Clamping jaw equipment

Abstract

The clamping jaw equipment comprises a moving module, a plurality of clamping jaw assemblies and a driving structure, the moving module is in transmission connection with the multiple clamping jaw assemblies so as to drive the multiple clamping jaw assemblies to move in multiple directions, the moving module comprises a mounting frame, the mounting frame is provided with a guide rail, and the multiple clamping jaw assemblies are slidably mounted on the guide rail; the driving structure comprises a driving device and a plurality of transmission rods, the transmission rods are arranged at intervals, one end of each transmission rod is fixedly connected with one clamping jaw assembly, each transmission rod is further provided with a driving part movably abutting against the other clamping jaw assembly, and the driving device is in transmission connection with the clamping jaw assembly located on the outermost edge of the guide rail. And the driving parts of the transmission rods movably abut against the multiple clamping jaw assemblies, so that the multiple clamping jaw assemblies are driven to move. According to the technical scheme, the problem that an existing clamping jaw device cannot conduct large-amplitude pitch changing on a battery can be effectively solved.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a gripper device. Background Art

[0002] The manufacturing industry has high labor costs and low efficiency, and automated production technology is widely used. In the process of automated battery production, gripper equipment is usually required to move battery materials to improve the efficiency of automated production.

[0003] During the battery production process, a variety of battery processing equipment is required to perform different processing steps on the batteries. Usually, different battery processing equipment has different requirements for the spacing between multiple batteries. Therefore, when the gripper device is transporting batteries, it is necessary to change the distance of multiple batteries so that multiple batteries can be adapted to different battery processing equipment.

[0004] In existing gripper devices, a plurality of variable pitch guide grooves are usually provided on a driving plate, and a plurality of gripper assemblies correspond to the plurality of variable pitch guide grooves one by one. The variable pitch guide grooves are used to act on the movement of the plurality of gripper assemblies to realize variable pitch operation between a plurality of batteries. However, due to the size limitation of the driving plate, the gripper device cannot perform a large variable pitch operation on the batteries. Utility Model Content

[0005] The main purpose of the present application is to provide a clamping device, aiming to improve the problem that the existing clamping device cannot change the distance of the battery by a large amplitude.

[0006] To achieve the above-mentioned purpose, the present application proposes a clamping device, which comprises a moving module, a plurality of clamping assemblies and a driving structure, wherein the moving module is transmission-connected with the plurality of clamping assemblies to drive the plurality of clamping assemblies to move in multiple directions; wherein,

[0007] The mobile module comprises a mounting frame, the mounting frame is provided with a guide rail along its length direction, and the plurality of clamping jaw assemblies are slidably mounted on the guide rail;

[0008] The driving structure includes a driving device and a plurality of transmission rods, wherein the plurality of transmission rods are arranged in one-to-one correspondence with the plurality of clamping jaw assemblies and are arranged at intervals along the width direction of the mounting frame, one end of the transmission rod is fixedly connected to the clamping jaw assembly, and the transmission rod has a driving portion that is movably abutted against another clamping jaw assembly;

[0009] The driving device is transmission-connected to a clamping jaw assembly located at the outermost edge of the guide rail to drive the clamping jaw assembly to move along the guide rail toward or away from another clamping jaw assembly, and the driving parts of the multiple transmission rods are movably abutted against the multiple clamping jaw assemblies to drive the multiple clamping jaw assemblies to move.

[0010] In some embodiments of the present application, the clamping jaw assembly is provided with an abutment member, and a plurality of abutment members of the clamping jaw assembly are also arranged at intervals along the width direction of the mounting frame, and the abutment member is provided with a first abutment surface and a second abutment surface at intervals along the length direction;

[0011] The driving portion is provided with a first driving surface and a second driving surface. The first driving surface is movably in contact with the first abutting surface of another clamping jaw assembly, and the second driving surface is movably in contact with the second abutting surface of another clamping jaw assembly.

