Grabbing device and battery production line

Abstract

The present application is applicable to the field of battery production and manufacturing technology, and provides a gripping device and a battery production line. The gripping device includes a frame, a positioning mechanism and a bottom supporting mechanism. The positioning mechanism is installed on the frame, and the positioning mechanism includes an expansion structure that can expand from a first state to a second state; the bottom supporting mechanism includes a bottom supporting driving structure and a bottom supporting structure. The bottom supporting driving structure is installed on the frame, and the bottom supporting driving structure is connected to the bottom supporting structure by transmission. The bottom supporting driving structure includes a first driver and a second driver. The first driver is installed on the frame, and the first driver is used to drive the second driver to move in a first direction, and the second driver is used to drive the bottom supporting structure to move in a second direction. The gripping mechanism provided in the present application grips the battery through the expansion structure and the bottom supporting structure. When placing the battery, it occupies little space on the side of the battery, which is convenient for placing the battery in a relatively small accommodation space.

Description

Technical Field

[0001] The present application relates to the technical field of battery production and manufacturing, and more specifically, to a gripping device and a battery production line. Background Art

[0002] With the popularity of new energy vehicles, the output of automotive power batteries is expanding year by year. There are many specifications of batteries for different usage requirements, and the sizes of batteries of different specifications are different. In the production process of batteries, it is often necessary to transfer and transport batteries, and batteries of different sizes need to be grasped and fixed by different grasping devices.

[0003] In the related art, after the grabbing device grabs the battery, it is difficult to place the battery into a relatively small accommodation space. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a gripping device, aiming to solve the technical problem in the prior art that it is difficult for a gripping device to place a battery into a relatively small accommodation space.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] In a first aspect, a gripping device is provided, comprising:

[0007] frame;

[0008] A positioning mechanism is installed on the frame, the positioning mechanism includes an expansion structure, and the expansion structure can expand from a first state to a second state;

[0009] The bottom supporting mechanism comprises a bottom supporting driving structure and a bottom supporting structure. The bottom supporting structure is movably mounted on a frame. The bottom supporting driving structure comprises a first driver and a second driver. The first driver is mounted on the frame. The first driver is transmission-connected to the second driver. The second driver is transmission-connected to the bottom supporting structure. The second driver is used to drive the bottom supporting structure to move in a first direction. The first driver is used to drive the second driver to move in a second direction. The axial direction of the expansion structure is the first direction, and the first direction is perpendicular to the second direction.

[0010] The gripping device provided in the embodiment of the present application can be used to grip the battery, and the frame is used to install the positioning mechanism and the bottom supporting mechanism. The positioning mechanism extends into the lifting hole of the battery through the expansion structure, and the expansion structure is expanded from the first state to the second state. The expansion structure and the lifting hole of the battery are interference fit, thereby fixing the battery. Under the cooperation of the first driver and the second driver, the bottom supporting mechanism can be moved to the bottom of the battery to support the battery to prevent the battery from falling during the transportation process, and can be moved away from the bottom and side of the battery before placing the battery, thereby reducing the occupation of the peripheral space of the battery. Since the expansion structure is inserted in the lifting hole of the battery, it does not occupy the peripheral space of the battery. In summary, the use of the gripping device provided in the embodiment of the present application to transfer the battery can reduce the occupation of the peripheral space of the battery when placing the battery, which is convenient for placing the battery in a smaller accommodation space.

[0011] In a possible design, two bottom supporting structures are installed on the frame, and the two bottom supporting structures are spaced apart in the second direction.

[0012] In the embodiment of the present application, the two bottom supporting mechanisms can support two opposite sides of the bottom of the battery, and the supporting stability is stronger.

[0013] In a possible design, a first slide rail is provided on the rack along the second direction, and the second driver is slidably assembled on the first slide rail.

[0014] In the embodiment of the present application, the provision of the first slide rail makes the movement stability of the second driver stronger.

[0015] In a possible design, the bottom supporting mechanism further includes a sliding plate, the sliding plate is slidably mounted on the first sliding rail, and the second driver is mounted on the sliding plate.

[0016] In the embodiment of the present application, the arrangement of the sliding plate provides a larger installation space for the second driver.

[0017] In a possible design, the bottom supporting mechanism includes a guide column, the sliding plate is provided with a first guide hole, the bottom supporting structure is connected to the guide column, the guide column is slidably installed in the first guide hole, and the guide column can move along the first direction relative to the sliding plate.

[0018] In the embodiment of the present application, the cooperation between the first guide hole and the guide column can improve the stability of the movement of the bottom supporting structure relative to the sliding plate.

[0019] In a possible design, the guide column is connected to a first buffer component, the sliding plate is provided with a first matching portion, and the first buffer component and the first matching portion are arranged opposite to each other in a first direction.

[0020] In an embodiment of the present application, the first buffer member performs buffering between the sliding plate and the guide column.

[0021] In a possible design, the guide column is connected to a linkage, the linkage is provided with a first screw hole, the first buffer has a first screw rod and a first buffer head connected to each other, and the first screw rod is screwed into the first screw hole.

[0022] In the embodiment of the present application, the first buffer component can adjust the position of the first buffer head through the cooperation between the first screw rod and the first screw hole.

[0023] In a possible design, the frame is provided with a second buffer, the sliding plate is provided with a second matching portion, and the second buffer is arranged opposite to the second matching portion in the second direction.

[0024] In an embodiment of the present application, the second buffer member performs buffering between the sliding plate and the frame.

[0025] In a possible design, the frame is provided with a second screw hole, the second buffer member has a second screw rod and a second buffer head connected to each other, and the second screw rod is screwed into the second screw hole.

[0026] In the embodiment of the present application, the position of the second buffer head can be adjusted by the cooperation between the second screw rod and the second screw hole.

[0027] In one possible design, the frame is provided with a buffer frame, the second screw hole is provided on the buffer frame, the second matching portion is provided with a second guide hole, the second screw rod is passed through the second guide hole, the second buffer head is located on the side of the second matching portion away from the buffer frame, and the outer diameter of the second buffer head is larger than the inner diameter of the second guide hole.

[0028] In the embodiment of the present application, the second guide hole improves the movement stability of the second buffer component, and the second buffer head is located on the side of the second matching portion away from the buffer frame, so that the second buffer head has a limiting effect on the sliding plate.

[0029] In a possible design, there are two bottom supporting mechanisms, two sliding plates are slidably mounted on the first slide rail, the two sliding plates are spaced apart along the second direction, and the two first drivers are installed between the two sliding plates.

[0030] In the embodiment of the present application, the two first drivers are installed between the two sliding plates, and the structure between the two bottom supporting mechanisms is more compact, saving installation space.

[0031] In a possible design, both sliding plates are provided with avoidance holes, the avoidance hole on one sliding plate is arranged opposite to the first driver in the other supporting mechanism, and the avoidance hole on the other sliding plate is arranged opposite to the first driver in the one supporting mechanism.

[0032] In the embodiment of the present application, the arrangement of the avoidance hole in one bottom supporting mechanism makes the installation position of the sliding plate in the bottom supporting mechanism and the first driver in the other bottom supporting mechanism more compact.

[0033] In a possible design, there are two first slide rails, the two first slide rails are spaced apart, the two sliding plates are slidably assembled at opposite ends of the two first slide rails, and the two first drivers are installed between the two first slide rails.

[0034] In an embodiment of the present application, two first drivers are installed between two first slide rails, which on the one hand makes the structure of the grabbing device more compact, and on the other hand increases the distance between the two first slide rails. The sliding plate slides relative to the two first slide rails, and the sliding stability is stronger.

[0035] In one possible design, the expansion structure includes a first expansion structure and a second expansion structure, and the first expansion structure and the second expansion structure are spaced apart in a third direction. The positioning mechanism also includes a positioning drive structure, which is transmission-connected to at least one of the first expansion structure and the second expansion structure, and is used to drive at least one of the first expansion structure and the second expansion structure to move in a third direction, and the third direction is perpendicular to the first direction and the second direction, respectively.

[0036] In the embodiment of the present application, since the distance between the first expansion structure and the second expansion structure is adjustable, the grasping device can be adapted to grasp objects of different sizes in the third direction, and the adaptability is higher.

[0037] In a possible design, the first expansion structure is fixedly mounted on the frame, the positioning drive structure is transmission-connected to the second expansion structure, a second slide rail is provided on the frame along a third direction, and the second expansion structure is slidably mounted on the second slide rail.

[0038] In the embodiment of the present application, the first expansion structure is fixed relative to the frame, and the distance between the first expansion structure and the second expansion structure can be changed by only driving the second expansion structure to move; the provision of the second slide rail makes the movement stability of the second expansion structure stronger.

[0039] In a possible design, the gripping device also includes a control mechanism and multiple position sensors, which are installed on the frame at intervals along the third direction. The second expansion structure can trigger any position sensor, and the control mechanism is respectively connected to the positioning drive structure and the position sensor signal.

