Grabbing device and grabbing equipment

Abstract

The utility model discloses a grabbing device and grabbing equipment. The grabbing device comprises a rack used for being connected with a mechanical arm. The first clamping mechanism is used for clamping the battery containing body, the first clamping mechanism comprises two first clamping assemblies, and the two first clamping assemblies are arranged on the rack in the mode that the two first clamping assemblies can get close to each other or get away from each other in the first direction; the flapping mechanism is arranged on the rack, the flapping mechanism comprises a flapping piece, the flapping piece can do reciprocating motion between a retreat position and a flapping position in the gravity direction, and the flapping piece can make contact with the battery containing body at the flapping position; wherein the first direction is perpendicular to the gravity direction. According to the grabbing device, after the first clamping mechanism grabs the battery containing body, the battery containing body can be flapped in the gravity direction through the flapping mechanism, so that the battery bonded to the battery containing body can fall back into the lower-layer battery containing body, the possibility that the lower-layer battery is taken up when the battery containing body is grabbed and carried is reduced, and the battery containing body grabbing efficiency is improved. And the reliability is higher.

Description

Technical Field

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

[0002] New energy batteries are being used more and more widely in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also being increasingly used in areas such as energy storage.

[0003] Batteries are usually contained in battery containers, and the battery containers are usually stacked one on top of the other along the direction of gravity. When loading batteries, after the gripping device has grasped all the batteries contained in one battery container, it is necessary to grasp and carry away the empty battery container so that it can continue to grasp the batteries contained in the next layer of battery containers. How to improve the reliability of the gripping device is one of the research topics in the industry. Utility Model Content

[0004] In order to solve the above technical problems, the present application provides a gripping device and a gripping equipment with high reliability and simple structure.

[0005] This application is implemented through the following technical solutions.

[0006] The first aspect of the present application provides a grasping device, which comprises: a frame for connecting to a manipulator; a first clamping mechanism for clamping a battery container, the first clamping mechanism comprising two first clamping components, and the two first clamping components are arranged on the frame in a manner that they can approach or move away from each other along a first direction; and a flapping mechanism, which is arranged on the frame, the flapping mechanism comprising a flapping member, and the flapping member can reciprocate between a retreat position and a flapping position along the direction of gravity, wherein at the flapping position, the flapping member can contact the battery container; wherein the first direction is perpendicular to the direction of gravity.

[0007] Since the gripping device includes a flapping mechanism, after the first clamping mechanism clamps the empty battery container, the flapping mechanism can flap the battery container by reciprocating between the retreat position and the flapping position along the direction of gravity through the flapping member. In this way, the battery container vibrates along the direction of gravity. If there are batteries in the lower layer adhering to the bottom surface of the battery container, they can fall back to the lower battery container under the action of vibration. In this way, when the gripping device is transporting the battery container, the possibility of accidentally taking away the batteries contained in the lower battery container can be reduced, and the reliability is better. The flapping mechanism has a simple structure, and after the flapping mechanism is set, there is no need to frequently perform manual monitoring to see if the lower battery is adhering and there is no need to frequently perform manual removal of the adhering batteries. The degree of automation is higher, which effectively reduces the labor cost and improves the grasping and releasing efficiency.

[0008] In some embodiments, the first clamping assembly includes a clamp, a clamp support and a clamp driving device; the clamp is arranged on the clamp support in a manner that it can reciprocate along the direction of gravity; the driving end of the clamp driving device is connected to the clamp support, and the clamp support can move along the first direction under the drive of the clamp driving device.

[0009] Therefore, when the beating mechanism performs a beating operation on the battery container along the direction of gravity, the clamping plate of the first clamping assembly can perform reciprocating motion along the direction of gravity along with the beating operation of the beating member, thereby increasing the movement amplitude of the battery container along the direction of gravity, and making the battery adhered to the bottom surface of the battery container easier to fall off.

[0010] In addition, since the first clamping mechanism grasps the battery container by moving the clamp along the first direction, it can adapt to battery containers of different sizes by changing the position of the clamp along the first direction, has good compatibility, and is conducive to flexible production.

[0011] In some embodiments, the first clamping assembly also includes a guide member, an elastic member and a limit member connected to the clamping plate; the guide member extends along the direction of gravity and is arranged on the clamping plate support member, the elastic member and the limit member are sleeved on the guide member, and the elastic member is configured to provide elastic force to the limit member along the direction of gravity.

[0012] Thus, when the beating member moves to the beating position, the battery container is forced to move downward in the direction of gravity, driving the clamping plate to move downward in the direction of gravity, and the limiter connected to the clamping plate will apply force to the elastic member, so that the elastic member undergoes elastic deformation, and when the beating member moves to the retreat position, the limiter will automatically return to the initial position under the elastic force of the elastic member, so that the clamping plate drives the battery container to return to the initial position in the direction of gravity. In this way, when the beating member repeatedly beats the battery container, the battery container will reciprocate in the direction of gravity along with the beating operation of the beating member, so that the battery adhered to the bottom surface of the battery container is more likely to fall off.

[0013] In some embodiments, the guide member includes a head and a rod connected to each other, the rod is connected to the splint support, the equivalent diameter of the head is larger than the equivalent diameter of the rod, and the elastic member and the limit member are sleeved on the rod.

[0014] As a result, the limiting member is not likely to fall off the rod when reciprocating along the gravity direction, which allows the lower layer of batteries to fall back and improves the reliability of the grasping device.

[0015] In some embodiments, the guide member is located on the side of the splint support member facing away from the battery container along the direction of gravity, one end of the elastic member abuts the splint support member, and the other end abuts the limiting member; and / or the guide member is located on the side of the splint support member facing the battery container along the direction of gravity, one end of the elastic member abuts the limiting member, and the other end abuts the head.

[0016] Therefore, the guide member can be arranged on the upper side of the clamp support member along the direction of gravity, or on the lower side of the clamp support member along the direction of gravity, or can be arranged on both the upper and lower sides of the clamp support member along the direction of gravity, so that when the clamp clamps the battery container, it can drive the battery container to vibrate along the direction of gravity under the action of the patting mechanism, so that the battery accidentally adhered to the bottom surface of the battery container will fall off, reducing the possibility of accidentally carrying away the lower battery during transportation, and improving the reliability of the grasping device.

[0017] In some embodiments, the first clamping assembly further includes a buffer component, which is sleeved on the rod portion and located on a side of the limiting component facing away from the elastic component; the buffer component is made of an elastic material.

[0018] Therefore, the buffer part can provide a certain buffering effect for the limit part. When the limit part rebounds under the action of the elastic force provided by the elastic part, it will not directly collide with the head of the guide part or the splint support part with a large force, thereby reducing the possibility of damage to the limit part, guide part or splint support part and reducing production costs.