[0012] In some embodiments of the present application, the clamp assembly includes a connecting plate and a clamp, wherein the connecting plate extends along the width direction, the side of the connecting plate facing the mounting frame is slidably connected to the guide rail, and the side of the connecting plate facing away from the mounting frame is connected to the clamp.

[0013] In some embodiments of the present application, the abutment member includes a first abutment block, the first abutment block is mounted on a side of the connecting plate facing away from the mounting frame, and the first abutment block is provided with the first abutment surface;

[0014] The transmission rod includes a rod body and a driving part, one end of the rod body is fixedly connected to a side of the connecting plate facing the mounting frame, and the driving part includes a first driving block, which is installed on a side of the connecting plate facing away from the mounting frame, and the first driving block is provided with the first driving surface.

[0015] In some embodiments of the present application, the abutment member further includes a second abutment block, the second abutment block is mounted on a side of the connecting plate facing the mounting frame, and the second abutment block is provided with the second abutment surface;

[0016] The driving portion further comprises a second driving block, the second driving block is fixedly connected to an end of the rod body away from the clamping jaw assembly, and the second driving surface is provided on a side of the second driving block facing the clamping jaw assembly.

[0017] In some embodiments of the present application, the abutment member includes an abutment block, the abutment block is fixedly mounted on the connecting plate, and the abutment block is further provided with a mounting hole penetrating along the length direction;

[0018] The transmission rod includes a transmission shaft and a driving part, and the driving part includes a third driving block and a fourth driving block. One end of the transmission shaft is fixedly mounted on the connecting plate, and the other end of the transmission shaft passes through the mounting hole of the abutment block on the other clamping jaw assembly and is connected to the fourth driving block. The third driving block is connected to the transmission shaft, and the third driving block and the fourth driving block are respectively located on both sides of the abutment block, wherein the third driving block is provided with the first driving surface, and the fourth driving block is provided with the second driving surface.

[0019] In some embodiments of the present application, the third driving block and the fourth driving block are respectively detachably connected to the transmission shaft.

[0020] In some embodiments of the present application, the clamping jaw assembly includes two clamping jaws, and the two clamping jaws are spaced apart and arranged on the connecting plate along the width direction;

[0021] And / or, the mounting frame is provided with two guide rails along the length direction, the two guide rails are spaced apart along the width direction, and one side of the connecting plate is slidably mounted on the two guide rails.

[0022] In some embodiments of the present application, each of the clamping jaw assemblies is provided with an in-position detector, and the in-position detector is used to detect whether the clamping jaw assembly clamps a battery.

[0023] In some embodiments of the present application, the in-position detector includes a position detection switch and a spring telescopic rod, one end of the spring telescopic rod is located at the position where the clamping jaw assembly clamps the battery, and the position detection switch detects whether the clamping jaw assembly clamps the battery by detecting the position change of the spring telescopic rod;

[0024] And / or, the in-place detector includes an inductive sensor, which is disposed adjacent to a position where the clamping jaw assembly clamps the battery, and the inductive sensor detects whether the clamping jaw assembly clamps the battery by detecting changes in the surrounding magnetic field.

[0025] The present application adopts the above-mentioned technical scheme, and its driving device drives the jaw assembly to move along the guide rail toward the direction approaching another jaw assembly. The driving device can abut against another jaw assembly through the driving part of the transmission rod on the jaw assembly, drive the other jaw assembly to move, so that the distance between multiple jaw assemblies becomes smaller, thereby realizing the distance change operation of reducing the distance between multiple batteries; the driving device drives the jaw assembly to move along the guide rail toward the direction away from another jaw assembly. The driving device can abut against another jaw assembly through the driving part of the transmission rod on the jaw assembly, drive the other jaw assembly to move, so that the distance between multiple jaw assemblies becomes larger, thereby realizing the distance change operation of increasing the distance between multiple batteries. Thus, the technical solution of the present application drives a jaw assembly to move along the guide rail through a transmission rod, and utilizes the movement of the jaw assembly to drive another jaw assembly to move along the guide rail, and drives another jaw assembly to move through the transmission rod on another jaw assembly, so as to achieve the variable distance operation of multiple batteries clamped by multiple jaw assemblies, wherein the travels in the length direction between multiple transmission rods and multiple jaw assemblies can overlap with each other, and are not limited by the size of the drive plate, so that a larger variable distance can be achieved. It can be seen that the technical solution of the present application can effectively improve the problem that the existing jaw equipment cannot perform a large variable distance operation on the battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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 the structures shown in these drawings without paying any creative work.

