Manipulator and battery transfer device

Abstract

The utility model relates to a mechanical arm and a battery transfer device, the mechanical arm comprises a carrier, the carrier is provided with two clamping arms at intervals in the first direction, the first clamping arm is slidably connected to the carrier in the first direction, and the second clamping arm is fixed to the carrier; the telescopic driving piece is arranged on the carrier and is connected with the first clamping arm; the clamping arm is provided with a plurality of clamping jaws, and the clamping arm can drive the distance between the multiple clamping jaws to be increased or decreased at equal intervals in the second direction. When the telescopic driving piece drives the first clamping arm to be close to the second clamping arm, the clamping jaw in the first clamping arm is close to the corresponding clamping jaw in the second clamping arm so as to clamp a battery. The clamping arms can drive the distance between the multiple clamping jaws connected with the clamping arms to be increased or decreased at equal intervals, the distance between any two adjacent clamping jaws is made to adapt to the positions where the batteries are located after the production batch changes, the two clamping arms are driven by the telescopic driving part to conduct clamping, and synchronous clamping of the multiple batteries is achieved.

Description

Technical Field

[0001] The present application relates to the field of battery manufacturing technology, and in particular to a robot and a battery transfer device. Background Art

[0002] As the speed of replacement of new energy batteries gradually accelerates, the corresponding battery types are also increasing. During the production process, the robot needs to be compatible with more batteries of different sizes, weights, and placement positions.

[0003] In the related art, for the production of different batches of batteries, since the size specifications of batteries between different batches are different, the position of the batteries conveyed by the conveying device and the distance between the batteries are changed. In order to adapt to the above changes, the robot unit needs to be changed. Often a large number of parts need to be replaced each time the model is changed, resulting in a long model change cycle and low model change efficiency. Ultimately, the production line shutdown caused by the model change affects the production efficiency, which in turn increases the manufacturing cost. Summary of the invention

[0004] The present application provides a robot and a battery transfer device, in which a clamping arm can drive the spacing of multiple clamping jaws connected to itself to increase or decrease equidistantly, so that the spacing between any two adjacent clamping jaws can adapt to the position of the battery after the production batch changes. Subsequently, the two clamping arms are driven to clamp through a telescopic drive member, thereby realizing the synchronous clamping of multiple batteries.

[0005] In a first aspect, an embodiment of the present application provides a manipulator, comprising:

[0006] A carrier, wherein the carrier is provided with two clamping arms spaced apart along a first direction, the first clamping arm is slidably connected to the carrier along the first direction, and the second clamping arm is fixed to the carrier;

[0007] A telescopic driving member, the telescopic driving member is disposed on the carrier and connected to the first clamping arm;

[0008] The clamp arm has a plurality of clamping claws, and the clamp arm can drive the spacing between the plurality of clamping claws to be equidistantly larger or smaller along the second direction;

[0009] When the telescopic driving member drives the first clamping arm to approach the second clamping arm, the clamping claw in the first clamping arm approaches the corresponding clamping claw in the second clamping arm to clamp the battery.

[0010] In combination with the first aspect, in one embodiment, the clamp arm includes:

[0011] A mounting plate, a plurality of clamping jaws are equidistantly arranged on the mounting plate along a second direction, one of the clamping jaws is fixed to the mounting plate, and the remaining plurality of the clamping jaws are slidably connected to the mounting plate along the second direction;

[0012] A first driving assembly, the first driving assembly is disposed on the mounting plate, and one of the remaining plurality of clamps is connected to the first driving assembly;

[0013] A scissor-fork structure, wherein the scissor-fork structure is connected to the plurality of clamping claws, and the scissor-fork structure can be extended and retracted along a second direction;

[0014] The mounting plate of the first clamp arm is connected to the telescopic driving member, and the mounting plate of the second clamp arm is fixed to the carrier.

[0015] In combination with the first aspect, in one implementation, the first driving component includes:

[0016] A first linear module is installed on the mounting plate, and one of the remaining plurality of clamps is connected to the first linear module.

[0017] In combination with the first aspect, in one implementation, the first driving assembly further includes:

[0018] Three in-place sensors, the three in-place sensors are mounted on the mounting plate, and the three in-place sensors are spaced apart along the second direction, and are used to monitor the moving distance of the clamp connected to the first linear module;

[0019] Counting from the second direction, when the controller detects that the gripper moves from the second in-place sensor to the first in-place sensor or to the third in-place sensor, the controller stops the operation of the first linear module.