[0019] In some embodiments, the first clamping assembly includes a guide rail, which is provided on the clamping plate support and extends along the gravity direction; a sliding member is formed on the side of the clamping plate facing the clamping plate support, and the sliding member is provided on the guide rail in a manner that it can move along the guide rail.

[0020] The guide rail can provide a certain guidance for the movement of the clamp along the direction of gravity, reducing the possibility of relative movement of the clamp in other directions perpendicular to the direction of gravity, so that the battery can accurately fall back to the lower battery container. In addition, the provision of the guide rail can also reduce the friction and shaking of the clamp when it moves along the direction of gravity, so that the movement of the clamp is smoother and more stable, and the reliability is higher, which can increase the vibration amplitude of the clamp, making it easier for accidentally adhered batteries to fall off.

[0021] In some embodiments, the first clamping assembly includes a pressure strip, which is provided on the clamping surface of the clamping plate. When the first clamping mechanism clamps the battery container, the clamping surface faces the battery container; the pressure strip includes a contact surface, which is used to contact the battery container.

[0022] Since the first clamping assembly includes a pressure strip, and the pressure strip includes a contact surface, the battery container can be clamped and grasped through the contact between the contact surface of the pressure strip and the battery container. The structure is simple and the grasping effect is good.

[0023] In some embodiments, the pressure strip is made of an elastic material, and the contact surface of the pressure strip includes concave and convex portions.

[0024] Thus, the pressure strip made of elastic material can reduce the possibility of damage to the battery container when the gripping device clamps and grips the battery container, further improving the reliability of the gripping device. In addition, since the contact surface includes concave and convex parts, the friction between the contact surface and the battery container can be increased, thereby improving the gripping reliability and reducing the possibility of the battery container falling during the gripping and vibration process.

[0025] In some embodiments, the flapping mechanism also includes a flapping support member and a flapping drive device arranged on the flapping support member, and the flapping support member is arranged on the frame; the driving end of the flapping drive device is connected to the flapping member, and the flapping member can reciprocate along the direction of gravity under the drive of the flapping drive device.

[0026] Therefore, the flapping member can, under the drive of the flapping driving device, flap the battery container with a simple structure and simple action, so that the battery accidentally adhered to the bottom surface of the battery container can fall off, thereby improving the reliability of the grasping device.

[0027] In some embodiments, the grasping device also includes a second clamping mechanism, which is used to clamp the battery, and the second clamping mechanism includes two second clamping assemblies, and the two second clamping assemblies are arranged on the frame in a manner that they can approach or move away from each other along a second direction; wherein the second direction is perpendicular to both the first direction and the direction of gravity.

[0028] Therefore, the grasping device can grasp the battery in addition to the battery container, so there is no need to frequently switch the grasping device to grasp different objects to be grasped, which effectively improves the grasping efficiency. In addition, since the second clamping mechanism grasps the battery by moving the two second clamping components along the second direction, it can adapt to batteries of different sizes by changing the position of the second clamping components along the second direction, which has good compatibility and is conducive to flexible production.

[0029] In some embodiments, there are multiple second clamping mechanisms, and the multiple second clamping mechanisms are arranged at intervals along the first direction.

[0030] Thus, multiple batteries can be grasped simultaneously by multiple second clamping mechanisms, thereby improving the grasping efficiency of the grasping device when grasping the batteries.

[0031] The second aspect of the present application provides a grasping device, which comprises: a manipulator; and the grasping device according to the first aspect of the present application; wherein the manipulator is connected to the frame of the grasping device to drive the grasping device to rotate and / or move.

[0032] When the grasping device of the embodiment of the present application grasps the battery container, it is not easy to lift up the internal battery of the lower battery container, thereby reducing the possibility of adverse situations such as battery falling and being damaged, and improving the reliability of the grasping device.

[0033] Utility Model Effect

[0034] Through the present application, when the grasping device grasps the battery container, it is not easy to carry up the battery in the lower battery container, the reliability is higher, the structure is simple, and the grasping efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0036] Figure 1 A schematic diagram of the three-dimensional structure of a gripping device provided in some embodiments of the present application;

[0037] Figure 2 A schematic plan view of a gripping device provided for some embodiments of the present application;

[0038] Figure 3 A schematic diagram of a three-dimensional structure of a first clamping assembly provided in some embodiments of the present application;

[0039] Figure 4 A schematic diagram of the planar structure of a flapping mechanism provided in some embodiments of the present application;

[0040] Figure 5 for Figure 1 A magnified view of part A;

[0041] Figure 6 for Figure 1 Enlarged view of part B.

[0042] Description of Reference Numerals

[0043] 1-frame; 11-connecting seat; 12-mounting frame; 2-first clamping mechanism; 21-first clamping assembly; 21a-clamping connector; 211-clamping plate; 211a-clamping surface; 212-clamping plate support; 213-clamping plate drive device; 214-guide member; 2141-head; 2142-rod; 215-elastic member; 216-limiting member; 217-buffer member; 218-guide rail; 219-sliding member; 22-pressure strip; 22a-contact surface; 221-convex and concave portion; 3-flapping mechanism; 31-flapping member; 32-flapping support member; 33-flapping drive device; 4-second clamping mechanism; 41-second clamping assembly; 10-battery container; 101-receiving slot; 20-battery; 100-grasping device. DETAILED DESCRIPTION

[0044] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions.

[0046] In the description of the embodiments of the present application, the technical terms "first", "second", "third", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0047] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0049] In the description of the embodiments of the present application, the orientation or position relationship indicated by technical terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", and "circumferential" are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0050] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0051] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and may be direct contact or contact through an intermediate medium layer. It may be contact with essentially no interaction force between the two contacting parties, or it may be contact with interaction force between the two contacting parties.

[0052] Below, this application is described in detail.

[0053] At present, new energy batteries are increasingly used in life and industry. New energy batteries are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but are also widely used in electric vehicles such as electric bicycles, electric motorcycles, electric cars, as well as aerospace and other fields. With the continuous expansion of the application field of power batteries, the market demand is also constantly expanding.

[0054] Batteries are usually stored on foam, and the foam storing the batteries is usually stacked in the direction of gravity. When the batteries are loaded, the grabbing device needs to grab and carry away the empty foam after grabbing all the batteries contained in the foam on the top layer, exposing the next layer of foam and the batteries contained in the next layer of foam, so that the batteries of the next layer can continue to be grabbed.