[0027] Figure 1 This is a schematic structural diagram of an embodiment of the clamping device of the present application;

[0028] Figure 2 for Figure 1 Schematic diagram of the partial structure of the middle gripper device;

[0029] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0030] Figure 4 for Figure 1 Another partial structural schematic diagram of the middle clamping jaw device;

[0031] Figure 5 for Figure 1 A schematic diagram of the partial structure of another embodiment of the middle clamping jaw device;

[0032] Figure 6 for Figure 5A partial enlarged view of point B in the middle.

[0033] Description of Figure Numbers:

[0034] 100. Gripping device; 10. Moving module; 11. Mounting frame; 12. Guide rail; 20. Gripping assembly; 211. First abutting block; 212. Second abutting block; 213. Abutting block; 214. Mounting hole; 22. Connecting plate; 23. Gripping jaw; 24. In-position detector; 30. Driving structure; 31. Driving device; 32. Transmission rod; 321. Rod body; 322. First driving block; 323. Second driving block; 324. Transmission shaft; 325. Third driving block; 326. Fourth driving block; 33. Elastic member.

[0035] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" 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, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0039] The present application proposes a gripper device 100, which is used to grab batteries and transport them to various workstations, providing materials for various battery processing equipment to achieve automated production of batteries. Figures 1 to 4 In an embodiment of the present application, the clamping device 100 includes a moving module 10, a plurality of clamping assemblies 20 and a driving structure 30. The moving module 10 is transmission-connected to the plurality of clamping assemblies 20 to drive the plurality of clamping assemblies 20 to move in multiple directions.

[0040] The directions in which the mobile module 10 drives the multiple gripper assemblies 20 to move include but are not limited to movement in the vertical direction and movement in the horizontal direction, and the power source of the mobile module 10 can also be multiple, and its power source can be a servo motor drive or a cylinder. The mobile module 10 can include multiple drive modules to respectively drive the multiple gripper assemblies 20 to move in different directions. Specifically, in some embodiments, the mobile module 10 can be a six-axis robotic arm.

[0041] The mobile module 10 includes a mounting frame 11, and the mounting frame 11 is provided with a guide rail 12 along its length direction, and a plurality of clamping jaw assemblies 20 are slidably mounted on the guide rail 12. The mounting frame 11 provides a mounting position for other components of the clamping jaw device 100, and the mounting frame 11 can be a frame-like structure or a shell-like structure, which is not specifically limited here. The length direction and the width direction of the mounting frame 11 are perpendicular to each other on the same horizontal plane. Specifically, in some examples, the mounting frame 11 is in the shape of a rectangular parallelepiped as a whole, the direction of the long side of the mounting frame 11 is the length direction, and the direction of the short side of the mounting frame 11 is the width direction.

[0042] The clamping jaw assembly 20 is used to grasp the battery. It can be understood that the plurality of clamping jaw assemblies 20 are slidably mounted on the guide rail 12 , so that the plurality of clamping jaw assemblies 20 are distributed at intervals along the guide rail 12 .

[0043] The driving structure 30 includes a driving device 31 and multiple transmission rods 32. The multiple transmission rods 32 are arranged one by one corresponding to the multiple jaw assemblies 20 and are arranged at intervals along the width direction of the mounting frame 11. One end of the transmission rod 32 is fixedly connected to the jaw assembly 20, and the transmission rod 32 has a driving part that is movably abutted against another jaw assembly 20.

[0044] The plurality of transmission rods 32 are arranged at intervals along the width direction so that the plurality of transmission rods 32 do not interfere with each other when moving and their travels in the length direction can overlap each other.