[0020] In combination with the first aspect, in one embodiment, the carrier is equipped with a foolproof sensor;

[0021] When the foolproof sensor detects foreign object obstruction, the controller stops the operation of the manipulator.

[0022] In combination with the first aspect, in one implementation, the manipulator further includes:

[0023] A second driving component is disposed on the carrier, the second driving component is connected to a visual camera, and the second driving component can drive the visual camera to move along a second direction.

[0024] In combination with the first aspect, in one implementation, the second driving assembly includes:

[0025] A second linear module is disposed on the carrier and connected to the visual camera.

[0026] In a second aspect, embodiments of the present application provide a battery transport device, which includes a manipulator as described in some embodiments.

[0027] In conjunction with the second aspect, in one embodiment, the battery transport device further includes:

[0028] Two limit bars, the length direction of which is extended along the second direction, and the two limit bars are slidably connected with a plurality of first guide bars and a plurality of second guide bars along the second direction;

[0029] A plurality of the first guide bars and a plurality of the second guide bars are alternately distributed along a second direction, so that a channel is formed between adjacent first guide bars and adjacent second guide bars, and the channel is located below the manipulator;

[0030] A third driving assembly and a fourth driving assembly, wherein the third driving assembly is connected to a plurality of the first guide bars, and the fourth driving assembly is connected to a plurality of the second guide bars. The third driving assembly and the fourth driving assembly can drive the first guide bars and the second guide bars to move closer or farther away, so that the size of the channel along the second direction becomes larger or smaller.

[0031] In combination with the second aspect, in one implementation, the third driving assembly includes:

[0032] A second driving motor, wherein an output end of the second driving motor is connected to a first screw rod, and the first screw rod is threadedly connected to the plurality of first guide bars;

[0033] The fourth driving assembly comprises:

[0034] A third driving motor, wherein an output end of the third driving motor is connected to a second screw rod, and the first screw rod is threadedly connected to a plurality of the second guide bars.

[0035] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0036] According to multiple batteries arranged side by side and distributed equidistantly, the clamp arm can drive the spacing of multiple clamping jaws connected to itself to become equidistantly larger or smaller, so that the spacing between any two adjacent clamping jaws is consistent with the spacing between any two adjacent batteries. Subsequently, the first clamp arm can be driven by the telescopic drive member to move close to the second clamp arm, so that the clamping jaw of the first clamp arm moves close to the clamping jaw corresponding to the second clamp arm, and the battery between the two clamping jaws is clamped, thereby being adapted to batteries arranged side by side and with equidistant sizes changing, and the working efficiency is high and the practicability is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a schematic diagram of the three-dimensional structure of the battery transport device;

[0039] Figure 2 It is a front view structural schematic diagram of the clamp arm;

[0040] Figure 3 It is a schematic diagram of the three-dimensional structure of the clamp arm;

[0041] Figure 4 It is a schematic diagram of a three-dimensional structure in which the first guide strips and the second guide strips are alternately distributed.

[0042] In the figure: 1. carrier; 2. clamping arm; 21. clamping claw; 211. fixed clamping claw; 22. mounting plate; 23. first drive assembly; 231. first linear module; 232. in-position sensor; 24. scissors structure; 3. telescopic drive member; 4. second drive assembly; 41. second linear module; 5. visual camera; 6. limit strip; 7. first guide strip; 8. second guide strip; 9. channel; 10. third drive assembly; 101. second drive motor; 102. first screw rod; 11. fourth drive assembly; 111. third drive motor; 112. second screw rod; 12. anti-fool sensor. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] The present application provides a robot arm, in which the clamping arm can drive the spacing of multiple clamping jaws connected to it to increase or decrease equidistantly, so that the spacing between any two adjacent clamping jaws can adapt to the distance between batteries with varying specifications and sizes, and then the two clamping arms are driven to clamp through a telescopic drive member, thereby realizing the synchronous clamping of multiple batteries.

[0045] It should be noted that the first direction is the X-axis direction in the figure, that is, the length direction of the battery, the second direction is the Y-axis direction in the figure, that is, the width direction of the battery, and the third direction is the height direction of the battery. Of course, the first direction can also be the width direction of the battery, and the second direction can also be the length direction of the battery.