[0055] Since the foams are stacked one on top of the other along the direction of gravity, the layers will be squeezed under the action of gravity, so that the top surface of the battery in the lower foam will contact the bottom surface of the upper foam, and the top surface of the battery is usually welded with a pole, which may cause some unsolidified solder paste to remain on the top surface of the battery. In this way, when the top surface of the battery contacts the upper foam, it may adhere to the bottom surface of the upper foam. When the grasping device grasps the battery in the upper foam and grasps the empty foam on the upper layer, the upper empty foam will be grasped and carried together with the battery in the lower foam that is adhered to it. If the operator fails to find and deal with it in time, the adhered battery may fall off during the process of being carried with the empty foam. If it falls on other positions of the lower foam, it may affect the grasping of the lower battery and may cause damage to the battery. If it falls on other positions of the production line, it may cause damage to the battery or the parts at the falling position, seriously affecting the reliability of the grasping device.

[0056] In the related art, when a battery is attached to the upper foam layer, an operator usually manually removes the attached battery and puts it back into the lower foam layer. However, the manual method has poor reliability and low efficiency, which affects the grasping efficiency of the grasping device.

[0057] In view of the problems existing in the above-mentioned related technologies, the present application proposes a gripping device, which includes a frame, a first clamping mechanism and a flapping mechanism. The frame is used to be connected to a manipulator. The first clamping mechanism is used to clamp a battery container, and the first clamping mechanism includes two first clamping assemblies, and the two first clamping assemblies are arranged on the frame in a manner that they can approach or move away from each other along a first direction. The flapping mechanism is arranged on the frame, and the flapping mechanism includes a flapping member, and the flapping member can reciprocate between a retreat position and a flapping position along the direction of gravity, wherein, at the flapping position, the flapping member can contact the battery container. Wherein, the first direction is perpendicular to the direction of gravity.

[0058] Since the grasping device includes a flapping mechanism, after the first clamping mechanism clamps the upper empty battery container, the flapping mechanism can flap the battery container by reciprocating the flapping member between the retreat position and the flapping position along the direction of gravity. In this way, the battery container vibrates along the direction of gravity. If there are batteries in the lower layer adhering to the bottom surface of the battery container, they can fall back to the lower battery container under the action of vibration. In this way, when the grasping device is transporting the battery container, the possibility of accidentally taking away the batteries contained in the lower battery container can be reduced, and the reliability is better. The flapping mechanism has a simple structure, and after the flapping mechanism is set, there is no need to frequently perform manual monitoring to see if the lower battery is adhering and there is no need to frequently manually remove the adhering batteries. The degree of automation is higher, which effectively reduces the labor cost and improves the grasping and releasing efficiency.

[0059] The gripping device of the embodiment of the present application can be used in the production process of the battery, for example, to grip the battery and the foam containing the battery when the battery is loaded. Of course, those skilled in the art should understand that the gripping device provided in the embodiment of the present application is not only used to grip the battery and the foam in the battery production process, but also can be used to grip any other workpieces in other production lines.

[0060] Below, refer to Figures 1 to 6 Some embodiments of the present application are described in detail.

[0061] Figure 1 A schematic diagram of the three-dimensional structure of a gripping device provided in some embodiments of the present application. Figure 2 A schematic plan view of a gripping device provided for some embodiments of the present application. Figure 3 A schematic three-dimensional structure diagram of a first clamping assembly provided for some embodiments of the present application. Figure 4 A schematic plan view of the structure of a beating mechanism provided in some embodiments of the present application. Figure 5 for Figure 1 Enlarged view of part A. Figure 6 for Figure 1 Enlarged view of part B.

[0062] In some embodiments of the present application, for the convenience of explanation, a first direction, a second direction and a gravity direction are set, and the first direction, the second direction and the gravity direction are perpendicular to each other, but those skilled in the art should understand that the embodiments of the present application are not limited to the situation where the three directions are perpendicular to each other. Figures 1 to 4 As shown by the arrows in , the direction of arrow X is the first direction, the direction of arrow Y is the second direction, and the direction of arrow Z is the gravity direction. Sometimes the direction indicated by arrow Z along the gravity direction is called "upward", and the opposite direction is called "downward".

[0063] like Figure 1 and Figure 2 As shown, the first aspect of the present application provides a grasping device 100. The grasping device 100 includes a frame 1, a first clamping mechanism 2 and a flapping mechanism 3. The frame 1 is used to be connected to a manipulator. The first clamping mechanism 2 is used to clamp a battery container 10, and the first clamping mechanism 2 includes two first clamping assemblies 21, and the two first clamping assemblies 21 are arranged on the frame 1 in a manner that they can approach or move away from each other along a first direction. The flapping mechanism 3 is arranged on the frame 1, and the flapping mechanism 3 includes a flapping member 31, and the flapping member 31 can reciprocate between a retreat position and a flapping position along the direction of gravity, wherein, in the flapping position, the flapping member 31 can contact the battery container 10. Wherein, the first direction is perpendicular to the direction of gravity.

[0064] The gripping device 100 of the embodiment of the present application is a device capable of gripping a battery 20 and a battery container 10 that contains the battery 20. In some other embodiments, the gripping device 100 may also only be capable of gripping the battery container 10.

[0065] In the embodiment of the present application, the battery 20 may be a battery cell.

[0066] A battery cell refers to a basic unit that can realize the mutual conversion between chemical energy and electrical energy. It can be used to make battery modules or battery packs to supply power to electrical devices.

[0067] The battery cell may be a secondary battery, which refers to a battery cell that can be continuously used by activating the active material by charging after the battery cell is discharged.

[0068] The battery cell can be a lithium ion battery, a sodium ion battery, a sodium lithium ion battery, a lithium metal battery, a sodium metal battery, a lithium sulfur battery, a magnesium ion battery, a nickel hydrogen battery, a nickel cadmium battery, a lead storage battery, etc., which is not limited in the embodiments of the present application.

[0069] A battery cell generally includes an electrode assembly. The electrode assembly includes a positive electrode, a negative electrode, and a separator. During the charge and discharge process of the battery cell, active ions (such as lithium ions) are embedded and removed between the positive electrode and the negative electrode. The separator is set between the positive electrode and the negative electrode to prevent the positive and negative electrodes from short-circuiting, while allowing active ions to pass through.

[0070] In some embodiments, the battery cell further includes an electrolyte, which acts as a conductor of ions between the positive and negative electrodes. The present application has no specific restrictions on the type of electrolyte, which can be selected according to needs. The electrolyte can be liquid, gel or solid.

[0071] In some embodiments, the separator is a separator. The present application has no particular limitation on the type of separator, and any known separator with a porous structure having good chemical stability and mechanical stability can be selected.

[0072] As an example, the main material of the isolation membrane can be selected from at least one of glass fiber, non-woven fabric, polyethylene, polypropylene, polyvinylidene fluoride, and ceramics.