[0045] The driving device 31 is connected to a clamping jaw assembly 20 located at the outermost edge of the guide rail 12 to drive the clamping jaw assembly 20 to move along the guide rail 12 toward or away from another clamping jaw assembly 20, and the driving parts of multiple transmission rods 32 are movably abutted against multiple clamping jaw assemblies 20 to drive the multiple clamping jaw assemblies 20 to move.

[0046] The present application adopts the above-mentioned technical scheme, and its driving device 31 drives the jaw assembly 20 to move along the guide rail 12 toward the direction close to another jaw assembly 20. The driving device 31 can abut against another jaw assembly 20 through the driving part of the transmission rod 32 on the jaw assembly 20, drive the other jaw assembly 20 to move, so that the distance between multiple jaw assemblies 20 becomes smaller, thereby realizing the distance change operation of reducing the distance between multiple batteries; the driving device 31 drives the jaw assembly 20 to move along the guide rail 12 toward the direction away from another jaw assembly 20. The driving device 31 can abut against another jaw assembly 20 through the driving part of the transmission rod 32 on the jaw assembly 20, drive the other jaw assembly 20 to move, so that the distance between multiple jaw assemblies 20 becomes larger, thereby realizing the distance change operation of increasing the distance between multiple batteries. In this way, the technical solution of the present application drives a jaw assembly 20 to move along the guide rail 12 through the transmission rod 32, and utilizes the movement of the jaw assembly 20 to drive another jaw assembly 20 to move along the guide rail 12, and drives another jaw assembly 20 to move through the transmission rod 32 on the other jaw assembly 20, so as to realize the variable distance operation of multiple batteries clamped by multiple jaw assemblies 20, wherein the length strokes between multiple transmission rods 32 and multiple jaw assemblies 20 can overlap with each other, and are not limited by the size of the drive plate, thereby achieving a larger variable distance.

[0047] In some examples, such as Figures 1 to 6 As shown, the jaw assembly 20 is provided with an abutment piece, and the abutment pieces of the multiple jaw assemblies 20 are also arranged at intervals along the width direction of the mounting frame 11, and the abutment piece is provided with a first abutment surface and a second abutment surface at intervals along the length direction; the driving part is provided with a first driving surface and a second driving surface, and the first driving surface is movably abutted against the first abutment surface of another jaw assembly 20, and the second driving surface is movably abutted against the second abutment surface of another jaw assembly 20.

[0048] The abutment members of the plurality of clamping jaw assemblies 20 are also arranged at intervals along the width direction of the mounting frame 11, so that the connecting line of the plurality of abutment members does not overlap with the length direction, but forms a certain angle with the length direction. It should be emphasized that the first abutment surface and the second abutment surface of the abutment member are facing different surfaces, that is, the first abutment surface and the second abutment surface are facing away from each other. And the abutment member also has a variety of shapes, and the abutment member can be composed of different small pieces, or it can be an integrated structure.

[0049] It should be emphasized that the first driving surface of the transmission rod 32 on one jaw assembly 20 can be movably abutted or separated from the first abutting surface of the abutment on another jaw assembly 20, and similarly, the second driving surface of the transmission rod 32 on one jaw assembly 20 can be movably abutted or separated from the second abutting surface of the abutment on another jaw assembly 20.

[0050] In this way, the driving device 31 drives the jaw assembly 20 to move along the guide rail 12 toward the direction approaching the other jaw assembly 20. The driving device 31 can abut against the first abutting surface of the other jaw assembly 20 through the first driving surface on the jaw assembly 20, thereby driving the other jaw assembly 20 to move. At this time, the second driving surface and the second abutting surface are spaced apart. The driving device 31 drives the jaw assembly 20 to move along the guide rail 12 toward the direction away from the other jaw assembly 20. The driving device 31 can abut against the second abutting surface of the other jaw assembly 20 through the second driving surface on the jaw assembly 20, thereby driving the other jaw assembly 20 to move. At this time, the first driving surface and the first abutting surface are spaced apart.