[0046] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a manipulator, which may include: a carrier 1, wherein the carrier 1 is provided with two clamping arms 2 spaced apart along a first direction, wherein the first clamping arm 2 is slidably connected to the carrier 1 along the first direction, and the second clamping arm 2 is fixed to the carrier 1; a telescopic driving member 3, wherein the telescopic driving member 3 is provided on the carrier 1 and connected to the first clamping arm 2; the clamping arm 2 has a plurality of jaws 21, and the clamping arm 2 can drive the spacing of the plurality of jaws 21 to increase or decrease equidistantly along the second direction; the plurality of jaws 21 in the first clamping arm 2 corresponds one-to-one to the plurality of jaws 21 in the second clamping arm 2, and when the telescopic driving member 3 drives the first clamping arm 2 to approach the second clamping arm 2, the jaws 21 in the first clamping arm 2 approach the corresponding jaws 21 in the second clamping arm 2 to clamp the battery. Among them, counting from the first direction, the first clamp arm 2 is a movable clamp arm 2, which is slidably arranged on the carrier 1 and connected to the telescopic driving member 3, and the second clamp arm 2 is a fixed clamp arm 2, which is fixedly arranged on the carrier 1. The telescopic driving member 3 can drive the first clamp arm 2 to move closer to the second clamp arm 2 to achieve the clamping work of the object between the two clamp arms 2. Then, each clamp arm 2 has a plurality of clamp claws 21, and the plurality of clamp claws 21 are equidistantly spaced along the second direction, and the clamp arm 2 can drive the spacing of the plurality of clamp claws 21 to be equidistantly larger or smaller to adapt to the plurality of batteries equidistantly distributed along the second direction.

[0047] Illustratively, according to the multiple batteries equidistantly distributed along the second direction, the clamp arm 2 can drive the spacing of the multiple clamping jaws 21 connected to itself to be equidistantly increased or decreased, so that the spacing between any two adjacent clamping jaws 21 is consistent with the spacing between any two adjacent batteries. Subsequently, the telescopic drive member 3 can drive the first clamping arm 2 to move close to the second clamping arm 2 along the first direction, so that the clamping jaw 21 of the first clamping arm 2 moves close to the corresponding clamping jaw 21 of the second clamping arm 2, and the battery between the two clamping jaws 21 is clamped, thereby realizing the synchronous clamping of batteries that are arranged side by side and have equidistant sizes that change.

[0048] In some embodiments, the telescopic driving member 3 may be an electric push rod, a hydraulic push rod or a linear module to drive the first clamping arm 2 to move along the first direction.

[0049] In some embodiments, such as Figure 2As shown, the clamp arm 2 may include: a mounting plate 22, a plurality of clamping jaws 21 equidistantly arranged on the mounting plate 22 along the second direction, one of the clamping jaws 21 is fixed to the mounting plate 22, and the remaining plurality of clamping jaws 21 are slidably connected to the mounting plate 22 along the second direction, wherein one of the clamping jaws 21 refers to the clamping jaw 21 located between the starting end clamping jaw 21 and the ending end clamping jaw 21, and illustratively, one of the clamping jaws 21 may be the fourth clamping jaw 21 from left to right, that is, Figure 2 The fixed clamp 211; the first drive component 23, the first drive component 23 is arranged on the mounting plate 22, and among the remaining multiple clamps 21, one of the clamps 21 is connected to the first drive component 23. For example, one of the clamps 21 here refers to the fifth clamp 21 from left to right; the scissors-fork structure 24, the scissors-fork structure 24 is connected to the multiple clamps 21, and the scissors-fork structure 24 can be extended and retracted along the second direction; the mounting plate 22 of the first clamp arm 2 is connected to the telescopic drive member 3, and the mounting plate 22 of the second clamp arm 2 is fixed to the carrier 1. Exemplarily, two guide rails are fixed at intervals along the third direction on the front side of the mounting plate 22, and the length direction of the guide rails extends along the second direction. The two guide rails are provided with multiple slides (the fourth slide from left to right is fixed to the mounting plate 22 by bolts, and the remaining multiple slides are slidably connected to the two guide rails). The number of slides is consistent with the number of clamps 21. Each slide is fixed to a clamp 21 on the back side of the mounting plate 22 to achieve the installation of the clamp 21. The first drive assembly 23 can be set on the front side of the mounting plate 22 and connected to a slide that is slidably connected.