[0040] In an embodiment of the present application, the control mechanism can drive the second expansion structure to move to multiple different positions by controlling the positioning drive structure. Position sensors are respectively installed at the multiple positions. The triggering of the corresponding position sensors can feedback that the second expansion structure has moved into place, thereby adapting to the grasping operation of multiple objects of different sizes in the third direction.

[0041] In a possible design, the positioning mechanism further includes a first mounting frame, the first expansion structure is mounted on the first mounting frame, and the first mounting frame is detachably connected to the frame.

[0042] In the embodiment of the present application, the detachable connection between the first mounting frame and the frame facilitates the replacement of the first mounting frame.

[0043] In a possible design, there are multiple first expansion structures, and the multiple first expansion structures are installed on the first mounting frame at intervals.

[0044] In the embodiment of the present application, the arrangement of the plurality of first expansion structures may correspond to the plurality of hoisting holes at different positions on the object, thereby improving the hoisting stability.

[0045] In a possible design, the positioning mechanism also includes a second mounting frame, there are multiple second expansion structures, the second expansion structures are installed on the second mounting frame at intervals, the second mounting frame is slidably installed on the second slide rail, and the positioning drive structure is transmission-connected to the second mounting frame.

[0046] In the embodiment of the present application, the arrangement of the plurality of second expansion structures may correspond to the plurality of hoisting holes at different positions on the object, thereby improving the hoisting stability.

[0047] In one possible design, the second mounting frame includes a first frame and a second frame, the first frame is detachably connected to the second frame, the first frame is slidably assembled on the second slide rail, the positioning drive structure is transmission-connected to the first frame, and a plurality of second expansion structures are installed on the second frame at intervals.

[0048] In the embodiment of the present application, the detachable connection between the first frame and the second frame facilitates the replacement of the second frame and the plurality of second expansion structures mounted thereon.

[0049] In a possible design, an object detection sensor is installed on at least one of the frame, the first expansion structure, and the second expansion structure, and the object detection sensor is used to detect whether there is an object between the first expansion structure and the second expansion structure.

[0050] In the embodiments of the present application, the object detection sensor can detect whether there is an object between the first expansion structure and the second expansion structure, so as to promptly detect when an object falls, and promptly detect when an object is accidentally picked up after being placed down.

[0051] In a possible design, the expansion structure includes an expansion portion and a braking portion, the braking portion moves along a first direction to switch the expansion portion between a first state and a second state, and an anti-slip portion is provided on an outer side of the expansion portion.

[0052] In the embodiment of the present application, since the expansion part is provided with the anti-slip part, the anti-slip part can increase the friction between the expansion part and the inner wall of the lifting hole, thereby improving the lifting stability.

[0053] In an embodiment of the present application, in a possible design, the outer surface of the anti-slip portion is a curved surface.

[0054] Since the outer surface of the anti-slip portion is a curved surface, the wear of the inner wall of the hanging hole can be reduced.

[0055] In a possible design, a distance measuring sensor is installed on the rack, and the distance measuring sensor is installed on the rack, and the detection direction of the distance measuring sensor is the first direction.

[0056] In an embodiment of the present application, the distance measuring sensor can detect the distance between the grasping device and the object in the first direction, thereby preventing the objects from being stacked.

[0057] In a possible design, a hole position detection structure is installed on the frame, and the hole position detection structure is used to detect and locate the holes on the object to be grasped.

[0058] In the embodiments of the present application, the provision of the hole position detection structure can improve the positioning accuracy of the expansion structure, and facilitate the operation of inserting the expansion mechanism into the lifting hole of the object.

[0059] In a second aspect, a battery production line is provided, comprising a gripping device as in any of the above technical solutions.

[0060] Since the battery production line includes the above-mentioned gripping device, it has at least all the beneficial effects of the above-mentioned gripping device, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art 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 paying any creative work.

[0062] Figure 1 is a schematic diagram of the structure of a gripping device provided by an embodiment of the present application from one perspective;

[0063] Figure 2 is a structural schematic diagram of a grasping device provided by an embodiment of the present application grasping a battery module at a viewing angle;

[0064] Figure 3 yes Figure 1 A partial enlarged view of the middle A;

[0065] Figure 4is a top view of a gripping device provided by an embodiment of the present application;

[0066] Figure 5 yes Figure 4 A partial enlarged view of point B in the middle;

[0067] Figure 6 is another perspective structural schematic diagram of a grasping device provided by an embodiment of the present application;

[0068] Figure 7 is a structural schematic diagram of a grasping device provided by an embodiment of the present application grasping a battery module at another viewing angle;

[0069] Figure 8 is a schematic diagram of assembling a first expansion structure on a first mounting frame in a grabbing device provided by an embodiment of the present application;

[0070] Fig. 9 is a schematic diagram of an assembly of a first expansion structure on a first mounting frame from a perspective in a gripping device provided by an embodiment of the present application;

[0071] Fig.10 It is another perspective assembly diagram of the first expansion structure on the first mounting frame in the grasping device provided by one embodiment of the present application;

[0072] Fig.11 yes Figure 6 A partial enlarged view of point C in the middle.

[0073] The reference numerals in the above drawings are as follows:

[0074] 100, rack; 110, first slide rail; 120, second slide rail; 130, buffer rack; 140, second buffer member; 141, second screw rod; 142, second buffer head; 151, position sensor; 152, distance sensor; 153, hole position detection structure;

[0075] 200, positioning mechanism; 210, positioning drive structure; 211, servo motor; 212, ball screw; 213, transmission assembly; 220, expansion structure; 221, first expansion structure; 222, second expansion structure; 223, expansion part; 224, braking part; 225, anti-slip part; 230, first mounting frame; 240, second mounting frame; 241, first frame; 242, second frame;

[0076] 300, bottom supporting mechanism; 310, first driver; 320, second driver; 330, bottom supporting structure; 340, sliding plate; 341, avoidance hole; 342, second matching part; 351, guide column; 352, linear bearing; 353, linkage; 354, first buffer; 355, first matching part;

[0077] 400. Battery. DETAILED DESCRIPTION

[0078] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0079] In the description of the embodiments of the present application, the term "plurality" refers to more than two (including two).

[0080] 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.

[0081] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the grasping device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0082] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0083] In the related art, batteries are manufactured through multiple steps in a battery production line. Different steps require different equipment operations. Therefore, multiple equipment is set up in the battery production line to perform different processing operations on the batteries. When the battery is processed and manufactured in one of the equipment and needs to be moved to the equipment corresponding to the next processing operation, a gripping device is usually used to clamp and fix the battery so as to move the battery.

[0084] In some operation steps, the battery needs to be placed in a storage space that is similar to the size of the battery. For example, during the battery packing operation, the battery module needs to be placed in the space surrounded by the foam of the box. The area of ​​this space projected in the horizontal direction is similar to the area of ​​the battery module projected in the horizontal direction. Therefore, if a clamping device that clamps the battery module on the side of the battery module is used to move the battery module, a larger space on the side of the battery module is occupied, and the battery module cannot be placed in the battery storage space formed by the foam enclosure of the box.

[0085] Based on the above considerations, in order to solve the above problems, an embodiment of the present application provides a grasping device, which includes an expansion structure and a bottom supporting structure. The expansion structure can extend into the lifting hole of the object and has an interference fit with the lifting hole after expansion. The bottom supporting structure can move from above the object to below the object, and can move from below the object to above the object. This grasping device can be used to transfer batteries, such as battery modules. The expansion structure of the grasping device extends into the lifting hole of the battery module and has an interference fit with the lifting hole. The bottom supporting structure moves to below the battery module to support the battery module during the transfer process. Before moving the battery module into position to box it, the bottom supporting structure moves to above the battery module and fixes the battery module by the expansion structure. In this case, there is no other structure on the periphery of the battery module except the top, so that the battery module can be placed between the foams of a box with a space similar to the size of the battery module.

[0086] The gripping device and battery production line provided in the embodiments of the present application are explained in detail below.

[0087] like Figures 1 to 3 As shown, the present application provides a grasping device, including: a frame 100, a positioning mechanism 200 and a bottom supporting mechanism 300, wherein the positioning mechanism 200 is mounted on the frame 100, the positioning mechanism 200 includes an expansion structure 220, and the expansion structure 220 can expand from a first state to a second state. The bottom supporting mechanism 300 includes a bottom supporting driving structure and a bottom supporting structure 330, the bottom supporting structure 330 is movably mounted on the frame 100, the bottom supporting driving structure includes a first driver 310 and a second driver 320, the first driver 310 is mounted on the frame 100, the first driver 310 is transmission-connected with the second driver 320, the second driver 320 is transmission-connected with the bottom supporting structure 330, the second driver 320 is used to drive the bottom supporting structure 330 to move along a first direction, the first driver 310 is used to drive the second driver 320 to move along a second direction, the axial direction of the expansion structure 220 is the first direction, and the first direction is perpendicular to the second direction.