[0073] In some embodiments, the electrode assembly is a wound structure, wherein the positive electrode sheet and the negative electrode sheet are wound into the wound structure.

[0074] In some embodiments, the electrode assembly is a laminate structure.

[0075] As an example, a plurality of positive electrode sheets and a plurality of negative electrode sheets may be provided respectively, and the plurality of positive electrode sheets and the plurality of negative electrode sheets may be alternately stacked.

[0076] As an example, a plurality of positive electrode sheets may be provided, and the negative electrode sheet may be folded to form a plurality of stacked folded segments, with a positive electrode sheet being sandwiched between adjacent folded segments.

[0077] As an example, both the positive electrode sheet and the negative electrode sheet are folded to form a plurality of folded sections that are stacked.

[0078] As an example, a plurality of separators may be provided, each of which is provided between any adjacent positive electrode sheets or negative electrode sheets.

[0079] As an example, the separator may be disposed continuously, and may be disposed between any adjacent positive electrode sheets or negative electrode sheets by folding or winding.

[0080] In some embodiments, the shape of the electrode assembly can be cylindrical, flat, or polygonal.

[0081] In some embodiments, the electrode assembly is provided with tabs, which can lead current out of the electrode assembly. The tabs include a positive tab and a negative tab.

[0082] In some embodiments, the battery cell may include a housing. The housing is used to encapsulate components such as the electrode assembly and the electrolyte. The housing may be a steel housing, an aluminum housing, a plastic housing (such as polypropylene), a composite metal housing (such as a copper-aluminum composite housing), or an aluminum-plastic film.

[0083] As an example, the battery cell may be a cylindrical battery cell, a prismatic battery cell or a battery cell of other shapes. The prismatic battery cell includes a square shell battery cell, a blade-shaped battery cell, a polygonal battery, such as a hexagonal battery, etc. There is no particular limitation in the present application.

[0084] In some embodiments, the housing includes an end cap and a shell, the shell is provided with an opening, and the end cap closes the opening to form a closed space for accommodating substances such as the electrode assembly and the electrolyte. The shell may be provided with one or more openings. One or more end caps may also be provided.

[0085] In some embodiments, a pressure relief mechanism is provided on the housing, and the pressure relief mechanism is used to release the internal pressure of the battery cell.

[0086] The battery container 10 is a carrier for storing and placing the battery 20. In the embodiment of the present application, the battery container 10 is foam. The foam has good elasticity and softness, and can absorb external impact and vibration well, so as to play a good protective role for the battery 20 contained therein, and reduce the possibility of damage to the battery 20 during storage.

[0087] like Figure 1As shown, a plurality of receiving grooves 101 arranged at intervals along the first direction and the second direction are formed on the battery receiving body 10, and the batteries 20 are received in the plurality of receiving grooves 101. In this way, one battery receiving body 10 can receive a plurality of batteries 20, and the plurality of batteries 20 can be placed isolated from each other, thereby reducing the possibility of short circuit due to contact between the plurality of batteries 20.

[0088] Of course, those skilled in the art should understand that in some other embodiments, the battery container 10 may also be any other suitable battery container 10, as long as it can safely and properly accommodate and store the battery 20. In addition, the embodiment of the present application does not specifically limit the number, size, and arrangement of the accommodating grooves 101 formed on the battery container 10, and can be set according to actual conditions and the size of the battery 20.

[0089] The frame 1 is a supporting bracket of the gripping device 100 , and is used to carry various functional components for realizing the functions of the gripping device 100 .

[0090] The frame 1 may include, for example, a connection seat 11 and a mounting frame 12. The shape of the mounting frame 12 is not limited. For example, the mounting frame 12 may be composed of a plurality of beams, which are generally arranged to form a rectangular frame body, and various functional components of the gripping device 100 are connected to the mounting frame 12. The connection seat 11 is arranged above the mounting frame 12 and is used to connect with the manipulator, so that the gripping device 100 can be rotated and / or moved under the drive of the manipulator.

[0091] The first clamping mechanism 2 is a mechanism for clamping the battery container 10. The first clamping mechanism 2 includes two first clamping components 21. The two first clamping components 21 are arranged on both sides of the mounting frame 12 along a first direction and are spaced apart. The two first clamping components 21 can clamp the battery container 10 in a manner close to each other and release the battery container 10 in a manner away from each other. The specific structure of the first clamping component 21 will be described in detail later.

[0092] In order to save space, the battery containers 10 are usually stacked in the direction of gravity. When loading the batteries 20, after grabbing the batteries 20 in the battery container 10 on the top layer, the empty battery container 10 that has grabbed the batteries 20 is grabbed and carried away by the first clamping mechanism 2 of the grabbing device 100, thereby exposing the battery container 10 of the next layer, so that the batteries 20 contained in the battery container 10 of the next layer can continue to be grabbed and loaded.

[0093] When the battery containers 10 are stacked, the batteries 20 in the lower battery containers 10 may adhere to the bottom surface of the upper battery containers 10 due to the compression between the layers. In this way, the grasping device 100 may move and transport the batteries 20 adhered to the bottom surface of the battery containers 10 together with the battery containers 10 during the process of grasping and transporting the empty battery containers 10.

[0094] The adhered battery 20 may fall while moving with the battery container 10, for example, it may fall to other positions of the battery container 10, or fall to other positions of the production line, which may affect the grasping of the lower battery 20, or may cause damage to the battery 20 or other components on the production line, thereby increasing production costs.

[0095] Therefore, the grasping device 100 of the embodiment of the present application also includes a flapping mechanism 3. After the first clamping mechanism 2 clamps the empty battery container 10, the flapping mechanism 3 can first perform multiple reciprocating movements between the retreat position and the flapping position along the direction of gravity through the flapping member 31, thereby flapping the battery container 10. In this way, the battery container 10 will vibrate along the direction of gravity. If there are batteries 20 in the lower layer adhered to the bottom surface of the battery container 10, they can fall back into the receiving groove 101 of the battery container 10 in the lower layer under the action of vibration. In this way, after the flapping operation, the grasping device 100 can reduce the possibility of accidentally taking away the batteries 20 contained in the lower battery container 10 when transporting the battery container 10, and the reliability is better.

[0096] The structure and action of the flapping mechanism 3 are simple, and after the grasping device 100 is provided with the flapping mechanism 3, there is no need to frequently perform manual monitoring to see whether the lower layer battery 20 is adhered, and there is no need to frequently perform manual operations to remove the adhered battery 20. The degree of automation is higher, which effectively reduces the labor cost and improves the grasping and releasing efficiency.