[0050] Specifically, the first driving assembly 23 is driven to extend, which can drive the directly connected slide plate (that is, Figure 2 The fifth skateboard (counted from left to right in the figure) moves along the right side. Under the transmission of the scissor-fork structure 24, the four skateboards on the right side of the fourth skateboard (counted from left to right) can be moved to the right, and the three skateboards on the left side can be moved to the left, and the distance between any two adjacent skateboards can be equidistantly increased. Correspondingly, that is, with the fixed jaw 211 as the center, the four jaws 21 on the right side of the fixed jaw 211 move to the right, and the three jaws 21 on the left side move to the left, and the distance between any two adjacent jaws 21 can be equidistantly increased, thereby achieving equidistant increase in the distance between multiple jaws 21 to accommodate multiple batteries equidistantly distributed along the second direction. Similarly, the first drive assembly 23 is driven to contract to achieve equidistant reduction in the distance between multiple jaws 21.

[0051] Furthermore, the first driving assembly 23 may include: a first linear module 231, the first linear module 231 is installed on the mounting plate 22, and among the remaining multiple clamps 21 (that is, multiple clamps 21 that are slidably arranged), one of the clamps 21 is connected to the first linear module 231.

[0052] Of course, the first driving assembly 23 may also be an electric push rod or a hydraulic push rod.

[0053] Further, if Figure 2 As shown, the first drive component 23 may also include: three in-position sensors 232, the three in-position sensors 232 are installed on the mounting plate 22, and the three in-position sensors 232 are spaced apart along the second direction, and are used to monitor the movement distance of the clamp 21 connected to the first linear module 231; counting along the second direction, when the controller monitors that the clamp 21 moves from the second in-position sensor 232 to the first in-position sensor 232 or when the control monitors that the clamp 21 moves from the second in-position sensor 232 to the third in-position sensor 232, the controller stops the operation of the first linear module 231. Among them, when the controller monitors that the clamp 21 moves from the second in-place sensor 232 to the first in-place sensor 232, it means that the scissors-type structure 24 is in an extreme contraction state, and the operation of the first linear module 231 needs to be stopped immediately to prevent damage to the scissors-type structure 24. It also means that the distance between the two clamps 21 is the smallest. When the manipulator is not in use, the clamp 21 can be retracted and stored to reduce the occupied space; when the controller monitors that the clamp 21 moves from the second in-place sensor 232 to the third in-place sensor 232, it means that the scissors-type structure 24 is in a maximum opening state. The operation of the first linear module 231 needs to be stopped immediately to prevent damage to the scissors-type structure 24. It also means that the distance between the two clamps 21 is the largest at this time, and the battery with the maximum distance distribution can be clamped.

[0054] Exemplarily, the in-position sensor 232 can be a slot-type photoelectric device. A small iron sheet is provided on the slide plate directly connected to the first drive component 23. When the small iron sheet blocks the groove of the slot-type photoelectric device, it triggers the signal of the slot-type photoelectric device. The variable distance range of the scissors-type structure 24 is limited, and the upper and lower limits of the variable distance range can be monitored to prevent the scissors-type structure 24 from exceeding the limit and being damaged.

[0055] Of course, in some embodiments, such as Figure 2 As shown, the scissor structure 24 can be eliminated, and an electric push rod or a hydraulic push rod is connected between any two adjacent clamping jaws 21, and any clamping jaw 21 between the clamping jaw 21 at the starting end and the clamping jaw 21 at the end end can be a fixed clamping jaw 21, for example, that is, Figure 2The fourth fixed clamp 211 from left to right in the figure. Specifically, after controlling the telescopic end of one electric push rod or hydraulic push rod to be extended to the desired position, the telescopic end of the next electric push rod or hydraulic push rod is controlled to be extended to the desired position, and so on, the telescopic ends of all the electric push rods or hydraulic push rods are extended to the desired position, so that the distance between any two adjacent clamps 21 can be equidistantly increased. Similarly, the telescopic ends of all the electric push rods or hydraulic push rods are controlled to be retracted in sequence, so that the distance between any two adjacent clamps 21 can be equidistantly decreased.

[0056] Further, if Figure 3 As shown, the manipulator may further include: a second drive component 4, the second drive component 4 is disposed on the carrier 1, the second drive component 4 is connected to a visual camera 5, and the second drive component 4 can drive the visual camera 5 to move along the second direction. Among them, by driving the visual camera 5 to move along the second direction through the second drive component 4, the visual camera 5 can take pictures of the distance between two adjacent batteries and calculate the distance value between two adjacent batteries, so as to facilitate the subsequent driving of the movement amount of the driving end of the first drive component 23, and adjust the distance between any two adjacent jaws 21 to be equal to the distance between any two adjacent batteries, thereby ensuring that the two jaws 21 spaced apart along the first direction can centrally clamp the opposite sides of the battery.