[0088] In an embodiment of the present application, a gripping device can be used in a production line, and the gripping device is used to grip materials. For example, the gripping device can be used in a battery production line, and the materials can be batteries, and the batteries can be semi-finished products or finished products. The batteries produced by the battery production line include battery cells. The battery can be a battery module. When there are multiple battery cells, multiple battery cells are arranged and fixed to form a battery module. The battery can also be a battery pack, and the battery pack includes a box body and battery cells, and the battery cells or battery modules are accommodated in the box body. Among them, the box body is used to provide a holding space for the battery cells or battery modules, and the box body includes multiple foams, and the foams are surrounded to form a space for placing the battery module. For the convenience of description, in the following description process, the material gripped by the gripping device is battery 400 as an example for further description.

[0089] In the battery 400, the battery 400 has a length direction, a width direction and a thickness direction. The two ends of the length direction of the battery 400 have end plates respectively. The end plates are provided with holes penetrating the end plates in the thickness direction. The holes on the end plates are referred to as hoisting holes herein. The two sides of the battery 400 in the length direction and the two sides in the width direction are referred to as the periphery of the battery 400, and the two sides of the battery 400 in the thickness direction are referred to as the top and the bottom respectively.

[0090] like Figure 2 As shown, in order to match the lifting hole of the battery 400, the first direction is the thickness direction (Z-axis direction) of the battery 400, and the second direction is the length direction (X-axis direction) or the width direction (Y-axis direction) of the battery 400. In the subsequent embodiments, the first direction is the thickness direction (Z-axis direction) of the battery 400, and is a vertical direction (up and down direction), and the second direction is the width direction (Y-axis direction) of the battery 400, and is a horizontal direction.

[0091] The frame 100 provides an installation position for the positioning mechanism 200 and the bottom supporting mechanism 300. The frame 100 can be formed by connecting materials such as plates and pipes, or can be cut in one piece.

[0092] The positioning mechanism 200 includes an expansion structure 220, and the expansion structure 220 can expand from a first state to a second state. For example, the first state of the expansion structure 220 is a contracted state, and the second state of the expansion structure 220 is an expanded state. The maximum diameter of the expansion structure 220 in the second state is greater than the maximum diameter of the expansion structure 220 in the first state. In the part of the expansion structure 220 that is used to extend into the lifting hole, in different regions along the first direction, the diameter at the maximum outer diameter is the maximum diameter of the expansion structure 220. In other words, in the area where the expansion structure 220 can expand and deform, in different regions of the expansion structure 220 along the first direction, the diameter at the maximum outer diameter is the maximum diameter of the expansion structure 220. In other words, the expansion structure 220 can change within at least two different sizes. When the expansion structure 220 is in the first state, the diameter of the expansion structure 220 is small, which is convenient for extending into the lifting hole. When the expansion structure 220 expands to the second state, the expansion structure 220 and the lifting hole have an interference fit, so that the battery 400 can be lifted by the friction between the expansion structure 220 and the inner wall of the lifting hole, and the battery 400 can be moved by the grasping device.

[0093] In the bottom supporting mechanism 300, the first driver 310 can drive the second driver 320 to move along the second direction, that is, the first driver 310 can drive the second driver 320 to drive the bottom supporting structure 330 to move along the second direction, so that the bottom supporting structure 330 is close to or away from the battery 400 in the second direction. The second driver 320 can drive the bottom supporting structure 330 to move along the first direction, so that the bottom supporting structure 330 can move along the thickness direction of the battery 400. In the process of the gripping device moving the battery 400, the bottom supporting structure 330 is located at the bottom of the battery 400, so as to support the battery 400 and reduce the load of the expansion structure 220. During the process of packing the battery 400 by the grasping device, the grasping device moves the battery 400 to the top of the box body, and first drives the first driver 310 to move along the second direction through the second driver 320, so that the bottom supporting structure 330 moves laterally to the outside of the battery 400 and the area not opposite to the bottom of the battery 400, and then drives the bottom supporting structure 330 to move along the first direction with the first driver 310, so that the bottom supporting structure 330 moves to a position above the height of the top of the battery 400, so that the second driver 320 and the bottom supporting structure 330 are both moved away from the bottom and periphery of the battery 400, thereby reducing the occupation of the peripheral space of the battery 400, and then fixes the battery 400 through the expansion structure 220, so that the grasping device can place the battery in the accommodating space corresponding to the battery 400, so that the expansion structure 220 can be restored from the second state to the first state, so that the expansion structure 220 can be removed from the lifting hole to end the transfer and packing operation of the battery 400.

[0094] As can be seen from the above, using the gripping device provided in the embodiment of the present application to transfer the battery 400 can reduce the occupation of the peripheral space of the battery 400 when placing the battery 400, making it easier to place the battery 400 in a smaller accommodation space.

[0095] In some embodiments, two bottom supporting mechanisms 300 are installed on the rack 100 , and the two bottom supporting structures 330 are spaced apart in the second direction.

[0096] The two bottom supporting mechanisms 300 have the same structure, both including a first driver 310, a second driver 320 and a bottom supporting structure 330, and the two bottom supporting structures 330 are arranged at intervals in the second direction. The two first drivers 310 in the two bottom supporting mechanisms 300 can be used to control the two second drivers 320 to move in opposite directions along the second direction, that is, the two second drivers 320 move in the direction of approaching or moving away from each other in the second direction, so that the distance between the two second drivers 320 can be changed more quickly. The first driver 310 and the second driver 320 can respectively adopt a structure capable of linear driving, such as a cylinder, a hydraulic cylinder, and a motor. Exemplarily, the first driver 310 and the second driver 320 both include a cylinder, the cylinder body of the first driver 310 is connected to the frame 100, the cylinder rod of the first driver 310 is connected to the cylinder body of the second driver 320, and the cylinder rod of the second driver 320 is connected to the bottom supporting structure 330. In the embodiment of the present application, the two bottom supporting mechanisms 300 can be used to support the bottom of the battery 400 in the opposite two side areas in the width direction, and the support stability is stronger.

[0097] like Figure 3 As shown, in some embodiments, a first slide rail 110 is disposed on the rack 100 along the second direction, and the second driver 320 is slidably assembled on the first slide rail 110 .

[0098] The first slide rail 110 is fixedly mounted on the rack 100, and the second driver 320 is slidably mounted on the first slide rail 110. The second driver 320 can move in a second direction relative to the first slide rail 110. The first slide rail 110 and the rack 100 can be fixed by bolts, or the first slide rail 110 and the rack 100 can also be fixedly connected by bonding, welding, etc.

[0099] The setting of the first slide rail 110 plays a guiding role in the movement of the second driver 320 . The setting of the first slide rail 110 makes the movement stability of the second driver 320 stronger.

[0100] When two bottom supporting mechanisms 300 are installed on the rack 100 , the number of the second drivers 320 is two. The two second drivers 320 may share the first slide rail 110 , or each second driver 320 may be provided with a first slide rail 110 .

[0101] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the bottom supporting mechanism 300 further includes a sliding plate 340 , the sliding plate 340 is slidably assembled on the first slide rail 110 , and the second driver 320 is installed on the sliding plate 340 .

[0102] The sliding plate 340 is used to install the second driver 320, and the second driver 320 is slidably matched with the first slide rail 110 through the sliding plate 340. The sliding plate 340 is fixedly connected to the second driver 320, and exemplarily, the sliding plate 340 and the second driver 320 can be connected by bolts, and the sliding plate 340 is slidably connected to the first slide rail 110. Exemplarily, a sliding portion matching the first slide rail 110 can be provided on the sliding plate 340, for example, a slide groove can be provided on the sliding plate 340, and the slide groove is buckled on the first slide rail 110.

[0103] In some embodiments, the bottom supporting mechanism 300 also includes a guide column 351, the sliding plate 340 is provided with a first guide hole, the bottom supporting structure 330 is connected to the guide column 351, the guide column 351 is slidably installed in the first guide hole, and the guide column 351 can move along the first direction relative to the sliding plate 340.

[0104] Since the second driver 320 is installed on the sliding plate 340, the second driver 320 is used to drive the bottom supporting structure 330 to move in the first direction. During the process of the bottom supporting structure 330 moving relative to the sliding plate 340 in the first direction, the first guide hole guides the guide column 351, thereby improving the movement stability of the guide column 351. Since the guide column 351 is connected to the bottom supporting structure 330, the setting of the first guide hole can improve the stability of the bottom supporting structure 330 during the movement in the first direction.