[0051] In one embodiment, a plurality of jaw assemblies 20 are divided into two groups, and the abutment members on the two groups of jaw assemblies 20 are distributed on both sides of the length direction of the mounting frame 11 at symmetrical points symmetrically with the center of the mounting frame 11 as the center. Similarly, a plurality of transmission rods 32 are divided into two groups, and the two groups of transmission rods 32 are distributed on the mounting frame 11 at symmetrical points symmetrically with the center of the mounting frame 11 as the center. The driving device 31 also has two driving units, and the two driving units are respectively connected to a jaw assembly 20 located on the edges of both sides of the guide rail 12 for transmission.

[0052] In some examples, such as Figures 1 to 6 As shown, the clamp assembly 20 includes a connecting plate 22 and a clamp 23. The connecting plate 22 extends along the width direction. The side of the connecting plate 22 facing the mounting frame 11 is slidably connected to the guide rail 12, and the side of the connecting plate 22 facing away from the mounting frame 11 is connected to the clamp 23.

[0053] In this way, the clamping jaw 23 is slidably connected to the guide rail 12 through the connecting plate 22, so as to improve the stability of the clamping jaw assembly 20. In addition, the clamping jaw 23 can be connected to the connecting plate 22 by various connection methods, such as threaded connection, welding, clamping, etc. Preferably, the clamping jaw 23 is connected to the connecting plate 22 by a detachable connection method, so as to facilitate the replacement and maintenance of the clamping jaw 23.

[0054] In some examples, such as Figures 2 to 4As shown, the abutment member includes a first abutment block 211, which is installed on the side of the connecting plate 22 away from the mounting frame 11, and the first abutment block 211 is provided with a first abutment surface; the transmission rod 32 includes a rod body 321 and a driving part, one end of the rod body 321 is fixedly connected to the side of the connecting plate 22 facing the mounting frame 11, and the driving part includes a first driving block 322, which is installed on the side of the connecting plate 22 away from the mounting frame 11, and the first driving block 322 is provided with a first driving surface.

[0055] In this configuration, the rod body 321 and the first driving block 322 are respectively located on two opposite sides of the connecting plate 22, which optimizes the layout of the transmission structure, reduces factors affecting the movement of the clamping jaw assembly 20, and improves the reliability of the clamping jaw device 100. In addition, a larger operating space is provided for assembling the clamping jaw device 100, which facilitates the assembly of the clamping jaw device 100.

[0056] It should be emphasized that the first driving surface of the first driving block 322 is in active contact with the first contact surface of the first contact block 211 on the other clamping jaw assembly 20, not in active contact with the first contact surface of the contact block on the clamping jaw assembly 20 where the first driving block 322 is located. Figure 4 As shown, the first drive block 322 and the first abutment block 211 on the same clamping jaw assembly 20 can be integrated and arranged in the width direction; in another example, the first drive block 322 and the first abutment block 211 on the same clamping jaw assembly 20 can be spaced apart in the width direction.

[0057] Of course, in some examples, the first driving block 322 and the first abutting block 211 may also be disposed on the side of the connecting plate 22 facing the mounting frame 11 , and the rod body 321 may be connected to the connecting plate 22 through the first driving block 322 .

[0058] In some examples, such as Figures 2 to 4 As shown, the abutment member also includes a second abutment block 212, which is installed on the side of the connecting plate 22 facing the mounting frame 11, and the second abutment block 212 is provided with a second abutment surface; the driving portion also includes a second driving block 323, the second driving block 323 is fixedly connected to an end of the rod body 321 away from the clamping jaw assembly 20, and the second driving block 323 is provided with a second driving surface on the side facing the clamping jaw assembly 20.

[0059] With such arrangement, the transmission rod 32 has a simple structure, and one end of the rod body 321 is mounted on the connecting plate 22 by a threaded connection, a clamping connection or the like, thereby completing the installation of the transmission rod 32 .