[0097] Those skilled in the art should understand that after the first clamping mechanism 2 clamps the empty battery container 10, it will not immediately perform large-stroke displacements such as rotation and transportation. Instead, it will first rise a short distance in the direction of gravity under the drive of the manipulator, and then perform a tapping operation through the tapping mechanism 3. After the tapping operation is completed, the manipulator will perform a larger-stroke displacement to transport the empty battery container 10 to a specified position.

[0098] Since the first clamping mechanism 2 only rises a certain distance in the direction of gravity after grabbing the battery container 10, even if there are batteries 20 in the lower layer adhered to the bottom surface of the empty battery container 10, part of the adhered battery 20 will still remain in the receiving groove 101 of the lower battery container 10, or be located directly above the receiving groove 101 of the adhered battery 20 in the direction of gravity. In this way, when the tapping mechanism 3 performs the tapping operation, the adhered battery 20 will still fall back into its own receiving groove 101, and will not easily fall back to other positions of the lower battery container 10, thereby not affecting the batteries 20 in other receiving grooves 101, and having better reliability.

[0099] In the embodiment of the present application, the bottom surface of the battery container 10 refers to the surface of the battery container 10 facing downward along the direction of gravity, or it can also be understood as the surface of the battery container 10 facing away from the side having the receiving groove 101 along the direction of gravity.

[0100] In some embodiments of the present application, Figure 3 As shown, the first clamping assembly 21 includes a clamping plate 211, a clamping plate support 212 and a clamping plate driving device 213. The clamping plate 211 is arranged on the clamping plate support 212 in a manner that it can reciprocate along the gravity direction. The driving end of the clamping plate driving device 213 is connected to the clamping plate support 212, and the clamping plate support 212 can move along the first direction under the drive of the clamping plate driving device 213.

[0101] Therefore, when the beating mechanism 3 performs a beating operation on the battery container 10 along the direction of gravity, the clamping plate 211 of the first clamping assembly 21 can perform reciprocating motion along the direction of gravity along with the beating operation of the beating member 31, thereby driving the battery container 10 clamped by the clamping plate 211 to perform reciprocating motion along the direction of gravity, thereby increasing the movement amplitude of the battery container 10 along the direction of gravity, making it easier for the battery 20 adhered to the bottom surface of the battery container 10 to fall off.

[0102] In the embodiment of the present application, the clamping plate 211 is generally in the shape of a rectangular plate. In some other embodiments, the clamping plate 211 may also be in any other suitable shape such as a square, a circle or a polygon, as long as the battery container 10 can be well clamped. The embodiment of the present application does not specifically limit the shape of the clamping plate 211.

[0103] The clamping plate driving device 213 can be connected to the mounting frame 12 of the frame 1 through a clamping connector 21a, for example. The clamping connector 21a can be a connecting rod, a connecting plate, a connecting block, etc., or a clamping connection assembly formed by a connecting rod and a connecting plate. The embodiment of the present application does not specifically limit the form of the clamping connector 21a.

[0104] The clamp support 212 is connected to the driving end of the clamp drive device 213, and the clamp 211 is arranged on the clamp support 212, thereby being indirectly connected to the driving end of the clamp drive device 213 through the clamp support 212. In this way, the two clamps 211 of the two first clamping assemblies 21 can be driven by their respective clamp drives 213 to approach or move away from each other along the first direction, thereby achieving the clamping of the battery container 10 with a simple structure and simple action, improving the grasping and releasing efficiency and reducing the production cost. Moreover, compared with the traditional adsorption grasping of the battery container, the reliability of clamping the battery container 10 with two clamps 211 is higher, and it is not easy for the battery container 10 to fall during the grasping and carrying process. In some other embodiments, the clamp 211 can also be directly connected to the driving end of the clamp drive device 213.

[0105] In addition, since the first clamping mechanism 2 grasps the battery container 10 by moving the two clamps 211 along the first direction, it can adapt to battery containers 10 of different sizes by changing the positions of the two clamps 211 along the first direction, has good compatibility, and is conducive to flexible production.

[0106] Exemplarily, the clamping plate driving device 213 includes but is not limited to a telescopic cylinder. In addition, as long as the clamping plate 211 can move in the first direction, the embodiment of the present application does not specifically limit the movement mode of the clamping plate 211. In some other embodiments, the clamping plate 211 can also move in the first direction by means of a guide rail slider, for example.

[0107] In some embodiments of the present application, the first clamping assembly 21 further includes a guide member 214, an elastic member 215, and a limit member 216 connected to the clamping plate 211. The guide member 214 extends along the gravity direction and is disposed on the clamping plate support member 212, the elastic member 215 and the limit member 216 are sleeved on the guide member 214, and the elastic member 215 is configured to provide elastic force to the limit member 216 along the gravity direction.

[0108] The guide member 214 can limit the movement direction of the clamping plate 211 to a certain extent. Figure 3 As shown, the limit member 216 is connected to the splint 211, so that when the limit member 216 moves along the guide member 214 in the direction of gravity, it can drive the splint 211 to move in the direction of gravity, and under the guiding action of the guide member 214, the possibility of the splint 211 moving in other directions perpendicular to the direction of gravity can be reduced, so that the battery 20 can reliably fall back into the accommodating slot 101.

[0109] Exemplarily, the stopper 216 can be formed as an integral structure with the clamping plate 211 .

[0110] As another example, the limiting member 216 and the clamping plate 211 are split structures and are assembled together.

[0111] Since the first clamping assembly 21 includes an elastic member 215, when the flapping member 31 moves to the flapping position, it will apply force to the battery container 10, and the battery container 10 will be forced to move downward in the direction of gravity, driving the clamping plate 211 to move downward in the direction of gravity, and the limiting member 216 connected to the clamping plate 211 will apply force to the elastic member 215, so that the elastic member 215 will be elastically deformed. In this way, when the flapping member 31 moves to the retreat position, the limiting member 216 will automatically return to the initial position under the action of the elastic force of the elastic member 215, so that the clamping plate 211 drives the battery container 10 to return to the initial position in the direction of gravity. The initial position refers to the position of the limiting member 216 before the flapping mechanism 3 performs a flapping operation on the battery container 10, that is, the position of the limiting member 216 when the elastic member 215 has not been elastically deformed.

[0112] In this way, when the beating member 31 taps the battery container 10 multiple times, the battery container 10 will reciprocate along the direction of gravity as the beating member 31 taps, making it easier for the battery 20 adhered to the bottom surface of the battery container 10 to fall off.

[0113] The elastic member 215 includes but is not limited to a compression spring.

[0114] In some embodiments of the present application, the guide member 214 includes a head 2141 and a rod 2142 connected to each other, the rod 2142 is connected to the splint support 212, the equivalent diameter of the head 2141 is larger than the equivalent diameter of the rod 2142, and the elastic member 215 and the limit member 216 are sleeved on the rod 2142.