[0105] like Figure 3 As shown, in one configuration, a linear bearing 352 may be provided on the sliding plate 340, and the linear bearing 352 includes an outer ring, an inner ring, and a rolling body, wherein the rolling body is located between the inner ring and the outer ring, and the outer ring is sleeved on the outer side of the inner ring, and the inner ring can move axially relative to the outer ring. The axial direction of the linear bearing 352 is the first direction, and the inner hole of the inner ring of the linear bearing 352 is the first guide hole. The guide column 351 is connected to the inner wall of the first guide hole, that is, the guide column 351 is connected to the inner ring, and when the guide column 351 moves relative to the sliding plate 340 in the first direction, the inner ring moves relative to the outer ring. Under the action of the linear bearing 352, the stability of the guide column 351 moving in the first direction is further improved.

[0106] In some embodiments, Figure 3As shown, the guide column 351 is connected to the first buffer member 354 , the sliding plate 340 is provided with a first matching portion 355 , and the first buffer member 354 and the first matching portion 355 are arranged opposite to each other in the first direction.

[0107] The first matching portion 355 is the area on the sliding plate 340 opposite to the first buffer member 354 , which may be a portion of the side of the sliding plate 340 facing the first buffer member 354 , or a protrusion structure on the sliding plate 340 , or a block structure connected to the sliding plate 340 .

[0108] When the bottom supporting structure 330 moves in the first direction, the guide column 351 drives the first buffer 354 to move relative to the first matching portion 355, that is, the first buffer 354 moves closer to or farther away from the first matching portion 355 under the drive of the guide column 351. After the first buffer 354 contacts the first matching portion 355, the first matching portion 355 acts as a stopper for the first buffer 354, thereby limiting the moving distance of the bottom supporting structure 330 in the first direction to a certain extent, and the first buffer 354 also acts as a buffer between the sliding plate 340 and the guide column 351.

[0109] In a specific example, the first direction is the direction shown by the Z axis in the figure, wherein the positive direction of the Z axis is the upward direction and the negative direction of the Z axis is the downward direction. The first matching portion 355 and the first buffer component 354 are arranged relative to each other in the first direction, and the first matching portion 355 is located below the first buffer component 354. In this arrangement, the first matching portion 355 is used to limit the maximum distance that the first buffer component 354 can move downward, that is, to limit the maximum distance that the bottom support structure 330 can move downward.

[0110] In some embodiments, the guide column 351 is connected to a linking member 353 , the linking member 353 is provided with a first screw hole, and the first buffer member 354 has a first screw rod and a first buffer head connected to each other, and the first screw rod is screwed into the first screw hole.

[0111] Since the guide column 351 is a columnar structure, the setting of the linking member 353 can increase the space in the guide column 351 for installing the first buffer member 354. Exemplarily, the linking member 353 can be a block structure, and the linking member 353 can be installed on the side or end surface of the guide column 351. In a specific example, the linking member 353 is installed at one end of the guide column 351 close to the frame 100, and the end of the guide column 351 away from the frame 100 is connected to the bottom support structure 330.

[0112] The linking member 353 is provided with a first screw hole, the axial direction of the first screw hole is the same as the first direction, in the first buffer member 354, at least part of the area of ​​the first screw has an external thread matching the first screw hole, the first buffer head can be made of a flexible or elastic material, the first buffer head is installed at one end of the first screw, and the first buffer head and the first screw can be connected by bonding, clamping, interference fit connection and other connection methods. Since the first screw hole and the first screw are connected by threads, that is, the first screw can rotate relative to the first screw hole, so that the distance between the first buffer head and the linking member 353 changes. In this setting mode, the first buffer member 354 cooperates with the first screw hole through the threads of the first screw, so that after the first screw is screwed, the first screw drives the first buffer head to move relative to the linking member 353, so that the position of the first buffer head can be adjusted, so that the maximum distance of the downward movement of the first buffer member 354 can be adjusted.

[0113] like Figure 5 As shown, in some embodiments, the rack 100 is provided with a second buffer 140 , the sliding plate 340 is provided with a second matching portion 342 , and the second buffer 140 is arranged opposite to the second matching portion 342 in the second direction.

[0114] The second matching portion 342 may be a partial area of ​​the side surface of the sliding plate 340 facing the second buffer member 140, or a convex structure on the sliding plate 340, or a block structure connected to the sliding plate 340. When the sliding plate 340 moves along the second direction, the distance between the second matching portion 342 and the second buffer member 140 changes. When the second matching portion 342 contacts the second buffer member 140, the second buffer member 140 plays a role of buffering and stopping the second matching portion 342, that is, the second buffer member 140 can play a role of buffering and limiting the second driver 320 in the second direction.

[0115] In some embodiments, the frame 100 is provided with a second screw hole, and the second buffer member 140 has a second screw rod 141 and a second buffer head 142 connected to each other, and the second screw rod 141 is screwed into the second screw hole.

[0116] The axial direction of the second screw hole is the second direction. In the second buffer member 140, at least a part of the second screw rod 141 has an external thread matching the second screw hole, the second buffer portion can be made of a flexible or elastic material, the second buffer head 142 is installed at one end of the second screw rod 141, and the second buffer head 142 and the second screw rod 141 can be connected by bonding, clamping, interference fit connection and other connection methods. Since the second screw hole and the second screw rod 141 are connected by threads, that is, the second screw rod 141 can rotate relative to the second screw hole, so that the distance between the second buffer head 142 and the second matching portion 342 changes. In this setting, the second buffer member 140 can adjust the position of the second buffer head 142 through the cooperation between the second screw rod 141 and the second screw hole, so as to adjust the maximum distance that the sliding plate 340 moves in the second direction toward the direction close to the second buffer head 142.

[0117] In some embodiments, the frame 100 is provided with a buffer frame 130, a second screw hole is provided on the buffer frame 130, a second matching portion 342 is provided with a second guide hole, a second screw rod 141 is passed through the second guide hole, and a second buffer head 142 is located on a side of the second matching portion 342 away from the buffer frame 130, and an outer diameter of the second buffer head 142 is greater than an inner diameter of the second guide hole.

[0118] The buffer frame 130 is used to install the second buffer member 140, and the second screw hole penetrates the buffer frame 130 in the second direction. The setting of the buffer frame 130 provides a larger space for the installation and position adjustment of the second buffer member 140. The axial direction of the second guide hole is the second direction, and the second guide hole penetrates the second matching portion 342 in the second direction. The second screw rod 141 is arranged in the second guide hole, and the two ends of the second screw rod 141 are respectively located on both sides of the second guide hole. One end of the second screw rod 141 is connected to the second buffer head 142, and the other end is installed in the second screw hole. When the second screw rod 141 is screwed, the second screw rod 141 moves along the second direction relative to the second guide hole, thereby changing the distance between the second buffer head 142 and the second matching portion 342. In this setting mode, the second guide hole improves the movement stability of the second buffer member 140, and the second buffer head 142 is located on the side of the second matching portion 342 away from the buffer frame 130, so that the second buffer head 142 plays a limiting role on the sliding plate 340.

[0119] In some embodiments, there are two bottom supporting mechanisms 300 , two sliding plates 340 are slidably mounted on the first slide rail, the two sliding plates 340 are spaced apart along the second direction, and the two first drivers 310 are installed between the two sliding plates 340 .

[0120] In the case where two bottom supporting mechanisms 300 are provided in the gripping device, the two bottom supporting mechanisms 300 are both provided with a first driver 310, a second driver 320, a sliding plate 340 and a bottom supporting structure 330. That is, in the gripping mechanism, the number of the first driver 310, the second driver 320, the sliding plate 340 and the bottom supporting structure 330 is two respectively. The two first drivers 310 are installed between the two sliding plates 340, so that the structure of the two bottom supporting mechanisms 300 is more compact, and the installation space occupied on the frame 100 is relatively smaller.

[0121] In some embodiments, both sliding plates 340 are provided with avoidance holes 341, the avoidance holes 341 on one sliding plate 340 are arranged opposite to the first driver 310 in the other bottom supporting mechanism 300, and the avoidance holes 341 on the other sliding plate 340 are arranged opposite to the first driver 310 in the one bottom supporting mechanism 300.

[0122] For the convenience of naming, the two bottom supporting mechanisms 300 are respectively referred to as the first bottom supporting mechanism and the second bottom supporting mechanism. In the first bottom supporting mechanism, the sliding plate 340 is provided with a position-avoiding hole 341, the sliding plate 340 is transmission-connected with the first driver 310 in the first bottom supporting mechanism, and the position-avoiding hole 341 on the sliding plate 340 is arranged opposite to the first driver 310 in the second bottom supporting mechanism. In the second bottom supporting mechanism, the sliding plate 340 is provided with a position-avoiding hole 341, the sliding plate 340 is transmission-connected with the first driver 310 in the second bottom supporting mechanism, and the position-avoiding hole 341 on the sliding plate 340 is arranged opposite to the first driver 310 in the first bottom supporting mechanism. In this way, when the first driver 310 drives the corresponding sliding plate 340 to move within a certain range, this installation method further reduces the space occupied by the two bottom supporting mechanisms 300 in the second direction, and the structure of the gripping device is more compact.