[0057] Exemplarily, the second driving assembly 4 may include: a second linear module 41 , which is disposed on the carrier 1 and connected to the visual camera 5 .

[0058] Of course, the second driving assembly 4 can also be an electric push rod or a hydraulic push rod.

[0059] Further, if Figure 1 As shown, the fixed clamp arm 2 is equipped with a plurality of foolproof sensors 12, which are spaced apart along the second direction, and can monitor in real time whether there are any foreign objects blocking the surroundings. Once the foolproof sensor 12 detects the presence of foreign objects, the controller will immediately take corresponding safety measures, including stopping the movement of the clamping jaw 21 or issuing an alarm signal, to ensure the safety and stability of the operation process.

[0060] In some embodiments, the present application provides a battery transport device, which includes the robot arm as described above.

[0061] Further, such as Figure 4As shown, the battery transfer device may also include: two limit bars 6, the length direction of the limit bars 6 is extended along the second direction, the two limit bars 6 are slidably connected with a plurality of first guide bars 7 and a plurality of second guide bars 8 along the second direction; the plurality of first guide bars 7 and the plurality of second guide bars 8 are alternately distributed along the second direction, so that a channel 9 is formed between adjacent first guide bars 7 and second guide bars 8, and the channel 9 is located below the manipulator; a third drive component 10 and a fourth drive component 11, the third drive component 10 is connected to the plurality of first guide bars 7, and the fourth drive component 11 is connected to the plurality of second guide bars 8, the third drive component 10 and the fourth drive component 11 can drive the first guide bars 7 and the second guide bars 8 to move closer or farther away, so that the size of the channel 9 along the second direction becomes larger or smaller. Among them, the limit bar 6, the third drive component 10 and the fourth drive component 11 can be fixed on the battery transfer device, the third drive component 10 can drive the multiple first guide bars 7 connected to it to move equidistantly along the second direction, and the fourth drive component 11 can drive the multiple second guide bars 8 connected to it to move equidistantly away from the second direction, so as to realize that the channel 9 formed between the first guide bar 7 and the second guide bar 8 is equidistantly reduced to center the batteries therein, to realize the alignment of the batteries spaced apart along the second direction, and to make the distance between any two adjacent batteries consistent. After the centering is completed, the first guide bar 7 and the second guide bar 8 will be reset under the drive of the third drive component 10 and the fourth drive component 11, so as to facilitate the subsequent clamping and transfer work by the robot.

[0062] Exemplarily, the third drive assembly 10 may include: a second drive motor 101, the output end of the second drive motor 101 is connected to a first screw rod 102, and the first screw rod 102 is threadedly connected to a plurality of first guide bars 7; the fourth drive assembly 11 may include: a third drive motor 111, the output end of the third drive motor 111 is connected to a second screw rod 112, and the first screw rod 102 is threadedly connected to a plurality of second guide bars 8. The second drive motor 101 drives the first screw rod 102 to rotate, thereby driving the plurality of first guide bars 7 to move synchronously, and similarly, the third drive motor 111 can drive the plurality of second guide bars 8 to move synchronously. As for the thread direction of the first screw rod 102 and the second screw rod 112, the rotation direction of the second drive motor 101 and the third drive motor 111, or the second drive motor 101 and the third drive motor 111 are installed on the same side or spaced apart along the second direction, there is no specific restriction, and it is only necessary to ensure that the movement directions of the first guide bar 7 and the second guide bar 8 are opposite.

[0063] Of course, the third driving assembly 10 may also be an electric push rod or a hydraulic push rod, the telescopic end of which is connected to the plurality of first guide bars 7, so as to achieve equidistant movement of the plurality of first guide bars 7. Similarly, the fourth driving assembly 11 may also be an electric push rod or a hydraulic push rod, the telescopic end of which is connected to the plurality of second guide bars 8, so as to achieve equidistant movement of the plurality of second guide bars 8.