[0115] Thus, the limiting member 216 can be blocked by the head 2141 when reciprocating along the gravity direction, and is not easy to fall off the rod 2142. While the lower battery 20 falls back, the reliability of the grasping device 100 is improved.

[0116] The equivalent diameter of the head 2141 refers to the diameter of a circular cross section having the same area as the cross section of the head 2141 . Similarly, the equivalent diameter of the rod 2142 refers to the diameter of a circular cross section having the same area as the cross section of the rod 2142 .

[0117] In the embodiment of the present application, the cross-sections of the head 2141 and the rod 2142 are both circular. In some other embodiments, the cross-sections of the head 2141 and the rod 2142 may also be any other suitable shapes.

[0118] Exemplarily, the head portion 2141 may be formed as an integral structure with the stem portion 2142 .

[0119] As another example, the head 2141 and the rod 2142 may be separate structures and assembled together.

[0120] In some embodiments of the present application, the guide member 214 is located on the side of the splint support member 212 facing away from the battery container 10 along the direction of gravity, one end of the elastic member 215 abuts against the splint support member 212, and the other end abuts against the limit member 216, and / or the guide member 214 is located on the side of the splint support member 212 facing the battery container 10 along the direction of gravity, one end of the elastic member 215 abuts against the limit member 216, and the other end abuts against the head 2141.

[0121] For example, Figure 3 As shown, in the embodiment of the present application, the guide member 214 is located on the upper side of the splint support member 212 along the gravity direction. At this time, the elastic member 215 is arranged between the lower end surface of the limiting member 216 and the upper end surface of the splint support member 212.

[0122] Also exemplarily, in some other embodiments, the guide member 214 is located on the lower side of the splint support member 212 along the direction of gravity. At this time, the elastic member 215 is located between the lower end surface of the limiting member 216 and the upper end surface of the head 2141 of the guide member 214.

[0123] As another example, guide members 214 may be provided on both the upper side and the lower side of the splint support member 212 along the gravity direction.

[0124] The embodiment of the present application does not limit the specific setting method of the guide member 214. As long as the clamping plate 211 can drive the battery container 10 to vibrate in the direction of gravity under the action of the slapping mechanism 3 when clamping the battery container 10, so that the battery 20 accidentally adhered to the bottom surface of the battery container 10 is more likely to fall off, the possibility of the grasping device 100 accidentally taking away the lower battery 20 during the process of transporting the battery container 10 can be reduced, thereby improving the reliability of the grasping device 100.

[0125] Those skilled in the art should understand that when the splint support 212 is provided with guide members 214 on the upper and lower sides along the gravity direction, the splint 211 should be connected with at least two limit members 216 arranged at intervals along the gravity direction, so as to cooperate with the guide members 214 on the upper side and the guide members 214 on the lower side of the splint support 212, respectively.

[0126] like Figure 6As shown, in the embodiment of the present application, two guide members 214 are provided on the upper side of the splint support member 212 along the direction of gravity, and each guide member 214 is sleeved with an elastic member 215. The multiple guide members 214 can further play a good guiding role in the movement of the splint 211 along the direction of gravity, and the multiple elastic members 215 can increase the movement amplitude of the splint 211 along the direction of gravity, so as to better enable the battery 20 adhered to the bottom surface of the battery container 10 to fall off.

[0127] Of course, those skilled in the art should understand that in some other embodiments, only one guide member 214 may be provided on one side of the splint support member 212 along the gravity direction, or more (more than two) guide members 214 may be provided, and the present embodiment does not specifically limit this. When the splint support member 212 is provided with guide members 214 on both the upper side and the lower side along the gravity direction, the number of guide members 214 provided on the upper side and the lower side may be the same or different.

[0128] In some embodiments of the present application, the first clamping assembly 21 further includes a buffer member 217, which is sleeved on the rod portion 2142 and located on a side of the limiting member 216 facing away from the elastic member 215. The buffer member 217 is made of elastic material.

[0129] Therefore, the buffer member 217 made of elastic material can provide a certain buffering effect for the limit member 216. When the limit member 216 rebounds under the action of the elastic force provided by the elastic member 215, it will not directly collide with the head 2141 of the guide member 214 or the splint support member 212 with a large force, thereby reducing the possibility of damage to the limit member 216, the guide member 214 or the splint support member 212 and saving manufacturing costs.

[0130] Elastic materials include, but are not limited to, rubber.

[0131] Specifically, when the guide member 214 is located on the side of the clamping member 212 facing away from the battery container 10 in the direction of gravity, the limiting member 216 compresses the elastic member 215 in the direction toward the clamping member 212 in the direction of gravity. Therefore, the buffer member 217 is located between the upper end surface of the limiting member 216 and the lower end surface of the head 2141, thereby reducing the impact of the limiting member 216 on the head 2141 when it rebounds, thereby reducing the possibility of damage to the first clamping assembly 21.

[0132] When the guide member 214 is located on the side of the splint support member 212 facing the battery container 10 in the direction of gravity, the limit member 216 compresses the elastic member 215 in the direction of gravity toward the head 2141. Therefore, the buffer member 217 is located between the upper end surface of the limit member 216 and the lower end surface of the splint support member 212, thereby reducing the impact of the limit member 216 on the splint support member 212 when it rebounds, thereby reducing the possibility of damage to the first clamping assembly 21.

[0133] In some embodiments of the present application, Figure 5 and Figure 6 As shown, the first clamping assembly 21 includes a guide rail 218, which is arranged on the clamping plate support 212 and extends along the gravity direction. A sliding member 219 is formed on one side of the clamping plate 211 facing the clamping plate support 212, and the sliding member 219 is arranged on the guide rail 218 in a manner that it can move along the guide rail 218.

[0134] The guide rail 218 is usually a groove or ridge made of metal or other suitable materials, and is mainly used in situations of linear reciprocating motion. The guide rail 218 can bear, fix, and guide moving parts or devices and reduce friction during their movement.

[0135] The guide rail 218 can provide a certain guiding effect for the movement of the splint 211 along the direction of gravity, reducing the possibility of relative movement of the splint 211 in other directions perpendicular to the direction of gravity, so that the battery 20 can accurately fall back to the lower battery container 10.

[0136] In addition, the guide rail 218 can also reduce the friction and shaking of the splint 211 when it moves along the direction of gravity, thereby making the movement of the splint 211 smoother and more stable, and more reliable, thereby increasing the vibration amplitude of the splint 211, making it easier for the accidentally adhered battery 20 to fall off.