[0123] For example, taking the first bottom supporting mechanism as an example, a part of the first driver 310 of the first bottom supporting mechanism may always be located in the avoidance hole 341 of the second bottom supporting structure, and during the movement of the sliding plate 340 in the second bottom supporting mechanism along the second direction, the sliding plate 340 of the second bottom supporting mechanism moves relative to the first driver 310 in the first bottom supporting mechanism 300. Alternatively, within a certain range of movement of the sliding plate 340 of the second bottom supporting mechanism along the second direction, the distance between the sliding plate 340 of the second bottom supporting mechanism and the first driver 310 in the first bottom supporting mechanism changes, and after the sliding plate 340 of the second bottom supporting mechanism moves toward the first driver 310 of the first bottom supporting mechanism 300, a part of the first driver 310 of the first bottom supporting mechanism 300 is located in the avoidance hole 341 of the second bottom supporting mechanism.

[0124] In some embodiments, there are two first rails 110 , the two first rails 110 are spaced apart, the two sliding plates 340 are slidably assembled at opposite ends of the two first rails 110 , and the two first drivers 310 are installed between the two first rails 110 .

[0125] The two first slide rails 110 are arranged in parallel and at intervals, and the two first slide rails 110 may be arranged at intervals in the third direction, and the third direction may be the length direction of the battery 400. The two sliding plates 340 are arranged at intervals in the second direction, wherein one sliding plate 340 is slidably assembled at one end of the two first slide rails 110 in the second direction, and the other sliding plate 340 is slidably assembled at the other end of the two first slide rails 110 in the second direction.

[0126] like Figure 5 As shown, in the embodiment of the present application, the two first drivers 310 are installed between the two first slide rails 110, which on the one hand makes the structure of the grasping device more compact, and on the other hand increases the distance between the two first slide rails 110. The sliding plate 340 slides relative to the two first slide rails 110, and the sliding stability is stronger.

[0127] like Figure 6 and Figure 7 As shown, in some embodiments, the expansion structure 220 includes a first expansion structure 221 and a second expansion structure 222, and the first expansion structure 221 and the second expansion structure 222 are spaced apart in a third direction. The positioning mechanism 200 also includes a positioning drive structure 210, and the positioning drive structure 210 is transmission-connected to at least one of the first expansion structure 221 and the second expansion structure 222, and is used to drive at least one of the first expansion structure 221 and the second expansion structure 222 to move in a third direction, and the third direction is perpendicular to the first direction and the second direction, respectively.

[0128] The first expansion structure 221 and the second expansion structure 222 may adopt the same structure, such as an air expansion pin.

[0129] The positioning drive structure 210 can be a structure capable of linear drive, such as a cylinder, a hydraulic cylinder, or a motor. The positioning drive structure 210 is used to adjust the distance between the first expansion structure 221 and the second expansion structure 222, so as to adapt to batteries 400 of different sizes in the third direction. For example, when the size of the battery 400 is larger, the distance between the two end plates in the third direction is larger, and the distance between the lifting holes on the two end plates is larger. Since the positioning drive structure 210 can adjust the distance between the first expansion structure 221 and the second expansion structure 222, it can adapt to batteries 400 of different sizes in the third direction, so that the first expansion structure 221 and the second expansion structure 222 can be respectively opposite to the lifting holes at both ends of the battery 400 to be grasped.

[0130] Exemplarily, the positioning drive structure 210 includes a motor, which may be a servo motor 211. The positioning drive structure 210 also includes a ball screw 212 and a transmission assembly 213. The transmission assembly 213 includes a transmission belt and a transmission wheel. The ball screw 212 includes a lead screw and a moving seat. The moving seat and the lead screw are threadedly connected, and the moving seat can be driven to move along the axial direction of the lead screw during the rotation of the lead screw. The first expansion structure 221 or the second expansion structure 222 is connected to the moving seat. The axial direction of the lead screw is the third direction, and the number of transmission wheels is two, one of which is sleeved on the lead screw, and the other is sleeved on the output shaft of the servo motor 211, and the transmission belt is sleeved on the two transmission wheels. After the output shaft of the servo motor 211 rotates, the transmission belt and the transmission wheel transmit power to the lead screw, and the lead screw rotates to drive the moving seat to move along the third direction, and the moving seat drives the first expansion structure 221 or the second expansion structure 222 connected thereto to move along the third direction.

[0131] When the positioning drive structure 210 simultaneously drives the first expansion structure 221 and the second expansion structure 222 to move, the ball screw 212 may include two moving seats, the screw has two thread segments with opposite thread rotation directions, and the two thread segments are respectively provided with moving seats, the first expansion structure 221 is connected to one of the moving seats, and the second expansion structure 222 is connected to the other moving seat, so that when the screw rotates, the two moving seats drive the first expansion structure 221 and the second expansion structure 222 to move in opposite directions.

[0132] In some embodiments, the first expansion structure 221 is fixedly mounted on the frame 100 , the positioning drive structure 210 is transmission-connected to the second expansion structure 222 , a second slide rail 120 is arranged on the frame 100 along a third direction, and the second expansion structure 222 is slidably mounted on the second slide rail 120 .

[0133] In this arrangement, the first expansion structure 221 is fixedly mounted on the frame 100, and the relative position between the first expansion structure 221 and the frame 100 remains unchanged. The second expansion structure 222 is slidably mounted on the frame 100, and the second expansion structure 222 can slide along the second slide rail 120, thereby moving in a third direction relative to the frame 100. In this arrangement, the first expansion structure 221 is fixed relative to the frame 100, and the distance between the first expansion structure 221 and the second expansion structure 222 can be changed by only driving the second expansion structure 222 to move; the arrangement of the second slide rail 120 makes the movement stability of the second expansion structure 222 stronger.

[0134] like Figure 7As shown, in some embodiments, the grasping device also includes a control mechanism and a plurality of position sensors 151, and the plurality of position sensors 151 are installed on the frame 100 at intervals along a third direction. The second expansion structure 222 can trigger any position sensor 151, and the control mechanism is respectively connected to the positioning drive structure 210 and the position sensor 151 signals.

[0135] The control mechanism is used to control the positioning drive structure 210 according to the input information, so that the distance between the first expansion structure 221 and the second expansion structure 222 is adjusted by the positioning drive structure 210, so that the distance between the first expansion structure 221 and the second expansion structure 222 is adapted to the distance between the lifting holes at both ends of the battery 400 to be grasped. The input information can be transmitted to the control mechanism by the input mechanism, and the input mechanism may include a button, a mouse, a keyboard, a touch screen, a voice input mechanism or a detection mechanism, etc. The button, the mouse, the keyboard, the touch screen, the voice input mechanism, etc. can directly input information so that the control mechanism controls the positioning drive structure 210 to drive the second expansion structure 222 to move to the corresponding position. The detection mechanism is used to detect the size of the battery 400, so that the control mechanism controls the positioning drive structure 210 to drive the second expansion structure 222 to move to the corresponding position according to the size of the battery 400 in the third direction. Exemplarily, there are multiple ways for the detection mechanism to detect the size of the battery 400. For example, the model or size of the battery 400 can be determined by scanning the identification code on the battery 400, and the model of the battery 400 can be matched with the size of the battery 400 in the third direction; or, an RFID (Radio Frequency Identification) tag can be attached to the battery 400, and the detection mechanism obtains the model or size of the battery 400 by reading the information of the RFID tag; or, the detection mechanism includes a CCD (Charge coupled Device) camera, and the size of the battery 400 can be photographed and identified by the CCD camera.

[0136] The position sensor 151 may be a proximity sensor. When the second expansion structure 222 moves to a position opposite to the proximity sensor, the proximity sensor is triggered.

[0137] In this embodiment, the control mechanism can drive the second expansion structure 222 to move to multiple different positions by controlling the positioning drive structure 210. Position sensors 151 are respectively installed at multiple positions. The triggering of the corresponding position sensors 151 can feedback that the second expansion structure 222 has moved into place, thereby adapting to the grasping operation of multiple objects of different sizes in the third direction.

[0138] like Figure 7 and Figure 8As shown, in some embodiments, the positioning mechanism 200 further includes a first mounting frame 230 , the first expansion structure 221 is mounted on the first mounting frame 230 , and the first mounting frame 230 is detachably connected to the frame 100 .