[0060] In some examples, such as Figure 5 and Figure 6As shown, the abutment member 21 includes an abutment block 213, which is fixedly mounted on the connecting plate 22, and the abutment block 213 is also penetrated with a mounting hole 214 along the length direction; the transmission rod 32 includes a transmission shaft 324 and a driving part, and the driving part includes a third driving block 325 and a fourth driving block 326, one end of the transmission shaft 324 is fixedly mounted on the connecting plate 22, and the other end of the transmission shaft 324 passes through the mounting hole 214 of the abutment block 213 on another clamping jaw assembly 20, and is connected to the fourth driving block 326, the third driving block 325 is connected to the transmission shaft 324, the third driving block 325 and the fourth driving block 326 are respectively located on both sides of the abutment block, wherein the third driving block 325 is provided with a first driving surface, and the fourth driving block 326 is provided with a second driving surface.

[0061] Specifically, one end of the transmission shaft 324 can be fixed to the connecting plate through the abutment block 213 and arranged adjacent to the mounting hole 214 , and the transmission shafts 324 of the plurality of transmission rods 32 can be respectively arranged on both sides of the connecting plate 22 .

[0062] Such a configuration is intended to improve the reliability of the driving structure 30. Since one end of the transmission shaft 324 is fixedly mounted on the connecting plate 22 through the abutment block 213, and the other end of the transmission shaft 324 is not fastened, when the other end of the transmission shaft 324 is affected by an external force, the rod body 321 is prone to deformation, bending, etc., and one end of the transmission shaft 324 is penetrated through the mounting hole 214. When the transmission shaft 324 is affected by an external force, the mounting hole 214 can provide support for the transmission shaft 324.

[0063] In some examples, such as Figure 5 and Figure 6 As shown, the third driving block 325 and the fourth driving block 326 are respectively detachably connected to the transmission shaft 324. Specifically, the third driving block 325 and the fourth driving block 326 can be installed on the transmission shaft 324 by threaded connection, clamping, etc.

[0064] With such a configuration, the distance between the third driving block 325 and the fourth driving block 326 can be adjusted to adjust the variable distance amplitude between the multiple batteries, so that the gripper device 100 can be compatible with more battery processing equipment.

[0065] In some examples, such as Figure 4 As shown, the clamping jaw assembly 20 includes two clamping jaws 23, and the two clamping jaws 23 are arranged at intervals along the width direction on the connecting plate 22. Such arrangement is intended to improve the stability of the clamping jaw assembly 20 when clamping the battery.

[0066] In some examples, such as Figure 1As shown, the mounting frame 11 is provided with two guide rails 12 along its length direction, the two guide rails 12 are arranged at intervals along the width direction, and one side of the connecting plate 22 is slidably mounted on the two guide rails 12. Such arrangement is intended to improve the stability of the clamping jaw assembly 20 when it moves along the guide rail 12 and changes the distance.

[0067] In some examples, such as Figure 3 Hezhi Figure 4 As shown, the first driving surface or / and the second driving surface are provided with an elastic member 33. Such a configuration is intended to prevent the first driving block 322 or the second driving block 323 from hard collision with the abutment member, so as to increase the service life of the clamping device 100.

[0068] In some examples, such as Figure 2 Hezhi Figure 4 As shown, each clamping jaw assembly 20 is provided with an in-position detector 24, and the in-position detector 24 is used to detect whether the clamping jaw assembly 20 clamps a battery.

[0069] In this configuration, the in-position detector 24 can detect whether a battery is clamped on the clamp assembly 20, thereby determining whether the clamping operation of the clamp device 100 is successful. In some examples, the clamp device 100 also includes a controller, and the in-position detector 24 is in communication with the controller. The controller can compare the information fed back by the in-position detector 24 with the preset parameters. When the information does not match the preset parameters, the controller sends an alarm signal.

[0070] Preferably, the in-position detector 24 includes a position detection switch and a spring telescopic rod, one end of which is located at the position where the clamp assembly 20 clamps the battery, and the position detection switch detects whether the clamp assembly 20 clamps the battery by detecting the position change of the spring telescopic rod.