[0137] The sliding member 219 may be formed as an integral structure with the clamping plate 211, or may be a separate structure and assembled together with the clamping plate 211. The sliding member 219 includes but is not limited to a sliding plate, a sliding block, a sliding rod, or a sliding assembly composed of multiple structures.

[0138] In the embodiment of the present application, the guide rail 218 includes a ridge-shaped protrusion structure, and the sliding member 219 includes a groove. The clamping plate 211 can reciprocate along the guide rail 218 through the cooperation between the groove of the sliding member 219 and the ridge-shaped protrusion structure of the guide rail 218.

[0139] In some other embodiments, the guide rail 218 may further include a groove, and the sliding member 219 may include a protruding structure, and the clamping plate 211 may reciprocate along the guide rail 218 through the cooperation between the protruding structure of the sliding member 219 and the groove of the guide rail 218 .

[0140] In the embodiment of the present application, the number of guide rails 218 formed on one clamping plate support member 212 is two, and the two guide rails 218 are spaced apart along the second direction. In some other embodiments, the number of guide rails 218 formed on one clamping plate support member 212 may also be only one, or more (more than two). The embodiment of the present application does not specifically limit the number of guide rails 218, and it can be set according to actual conditions.

[0141] Those skilled in the art should understand that when there are multiple guide rails 218, there should be a corresponding number of sliding members 219 equal to the number of guide rails 218, or when there is only one sliding member 219, the sliding member 219 should be provided with a corresponding number of matching structures (for example, grooves or protrusions) equal to the number of guide rails 218, so that one sliding member 219 can move along multiple guide rails 218.

[0142] In some embodiments of the present application, Figure 3 and Figure 6 As shown, the first clamping assembly 21 includes a pressure strip 22, which is arranged on the clamping surface 211a of the clamping plate 211. When the first clamping mechanism 2 clamps the battery container 10, the clamping surface 211a faces the battery container 10. The pressure strip 22 includes a contact surface 22a, which is used to contact the battery container 10.

[0143] Since the first clamping component 21 includes the pressure strip 22, and the pressure strip 22 includes the contact surface 22a, the battery container 10 can be clamped and grasped through the contact between the contact surface 22a of the pressure strip 22 and the battery container 10. The structure is simple and the grasping effect is good.

[0144] In some embodiments of the present application, the pressure strip 22 is made of an elastic material, and the contact surface 22 a of the pressure strip 22 includes a concave-convex portion 221 .

[0145] Therefore, the pressure strip 22 made of elastic material can reduce the possibility of causing damage to the battery container 10 when the grasping device 100 clamps and grasps the battery container 10, thereby further improving the reliability of the grasping device 100.

[0146] Elastic materials include, but are not limited to, rubber.

[0147] In addition, since the contact surface 22a includes the concave-convex portion 221, the friction between the contact surface 22a and the battery container 10 can be increased, thereby improving the gripping reliability and reducing the possibility of the battery container 10 falling during the gripping and vibration process.

[0148] In the embodiment of the present application, a plurality of oblique grooves are formed on the contact surface 22a to form the concave-convex portion 221. In some other embodiments, a plurality of convex structures may be formed on the contact surface 22a to form the concave-convex portion 221. The embodiment of the present application does not specifically limit the shape and structure of the concave-convex portion 221, as long as it can increase the friction when clamping the battery container 10.

[0149] In some embodiments of the present application, Figure 4 As shown, the flapping mechanism 3 also includes a flapping support 32 and a flapping drive device 33 provided on the flapping support 32, and the flapping support 32 is provided on the frame 1. The driving end of the flapping drive device 33 is connected to the flapping member 31, and the flapping member 31 can reciprocate along the gravity direction under the drive of the flapping drive device 33.

[0150] Therefore, the beating member 31 can, under the drive of the beating driving device 33, perform a beating operation on the battery container 10 with a simple structure and simple action, so that the battery 20 accidentally adhered to the bottom surface of the battery container 10 can fall off, thereby improving the reliability of the grasping device 100.

[0151] The flapping driving device 33 includes but is not limited to a telescopic cylinder.

[0152] In some embodiments of the present application, the gripping device 100 further includes a second clamping mechanism 4, the second clamping mechanism 4 is used to clamp the battery 20, and the second clamping mechanism 4 includes two second clamping components 41, and the two second clamping components 41 are arranged on the frame 1 in a manner that they can approach or move away from each other along a second direction. The second direction is perpendicular to both the first direction and the gravity direction.

[0153] Therefore, in addition to being able to grasp the battery container 10, the grasping device 100 can also grasp the battery 20. There is no need to frequently switch different grasping devices 100 to grasp different parts to be grasped (battery 20 or battery container 10), which effectively improves the grasping efficiency.

[0154] In addition, since the second clamping mechanism 4 grabs the battery 20 by moving the two second clamping components 41 along the second direction, it can adapt to batteries 20 of different sizes by changing the position of the second clamping components 41 along the second direction, has good compatibility, and is conducive to flexible production.

[0155] The two second clamping assemblies 41 can move closer to or farther from each other along the second direction through a distance changing mechanism, for example.

[0156] Exemplarily, the pitch-changing mechanism may include a pitch-changing screw and a screw nut, etc., and the movement of the two second clamping assemblies 41 along the second direction is achieved by screw transmission.

[0157] As another example, the distance-changing mechanism may further include a distance-changing guide rail and a distance-changing slider, etc., and the movement of the two second clamping assemblies 41 along the second direction is achieved by transmission of the slider and the guide rail.

[0158] The embodiment of the present application does not specifically limit the movement mode of the second clamping assembly 41 along the second direction, as long as the two second clamping assemblies 41 can move relatively close to or away from each other along the second direction.

[0159] In some embodiments of the present application, Figure 2 As shown, there are multiple second clamping mechanisms 4, and the multiple second clamping mechanisms 4 are arranged at intervals along the first direction.

[0160] Thus, a plurality of batteries 20 can be grasped simultaneously by the plurality of second clamping mechanisms 4 , thereby improving the grasping efficiency of the grasping device 100 when grasping the batteries 20 .

[0161] The embodiment of the present application does not specifically limit the number of the second clamping mechanisms 4 and can be set according to actual conditions.

[0162] Exemplarily, the number of the second clamping mechanisms 4 may be the same as the number of the receiving slots 101 in a column or row of the battery receiving body 10 , so that the grasping device 100 can grasp a whole column or row of batteries 20 at a time.

[0163] The second aspect of the present application provides a gripping device, which includes a manipulator and the gripping device 100 according to the first aspect of the present application. The manipulator is connected to the frame 1 of the gripping device 100 to drive the gripping device 100 to rotate and / or move.