[0139] For example, the first mounting frame 230 and the frame 100 can be connected by bolts. After the bolts are removed, the first mounting frame 230 can be separated from the frame 100, so that the first mounting frame 230 and the first expansion structure 221 installed on the first mounting frame 230 can be removed from the frame 100. The provision of the first mounting frame 230 provides a larger installation space for the first expansion structure 221, which facilitates the connection of the first expansion structure 221 with the frame 100. For example, in some cases, the first expansion structure 221 needs to be installed at the bottom center position of the frame 100, and the installation operation space at the bottom edge position of the frame 100 is larger. In the case where the first mounting frame 230 is provided, the first expansion structure 221 can be first installed at the bottom center position of the first mounting frame 230. When the first expansion structure 221 is installed on the first mounting frame 230, since the first mounting frame 230 has a simpler structure and a larger operation space than the frame 100, it is easier to perform the installation operation of the first expansion structure 221. When the first mounting frame 230 is installed on the rack 100, since the structural shape and size of the first mounting frame 230 are not limited by the first expansion structure 221, the connection area of ​​the first mounting frame 230 can be located at the edge, that is, the edge of the first mounting frame 230 is connected to the bottom edge of the rack 100, so that the operating space when the first mounting frame 230 is installed on the rack 100 is relatively larger, and the operating convenience is improved.

[0140] In some embodiments, multiple first mounting frames 230 may be provided, and the first expansion structures 221 installed on different first mounting frames 230 have different installation positions. In this way, by replacing different first mounting frames 230, batteries 400 with different lifting hole positions can be adapted, thereby improving the adaptability of the grasping device.

[0141] In some embodiments, there are multiple first expansion structures 221 , and the multiple first expansion structures 221 are installed on the first mounting frame 230 at intervals. The first mounting frame 230 is fixedly installed on the frame 100 .

[0142] In this arrangement, multiple first expansion structures 221 are installed on the same first mounting frame 230, and the first mounting frame 230 provides installation space for multiple first expansion structures 221. Multiple first expansion structures 221 can be adapted to batteries 400 having multiple hoisting holes at the same end, increase the contact area between the gripping device and the battery 400, and improve the hoisting stability. In addition, when there are multiple first expansion structures 221, multiple first expansion structures 221 can be installed on the first mounting frame 230 in line, and then the first mounting frame 230 can be installed on the rack 100 to achieve the purpose of connecting multiple first expansion structures 221 to the rack 100. In this arrangement, during the installation of multiple first expansion structures 221 on the first mounting frame 230, the operating space is larger, which facilitates the positioning and installation operations of multiple first expansion structures 221 on the first mounting frame 230.

[0143] In some embodiments, a plurality of first mounting frames 230 may be provided, and the number and / or installation position of the first expansion structures 221 installed on different first mounting frames 230 are different. For example, the number of first mounting frames 230 is three, and two first expansion structures 221 are installed on the first first mounting frame 230, and the distance between the two first expansion structures 221 is x1. Two first expansion structures 221 are installed on the second first mounting frame 230, and the distance between the two first expansion structures 221 is x2. Three first expansion structures 221 are installed on the third first mounting frame 230, and the distance between adjacent first expansion structures 221 is x2. In this way, the first mounting frame 230 that is suitable for installation can be selected and installed on the rack 100 according to the number and spacing of the lifting holes at the same end of the battery 400 to be captured.

[0144] like Figure 7 , Fig. 9 and Fig.10 As shown, in some embodiments, the positioning mechanism 200 also includes a second mounting frame 240, the number of second expansion structures 222 is multiple, the second expansion structures 222 are installed on the second mounting frame 240 at intervals, the second mounting frame 240 is slidably installed on the second slide rail 120, and the positioning drive structure 210 is transmission-connected to the second mounting frame 240.

[0145] The second mounting frame 240 provides installation space for the second expansion structure 222. When the number of the second expansion structures 222 is multiple, the second mounting frame 240 is connected to the moving seat in the ball screw 212, so that the multiple second expansion structures 222 can be driven to move synchronously during the movement of the second mounting frame 240. Multiple second expansion structures 222 can be adapted to the battery 400 with multiple lifting holes at the same end, increase the contact area between the gripping device and the battery 400, and improve the lifting stability. In addition, when the number of the second expansion structures 222 is multiple, the multiple second expansion structures 222 can be installed on the second mounting frame 240, and then the second mounting frame 240 is installed on the rack 100, so as to achieve the purpose of connecting the multiple second expansion structures 222 to the rack 100. In this setting mode, the multiple second expansion structures 222 have a larger operating space during the installation of the second mounting frame 240, which is convenient for installation operation.

[0146] In some embodiments, the second mounting frame 240 includes a first frame 241 and a second frame 242, the first frame 241 and the second frame 242 are detachably connected, the first frame 241 is slidably mounted on the second slide rail 120, the positioning drive structure 210 is transmission-connected to the first frame 241, and a plurality of second expansion structures 222 are installed at intervals on the second frame 242. Exemplarily, the first frame 241 and the second frame 242 can be connected by bolts, and after the bolts are removed, the first frame 241 and the second frame 242 can be separated, so that the second frame 242 and all the second expansion structures 222 installed on the second frame 242 can be removed from the frame 100.

[0147] In some embodiments, a plurality of second frames 242 may be provided, and the number and / or installation position of the second expansion structures 222 installed on different second frames 242 are different. For example, the number of second frames 242 is three, and two second expansion structures 222 are installed on the second second frame 242, and the distance between the two second expansion structures 222 is x1. The second second frame 242 is installed with two second expansion structures 222, and the distance between the two second expansion structures 222 is x2. The third second frame 242 is installed with three second expansion structures 222, and the distance between adjacent second expansion structures 222 is x2. In this way, the second frame 242 that is suitable for installation can be selected and installed on the first frame 241 according to the number and spacing of the hoisting holes at the same end of the battery 400 to be captured.

[0148] In some embodiments, an object detection sensor (not shown) is installed on at least one of the frame 100 , the first expansion structure 221 , and the second expansion structure 222 , and the object detection sensor is used to detect whether there is an object between the first expansion structure 221 and the second expansion structure 222 .

[0149] The object detection sensor may be a proximity sensor, a contact sensor, an infrared sensor, a photoelectric sensor, etc. Exemplarily, the object detection sensor includes a contact sensor, and when there is an object between the first expansion structure 221 and the second expansion structure 222, the object contacts the contact sensor, thereby triggering the contact sensor. When the contact sensor is not triggered, it indicates that the grasping device does not grasp the object.

[0150] In the embodiment of the present application, the object detection sensor can detect whether there is an object between the first expansion structure 221 and the second expansion structure 222, so as to promptly detect when an object falls, and promptly detect when an object is accidentally picked up after being placed down.

[0151] In some examples, the gripping device can be connected to the control system signal in the production line, and the object detection sensor can be connected to the control system signal in the production line through the control mechanism, or directly connected to the control system signal. In a specific implementation, after the gripping device transports the battery 400 to the position, releases the battery 400 and moves away for a distance, if it is detected that there is still an object between the first expansion structure 221 and the second expansion structure 222, there is a possibility that the gripping device will mistakenly pick up the battery 400, and the control system can control the gripping device to stop moving, or the control system can issue an alarm to remind the staff to check. The alarm can be implemented through the alarm structure, which may include a buzzer, a warning light, a display screen, etc. The alarm method can be to control the buzzer to sound, control the warning light to flash, control the display screen to display text or patterns including the alarm content, etc.

[0152] like Fig.11 As shown, in some embodiments, the expansion structure 220 includes an expansion portion 223 and a braking portion 224 , the braking portion 224 moves along a first direction to switch the expansion portion 223 between a first state and a second state, and an anti-slip portion 225 is provided on the outer side of the expansion portion 223 .

[0153] The expansion portion 223 is the area of ​​the expansion structure 220 that is used to extend into the hoisting hole and can expand and deform, so when the expansion structure 220 is in the first state, the maximum diameter of the expansion structure 220 is the diameter at the maximum diameter of the expansion portion 223. When the expansion structure 220 is in the second state, the maximum diameter of the expansion structure 220 is the maximum diameter of the expansion portion 223.

[0154] The anti-slip portion 225 is specifically a structure that protrudes away from the axial direction of the expansion portion 223 . The anti-slip portion 225 can be connected to the outer surface of the expansion portion 223 , or the anti-slip portion 225 can be an integral structure with the expansion portion 223 and manufactured by an integrated molding process.

[0155] After the expansion structure 220 is inserted into the hoisting hole, the expansion part 223 directly contacts the hole wall of the hoisting hole. Since the expansion part 223 is provided with the anti-skid part 225, the anti-skid part 225 can increase the friction between the expansion part 223 and the inner wall of the hoisting hole, thereby improving the hoisting stability.

[0156] In some embodiments, the outer surface of the anti-slip portion 225 is a curved surface. The outer surface of the anti-slip portion 225 is a curved surface, which means that at least in the cross section of the vertical plane, the edge of the anti-slip portion 225 is a curve. In other words, the outer surface of the anti-slip portion 225 does not have sharp edges or sharp corners. Since the outer surface of the anti-slip portion 225 is a curved surface, the wear of the inner wall of the hanging hole can be reduced.