[0064] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing 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 present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0065] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0066] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A robot, characterized in that: It includes: A carrier (1), wherein the carrier (1) is provided with two clamping arms (2) spaced apart along a first direction, the first clamping arm (2) being slidably connected to the carrier (1) along the first direction, and the second clamping arm (2) being fixed to the carrier (1); A telescopic driving member (3), wherein the telescopic driving member (3) is arranged on the carrier (1) and connected to the first clamping arm (2); The clamp arm (2) has a plurality of clamp claws (21), and the clamp arm (2) can drive the spacing between the plurality of clamp claws (21) to increase or decrease equidistantly along a second direction; When the telescopic driving member (3) drives the first clamping arm (2) to approach the second clamping arm (2), the clamping claw (21) in the first clamping arm (2) approaches the corresponding clamping claw (21) in the second clamping arm (2) to clamp the battery.

2. The robot according to claim 1, characterized in that: The clamping arm (2) comprises: A mounting plate (22), a plurality of clamping jaws (21) being equidistantly arranged on the mounting plate (22) along a second direction, one of the clamping jaws (21) being fixed to the mounting plate (22), and the remaining plurality of the clamping jaws (21) being slidably connected to the mounting plate (22) along the second direction; A first driving component (23), the first driving component (23) being arranged on the mounting plate (22), and one of the remaining plurality of clamping jaws (21) being connected to the first driving component (23); A scissor-fork structure (24), wherein the scissor-fork structure (24) is connected to the plurality of clamping claws (21), and the scissor-fork structure (24) can be extended and retracted along a second direction; The mounting plate (22) of the first clamping arm (2) is connected to the telescopic driving member (3), and the mounting plate (22) of the second clamping arm (2) is fixed to the carrier (1).

3. The robot according to claim 2, characterized in that: The first driving assembly (23) comprises: A first linear module (231), wherein the first linear module (231) is mounted on the mounting plate (22), and one of the remaining plurality of clamps (21) is connected to the first linear module (231).

4. The robot according to claim 3, characterized in that: The first driving assembly (23) further comprises: Three in-position sensors (232), the three in-position sensors (232) are mounted on the mounting plate (22), and the three in-position sensors (232) are spaced apart along the second direction, and are used to monitor the moving distance of the clamping jaw (21) connected to the first linear module (231); Counting from the second direction, when the controller monitors that the clamping jaw (21) moves from the second in-position sensor (232) to the first in-position sensor (232) or moves to the third in-position sensor (232), the controller stops the operation of the first linear module (231).

5. The robot according to claim 1, characterized in that: The carrier (1) is equipped with a foolproof sensor (12); When the foolproof sensor (12) detects foreign object obstruction, the controller stops the operation of the robot.

6. The robot according to claim 1, characterized in that: The manipulator also includes: A second driving component (4), wherein the second driving component (4) is arranged on the carrier (1), the second driving component (4) is connected to a visual camera (5), and the second driving component (4) can drive the visual camera (5) to move along a second direction.

7. The robot according to claim 6, characterized in that: The second driving assembly (4) comprises: A second linear module (41), wherein the second linear module (41) is arranged on the carrier (1) and connected to the visual camera (5).

8. A battery transport device, characterized in that: It comprises a robot as described in any one of claims 1-7.

9. The battery transport device according to claim 8, characterized in that: The battery transport device also includes: Two limit bars (6), the length direction of the limit bars (6) extending along the second direction, the two limit bars (6) being slidably connected along the second direction with a plurality of first guide bars (7) and a plurality of second guide bars (8); A plurality of the first guide bars (7) and a plurality of the second guide bars (8) are alternately distributed along a second direction, so that a channel (9) is formed between adjacent first guide bars (7) and second guide bars (8), and the channel (9) is located below the manipulator; A third driving assembly (10) and a fourth driving assembly (11), wherein the third driving assembly (10) is connected to a plurality of the first guide bars (7), and the fourth driving assembly (11) is connected to a plurality of the second guide bars (8). The third driving assembly (10) and the fourth driving assembly (11) can drive the first guide bars (7) and the second guide bars (8) to move closer or farther away, so that the size of the channel (9) along the second direction becomes larger or smaller.

10. The battery transport device according to claim 9, characterized in that: The third driving assembly (10) comprises: A second drive motor (101), wherein an output end of the second drive motor (101) is connected to a first screw rod (102), and the first screw rod (102) is threadedly connected to the plurality of first guide bars (7); The fourth driving assembly (11) comprises: A third drive motor (111), wherein the output end of the third drive motor (111) is connected to a second screw rod (112), and the first screw rod (102) is threadedly connected to a plurality of the second guide bars (8).

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