[0164] When the grasping device of the embodiment of the present application grasps the battery container 10, it is not easy to lift up the internal battery 20 of the lower battery container 10, thereby reducing the possibility of adverse situations such as the battery 20 falling and being damaged, and improving the reliability of the grasping device.

[0165] Exemplarily, the robot may be, for example, a three-axis robot or a six-axis robot.

[0166] Specific examples of some embodiments of the present application are described below with reference to the accompanying drawings.

[0167] As a specific example, the present application proposes a gripper device (gripping device 100) that grips a battery cell (battery 20) and foam (battery container 10) in one piece. The gripper device is fixed on a six-axis robotic arm (manipulator). After the battery cell gripper mechanism (second gripper mechanism 4) takes out the battery cell from the foam and places it on a conveyor belt, the robotic arm drives the gripper device to grip the empty foam.

[0168] The foam clamping mechanism (first clamping mechanism 2) is fixed on both sides of the clamping jaw device through the foam clamping mechanism connecting plate (clamping connector 21a). The foam clamping mechanism includes a clamping cylinder (clamping plate driving device 213), which is fixed on the clamping mechanism connecting plate, and the linear rail (guide rail 218) is fixed on the linear rail fixing plate (clamping plate support member 212) and connected to the clamping cylinder. The spring (elastic member 215) and the spring follower (limiting member 216) are fixed on the guide column (guide member 214), and the guide column is connected to the linear rail fixing plate. The clamping plate (clamping plate 211) is fixed on the linear rail and moves up and down with the linear rail. The soft pad (pressure strip 22) is pasted on the clamping plate to increase the friction.

[0169] The foam beating mechanism connecting plate (beating support member 32) is fixed on the clamping claw device, the foam beating cylinder (beating drive device 33) is connected to the foam beating plate (beating member 31), and the foam beating cylinder is fixed on the foam beating mechanism connecting plate.

[0170] After the clamping device cooperates with the visual positioning, the battery cell clamping mechanism takes out all the battery cells on the foam, and then the foam clamping mechanism clamps the two sides of the foam. The clamping device rises a short distance, and the foam beating cylinder drives the foam beating plate to quickly beat the foam. At the same time, the foam clamping plate clamps the foam, and presses the foam when the beating cylinder extends downward. The foam is forced to move downward synchronously through the linear rail, and the beating cylinder quickly retracts after being extended into place. The synchronous linear rail moves upward again under the action of the spring's rebound force. After the foam moves back and forth several times under the action of the beating cylinder and the spring rebound force, the battery cell stuck to the bottom of the foam can fall back into the lower foam slot (accommodation slot 101), thereby achieving the purpose of preventing the battery cell from being lifted up.

[0171] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; 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 included in the scope of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A gripping device, characterized in that: The grabbing device comprises: A frame, used for connecting with the manipulator; A first clamping mechanism, for clamping the battery container, the first clamping mechanism comprising two first clamping assemblies, the two first clamping assemblies being arranged on the frame in a manner that they can approach or move away from each other along a first direction; and A flapping mechanism is provided on the frame, the flapping mechanism includes a flapping member, the flapping member can reciprocate between a retreat position and a flapping position along the gravity direction, wherein at the flapping position, the flapping member can contact the battery container; Wherein, the first direction is perpendicular to the gravity direction.

2. The gripping device according to claim 1, characterized in that: The first clamping assembly includes a clamping plate, a clamping plate support and a clamping plate driving device; The clamping plate is arranged on the clamping plate support member in a manner capable of reciprocating along the gravity direction; The driving end of the clamping plate driving device is connected to the clamping plate supporting member, and the clamping plate supporting member can move along the first direction under the driving of the clamping plate driving device.

3. The gripping device according to claim 2, characterized in that: The first clamping assembly further includes a guide member, an elastic member, and a limit member connected to the clamping plate; The guide member extends along the gravity direction and is arranged on the clamping plate support member, the elastic member and the limiting member are sleeved on the guide member, and the elastic member is configured to provide elastic force for the limiting member along the gravity direction.

4. The gripping device according to claim 3, characterized in that: The guide member includes a head and a rod connected to each other, the rod is connected to the splint support, the equivalent diameter of the head is larger than the equivalent diameter of the rod, and the elastic member and the limit member are sleeved on the rod.

5. The gripping device according to claim 4, characterized in that: The guide member is located on a side of the clamping plate support member facing away from the battery container along the gravity direction, one end of the elastic member abuts against the clamping plate support member, and the other end abuts against the limiting member; and / or The guide member is located on a side of the clamping plate support member facing the battery container along the gravity direction, one end of the elastic member abuts against the limiting member, and the other end abuts against the head.

6. The gripping device according to claim 4 or 5, characterized in that: The first clamping assembly further includes a buffer member, which is sleeved on the rod portion and located on a side of the limiting member facing away from the elastic member; The buffer is made of elastic material.

7. The gripping device according to any one of claims 2 to 5, characterized in that The first clamping assembly includes a guide rail, which is provided on the clamping plate support and extends along the gravity direction; A sliding member is formed on one side of the clamping plate facing the clamping plate supporting member, and the sliding member is arranged on the guide rail in a manner of being able to move along the guide rail.

8. The gripping device according to any one of claims 2 to 5, characterized in that The first clamping assembly includes a pressure strip, the pressure strip is provided on the clamping surface of the clamping plate, and when the first clamping mechanism clamps the battery container, the clamping surface faces the battery container; The pressure strip includes a contact surface, and the contact surface is used to contact the battery container.

9. The gripping device according to claim 8, characterized in that: The pressure strip is made of elastic material, and the contact surface of the pressure strip includes concave and convex parts.

10. The gripping device according to any one of claims 1 to 5, characterized in that The flapping mechanism further comprises a flapping support and a flapping driving device arranged on the flapping support, wherein the flapping support is arranged on the frame; The driving end of the flapping driving device is connected to the flapping member, and the flapping member can reciprocate along the gravity direction under the drive of the flapping driving device.

11. The gripping device according to any one of claims 1 to 5, characterized in that The gripping device further comprises a second clamping mechanism, the second clamping mechanism is used to clamp the battery, the second clamping mechanism comprises two second clamping assemblies, and the two second clamping assemblies are arranged on the frame in a manner that they can approach or move away from each other along a second direction; The second direction is perpendicular to both the first direction and the gravity direction.

12. The gripping device according to claim 11, characterized in that There are multiple second clamping mechanisms, and the multiple second clamping mechanisms are arranged at intervals along the first direction.

13. A gripping device, characterized in that: The grabbing device comprises: Manipulator; and The gripping device according to any one of claims 1 to 12; Wherein, the manipulator is connected to the frame of the grasping device and is used to drive the grasping device to rotate and / or move.

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