[0157] The expansion part 223 may be made of a material with a certain elasticity. One end of the braking part 224 may be a reducing head, the diameter of which gradually increases from the end to the other end, and the expansion part 223 is arranged around the outside of the reducing head. When the tip part of the reducing head with a relatively small diameter is located in the expansion part 223, the expansion part 223 is in the first state. When the reducing head moves along the third direction so that the area located in the expansion part 223 is an area with a larger diameter, the reducing head expands the expansion part 223, so that the expansion part 223 gradually switches from the first state to the second state.

[0158] In a specific configuration, the expansion portion 223 may include a plurality of petals, which are arranged to form a ring. The plurality of petals are arranged around the outer periphery of the variable diameter head. In a first state, the sides of adjacent petals are in contact, or the distance between adjacent petals is small. In a second state, the distance between adjacent petals is increased.

[0159] It is worth noting that when the expansion structure 220 includes the first expansion structure 221 and the second expansion structure 222 , the first expansion structure 221 and the second expansion structure 222 may both adopt the above-mentioned expansion structure 220 .

[0160] like Figure 6 As shown, in some embodiments, a distance measuring sensor 152 is installed on the rack 100, and the distance measuring sensor 152 is installed on the rack 100, and the detection direction of the distance measuring sensor 152 is a first direction.

[0161] When the first direction is the vertical direction, the detection direction of the distance sensor 152 is downward. The distance sensor 152 can be an infrared sensor, and the distance sensor 152 can detect the distance between the gripping device and the object placement position, so as to prevent the objects from being stacked. Exemplarily, in the process of grabbing the battery 400 by the gripping device and placing the battery 400 on the target placement position, the gripping device can be first moved to a set position above the target placement position, and then the distance is detected by the distance sensor 152. If the detected distance is in a set distance interval (the set distance interval is related to the distance between the set position and the target placement position), it means that no other objects are placed on the target placement position, and the operation of placing the battery 400 on the target placement position can be continued. If the detected distance is less than the set distance interval, it means that there are objects (such as foreign objects or other batteries 400) on the target placement position, and the battery 400 placement operation needs to be suspended, and the operation continues after the foreign objects are cleared. The gripping device can be connected to the control system signal in the production line, and the distance sensor 152 can be connected to the control system signal through the control mechanism, or directly connected to the control system signal. When the distance measuring sensor 152 detects that there is an object on the target placement position, the control system controls the grasping device to stop moving, and the control system can issue an alarm to remind the staff to check.

[0162] It is worth noting that the distance measuring sensor 152 can be installed on the front side of the moving direction of the rack 100, that is, when the grasping device grasps the battery 400 and moves to the position where the battery 400 is placed, the side in front of the moving direction of the rack 100. In this way, the area where the distance measuring sensor 152 is installed in the rack 100 is detected before the battery 400 arrives at the position opposite to the battery 400, and the detection can be completed before the battery 400 moves into place.

[0163] like Figure 6 As shown, in some embodiments, a hole position detection structure 153 is installed on the frame 100, and the hole position detection structure 153 is used to detect and locate the holes on the object to be grasped.

[0164] The hole position detection structure 153 is used to detect the position of the hanging hole on the battery 400, so as to facilitate moving the expansion structure 220 to a position opposite to the hanging hole, so as to facilitate extending the expansion structure 220 into the corresponding hanging hole.

[0165] The hole position detection structure 153 may include a CCD camera, and the battery 400 is photographed by the CCD camera to locate the hoisting hole in the battery 400 .

[0166] In a specific implementation, the gripping device includes a frame 100 , a positioning mechanism 200 , and a bottom supporting mechanism 300 .

[0167] The positioning mechanism 200 includes a positioning drive structure 210, an expansion structure 220, a first mounting frame 230 and a second mounting frame 240. The expansion structure 220 includes an expansion portion 223 and a brake portion 224. The brake portion 224 moves along the first direction to expand the expansion portion 223 from the first state to the second state. The expansion portion 223 includes a plurality of petals, and the plurality of petals are arranged to form a ring. The plurality of petals are arranged around the periphery of the variable diameter head. In the first state, the sides of adjacent petals are in contact, or the distance between adjacent petals is small. In the second state, the distance between adjacent petals is increased. The outer peripheral surface of each petal is provided with an anti-skid portion 225, and the anti-skid portions 225 on the plurality of petals are arranged to form a circular ring structure. The outer side wall of the anti-skid portion 225 is a curved surface in the cross section of the vertical plane. A plurality of anti-skid portions 225 are arranged on each petal at intervals along the first direction. The expansion structure 220 includes a first expansion structure 221 and a second expansion structure 222, both of which are the structures including the expansion part 223 and the braking part 224. The number of the first expansion structure 221 and the second expansion structure 222 is two, and the two first expansion structures 221 are installed on the first mounting frame 230 at intervals in the second direction, and the first mounting frame 230 is detachably installed on the frame 100. The second mounting frame 240 includes a first frame body 241 and a second frame body 242, and the first frame body 241 and the second frame body 242 are detachably connected, and the two second expansion structures 222 are installed on the second frame body 242 at intervals in the second direction.

[0168] The positioning drive structure 210 includes a servo motor 211, a ball screw 212 and a transmission assembly 213. The transmission assembly 213 includes a transmission belt and a transmission wheel. The ball screw 212 includes a screw and a moving seat. The output shaft of the servo motor 211 is connected to the screw of the ball screw 212 through the transmission belt and the transmission wheel. The moving seat is set on the screw and is connected with the screw thread. The first frame 241 is connected to the moving seat. The axial direction of the screw is the third direction. The servo motor 211 drives the screw to rotate through the transmission belt and the transmission wheel. The screw drives the moving seat to move along the third direction, thereby driving the first frame 241, the second frame 242 and the second expansion structure 222 to move along the third direction to change the distance between the second expansion structure 222 and the first expansion structure 221.

[0169] A second slide rail 120 is arranged on the frame 100 along the third direction. There are two second slide rails 120 . The two second slide rails 120 are spaced apart in the second direction. The first frame body 241 is slidably assembled on the two second slide rails 120 , and the lead screw is located between the two second slide rails 120 .

[0170] There are two bottom supporting mechanisms 300, and the two bottom supporting mechanisms 300 respectively include a sliding plate 340, a first driver 310, a second driver 320 and a bottom supporting structure 330. A first slide rail 110 is arranged along the second direction on the frame 100. There are two first slide rails 110, and the two first slide rails 110 are arranged at intervals along the third direction. The first drivers 310 in the two bottom supporting mechanisms 300 are installed between the two first slide rails 110. One sliding plate 340 is slidably assembled at one end of the two first slide rails 110 in the second direction, and the other sliding plate 340 is slidably assembled at the other end of the two first slide rails 110 in the second direction. The sliding plate 340 is provided with an avoidance hole 341, and the avoidance hole 341 is arranged opposite to the first driver 310 in the other bottom supporting mechanism 300. In a bottom supporting mechanism 300, the first driver 310 and the second driver 320 are both cylinders, the cylinder of the first driver 310 is mounted on the frame 100, the lever is connected to the sliding plate 340, the cylinder of the second driver 320 is mounted on the sliding plate 340, the lever is connected to the bottom supporting structure 330, the bottom supporting structure 330 is a plate-like structure, and the bottom supporting structure 330 can be made of POM (Polyoxymethylene) or nylon, thereby reducing the wear of the bottom of the battery 400. The first driver 310 is used to drive the sliding plate 340, the second driver 320 and the bottom supporting structure 330 to move in the second direction, and the second driver 320 is used to drive the bottom supporting structure 330 to move in the first direction. A linear bearing 352 is arranged on the sliding plate 340, and a guide column 351 is arranged on the bottom supporting structure 330. The guide column 351 is connected to the inner ring of the linear bearing 352. A connecting piece 353 is arranged at the other end of the guide column 351 located at the linear bearing 352. The connecting piece 353 is provided with a first screw hole. A first buffer 354 is installed in the first screw hole. A first matching portion 355 opposite to the first buffer 354 is arranged on the sliding plate 340.

[0171] A buffer frame 130 is arranged on the frame 100, a second screw hole is arranged on the buffer frame 130, a second buffer member 140 is installed in the second screw hole, a second matching portion 342 is arranged on the sliding plate 340, a second guide hole is arranged on the second matching portion 342, the second buffer member 140 has a second screw rod 141 and a second buffer head 142, the second screw rod 141 is inserted into the second guide hole, and the second buffer head 142 is located on the side of the second matching portion 342 away from the buffer frame 130.

[0172] A plurality of position sensors 151 are arranged at intervals along the third direction on the rack 100, and the position sensors 151 are proximity sensors. A distance sensor 152 is arranged on the front side of the moving direction of the rack 100, and the distance sensor 152 is an infrared sensor, and the detection direction of the distance sensor 152 is downward. A hole position detection structure 153 is also arranged on the front side of the moving direction of the rack 100, and the hole position detection structure 153 is a CCD camera, and the CCD camera is used to detect the position of the lifting hole of the battery 400. An object detection sensor is installed on the rack 100, and the object detection sensor is a contact sensor, and the object detection sensor is used to detect whether the grasping device grasps an object.

