedly connected with the output end of the bottom-holding cylinder and the bottom of the cylinder fixing frame, a turnover plate hingedly connected with the hinge member, and an L-shaped battery baffle fixed to the bottom of the turnover plate; the bottom-holding cylinder drives the turnover plate and the L-shaped battery baffle to turn over 90° to hold the end lower edge of the blade battery through the hinge member; The hinge member includes a first hinge member and a second hinge member, the first hinge member is vertically arranged, the side wall thereof is fixed with the turnover plate, and the upper end thereof is hingedly connected with the bottom of the cylinder fixing frame; the second hinge member is outwardly and obliquely arranged, the top thereof is hingedly connected with the output end of the bottom-holding cylinder, and the bottom end thereof is hingedly connected with the bottom side wall of the first hinge member.

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