[0173] This embodiment also provides a battery production line, including a gripping device as provided in any of the above embodiments.

[0174] Since the battery production line includes the above-mentioned gripping device, it has at least all the beneficial effects of the above-mentioned gripping device, which will not be described in detail here.

[0175] The battery production line is used to produce and manufacture batteries. The battery production line includes multiple devices. Different devices can perform different operation processes. The battery production line also includes a conveying mechanism. The conveying mechanism can be used to transport materials in one device to the next device for the next operation process. The conveying mechanism includes a conveying device and a grabbing device provided in the above embodiment. The grabbing device is used to grab fixed materials, and the conveying device is used to drive the grabbing device to move. The materials can be finished products or semi-finished products in the battery production process, and can also be parts in the battery. The conveying device can include a manipulator, and the manipulator drives the grabbing device to move; it can also include guide rails, sliders, drivers and other structures. The slider is installed on the guide rail, and the driver drives the slider to move along the guide rail, and the slider drives the grabbing device to move; it can also include a conveying structure such as a transmission belt or a conveyor chain, and the conveying structure drives the grabbing device to move.

[0176] The batteries produced by the battery production line include battery cells. The battery can be a battery module. When there are multiple battery cells, multiple battery cells are arranged and fixed to form a battery module. The battery can also be a battery pack, which includes a case and battery cells, and the battery cells or battery modules are accommodated in the case. Among them, the case is used to provide a storage space for the battery cells or battery modules, and the case can be independent of other structures of the electrical device, or the case can be part of other structures in the electrical device. Exemplarily, when the electrical device is a vehicle, the case can be part of the chassis of the vehicle, for example, part of the case can become at least a part of the floor of the vehicle, or part of the case can become at least a part of the crossbeam and longitudinal beam of the vehicle.

[0177] Batteries are used in electrical devices to provide electrical energy. Electrical devices may be, but are not limited to, mobile phones, tablets, laptops, electric toys, electric tools, battery cars, electric cars, ships, spacecraft, etc. Among them, electric toys may include fixed or mobile electric toys, such as game consoles, electric car toys, electric ship toys, and electric airplane toys, etc. Spacecraft may include airplanes, rockets, space shuttles, and spacecraft, etc.

[0178] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein 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 claims and specification 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. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A gripping device, characterized in that: include: frame; A positioning mechanism, mounted on the frame, the positioning mechanism comprising an expansion structure, the expansion structure being capable of expanding from a first state to a second state; A bottom supporting mechanism comprises a bottom supporting driving structure and a bottom supporting structure, wherein the bottom supporting structure is movably mounted on the frame, the bottom supporting driving structure comprises a first driver and a second driver, the first driver is mounted on the frame, the first driver is drivingly connected to the second driver, the second driver is drivingly connected to the bottom supporting structure, the second driver is used to drive the bottom supporting structure to move in a first direction, the first driver is used to drive the second driver to move in a second direction, the axial direction of the expansion structure is a first direction, and the first direction is perpendicular to the second direction.

2. The gripping device according to claim 1, characterized in that: Two bottom supporting structures are installed on the frame, and the two bottom supporting structures are spaced apart in the second direction.

3. The gripping device according to claim 2, characterized in that: A first slide rail is arranged on the frame along the second direction, and the second driver is slidably assembled on the first slide rail.

4. The gripping device according to claim 3, characterized in that: The bottom supporting mechanism further comprises a sliding plate, the sliding plate is slidably assembled on the first sliding rail, and the second driver is mounted on the sliding plate.

5. The gripping device according to claim 4, characterized in that The bottom supporting mechanism includes a guide column, the sliding plate is provided with a first guide hole, the bottom supporting structure is connected to the guide column, the guide column is slidably installed in the first guide hole, and the guide column can move along the first direction relative to the sliding plate.

6. The gripping device according to claim 5, characterized in that The guide column is connected with a first buffer component, the sliding plate is provided with a first matching portion, and the first buffer component and the first matching portion are arranged opposite to each other in the first direction.

7. The gripping device according to claim 6, characterized in that The guide column is connected with a linking piece, and the linking piece is provided with a first screw hole. The first buffer member has a first screw rod and a first buffer head connected to each other, and the first screw rod is screwed into the first screw hole.

8. The gripping device according to claim 4, characterized in that: The frame is provided with a second buffer, the sliding plate is provided with a second matching portion, and the second buffer is arranged opposite to the second matching portion in the second direction.

9. The gripping device according to claim 8, characterized in that The frame is provided with a second screw hole, and the second buffer member has a second screw rod and a second buffer head connected to each other, and the second screw rod is screwed into the two screw holes.

10. The gripping device according to claim 9, characterized in that The frame is provided with a buffer frame, the second screw hole is provided on the buffer frame, the second matching portion is provided with a second guide hole, the second screw rod is passed through the second guide hole, the second buffer head is located on a side of the second matching portion away from the buffer frame, and the outer diameter of the second buffer head is greater than the inner diameter of the second guide hole.

11. The gripping device according to claim 4, characterized in that: The number of the bottom supporting mechanisms is two, and two sliding plates are slidably mounted on the first slide rail. The two sliding plates are spaced apart along the second direction, and the two first drivers are installed between the two sliding plates.

12. The gripping device according to claim 11, characterized in that Both sliding plates are provided with avoidance holes, the avoidance hole on one sliding plate is arranged opposite to the first driver in the other bottom supporting mechanism, and the avoidance hole on the other sliding plate is arranged opposite to the first driver in one bottom supporting mechanism.

13. The gripping device according to claim 4, characterized in that There are two first slide rails, which are spaced apart from each other. The two sliding plates are slidably mounted on opposite ends of the two first slide rails, and the two first drivers are mounted between the two first slide rails.

14. The gripping device according to any one of claims 1 to 13, characterized in that: The expansion structure includes a first expansion structure and a second expansion structure, and the first expansion structure and the second expansion structure are arranged at intervals in a third direction. The positioning mechanism also includes a positioning drive structure, which is transmission-connected to at least one of the first expansion structure and the second expansion structure and is used to drive at least one of the first expansion structure and the second expansion structure to move in the third direction, and the third direction is perpendicular to the first direction and the second direction.

15. The gripping device according to claim 14, characterized in that The first expansion structure is fixedly mounted on the frame, the positioning drive structure is transmission-connected with the second expansion structure, a second slide rail is arranged on the frame along the third direction, and the second expansion structure is slidably mounted on the second slide rail.

16. The gripping device according to claim 15, characterized in that The gripping device also includes a control mechanism and a plurality of position sensors, wherein the plurality of position sensors are installed on the frame at intervals along the third direction, the second expansion structure can trigger any of the position sensors, and the control mechanism is respectively connected to the positioning drive structure and the position sensor signals.

17. The gripping device according to claim 14, characterized in that The positioning mechanism further includes a first mounting frame, the first expansion structure is mounted on the first mounting frame, and the first mounting frame is detachably connected to the frame.

18. The gripping device according to claim 17, characterized in that There are multiple first expansion structures, and the multiple first expansion structures are installed on the first mounting frame at intervals.

19. The gripping device according to claim 15, characterized in that The positioning mechanism also includes a second mounting frame, the number of the second expansion structures is multiple, the second expansion structures are installed on the second mounting frame at intervals, the second mounting frame is slidably installed on the second slide rail, and the positioning drive structure is drivingly connected to the second mounting frame.

20. The gripping device according to claim 19, characterized in that The second mounting frame includes a first frame and a second frame, the first frame is detachably connected to the second frame, the first frame is slidably assembled on the second slide rail, the positioning drive structure is transmission-connected to the first frame, and a plurality of the second expansion structures are installed on the second frame at intervals.

21. The gripping device according to claim 14, characterized in that An object detection sensor is installed on at least one of the frame, the first expansion structure, and the second expansion structure. The object detection sensor is used to detect whether there is an object between the first expansion structure and the second expansion structure.

22. The gripping device according to any one of claims 1 to 13, characterized in that The expansion structure includes an expansion part and a braking part. The braking part moves along the first direction to switch the expansion part between the first state and the second state. An anti-slip part is provided on an outer side of the expansion part.

23. The gripping device according to claim 22, characterized in that The outer surface of the anti-slip portion is a curved surface.

24. The gripping device according to any one of claims 1 to 13, characterized in that A distance measuring sensor is installed on the rack. The distance measuring sensor is installed on the rack, and the detection direction of the distance measuring sensor is the first direction.

25. The gripping device according to any one of claims 1 to 13, characterized in that A hole position detection structure is installed on the frame, and the hole position detection structure is used to detect and locate the holes on the object to be grasped.

26. A battery production line, characterized in that: Comprising a gripping device as described in any one of claims 1-25.

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