[0071] Preferably, the in-position detector 24 comprises an inductive sensor, which is disposed adjacent to the position where the clamping jaw assembly 20 clamps the battery. The inductive sensor detects whether the clamping jaw assembly 20 clamps the battery by detecting changes in the surrounding magnetic field.

[0072] The above description is only an optional embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A gripper device, characterized in that: The clamping device comprises a moving module, a plurality of clamping assemblies and a driving structure, wherein the moving module is in transmission connection with the plurality of clamping assemblies to drive the plurality of clamping assemblies to move in multiple directions; wherein, The mobile module comprises a mounting frame, the mounting frame is provided with a guide rail along its length direction, and the plurality of clamping jaw assemblies are slidably mounted on the guide rail; The driving structure includes a driving device and a plurality of transmission rods, wherein the plurality of transmission rods are arranged in one-to-one correspondence with the plurality of clamping jaw assemblies and are arranged at intervals along the width direction of the mounting frame, one end of the transmission rod is fixedly connected to the clamping jaw assembly, and the transmission rod has a driving portion that is movably abutted against another clamping jaw assembly; The driving device is transmission-connected to a clamping jaw assembly located at the outermost edge of the guide rail to drive the clamping jaw assembly to move along the guide rail toward or away from another clamping jaw assembly, and the driving parts of the multiple transmission rods are movably abutted against the multiple clamping jaw assemblies to drive the multiple clamping jaw assemblies to move.

2. The gripper device according to claim 1, characterized in that: The clamping jaw assembly is provided with an abutment member, and a plurality of abutment members of the clamping jaw assembly are also arranged at intervals along the width direction of the mounting frame, and the abutment member is provided with a first abutment surface and a second abutment surface at intervals along the length direction; The driving portion is provided with a first driving surface and a second driving surface. The first driving surface is movably in contact with the first abutting surface of another clamping jaw assembly, and the second driving surface is movably in contact with the second abutting surface of another clamping jaw assembly.

3. The gripper device according to claim 2, characterized in that: The clamping jaw assembly includes a connecting plate and a clamping jaw. The connecting plate is extended along the width direction. The side of the connecting plate facing the mounting frame is slidably connected to the guide rail, and the side of the connecting plate facing away from the mounting frame is connected to the clamping jaw.

4. The gripper device according to claim 3, characterized in that: The abutment member comprises a first abutment block, the first abutment block is mounted on a side of the connecting plate away from the mounting frame, and the first abutment block is provided with the first abutment surface; The transmission rod includes a rod body and a driving part, one end of the rod body is fixedly connected to a side of the connecting plate facing the mounting frame, and the driving part includes a first driving block, which is installed on a side of the connecting plate facing away from the mounting frame, and the first driving block is provided with the first driving surface.

5. The gripper device according to claim 4, characterized in that The abutment member further comprises a second abutment block, the second abutment block is mounted on a side of the connecting plate facing the mounting frame, and the second abutment block is provided with the second abutment surface; The driving portion further comprises a second driving block, the second driving block is fixedly connected to an end of the rod body away from the clamping jaw assembly, and the second driving surface is provided on a side of the second driving block facing the clamping jaw assembly.

6. The gripper device according to claim 3, characterized in that: The abutment member comprises an abutment block, the abutment block is fixedly mounted on the connecting plate, and the abutment block is also provided with a mounting hole penetrating along the length direction; The transmission rod includes a transmission shaft and a driving part, and the driving part includes a third driving block and a fourth driving block. One end of the transmission shaft is fixedly mounted on the connecting plate, and the other end of the transmission shaft passes through the mounting hole of the abutment block on the other clamping jaw assembly and is connected to the fourth driving block. The third driving block is connected to the transmission shaft, and the third driving block and the fourth driving block are respectively located on both sides of the abutment block, wherein the third driving block is provided with the first driving surface, and the fourth driving block is provided with the second driving surface.

7. The gripper device according to claim 6, characterized in that The third driving block and the fourth driving block are respectively detachably connected to the transmission shaft.

8. The gripper device according to claim 3, characterized in that: The clamping jaw assembly comprises two clamping jaws, and the two clamping jaws are arranged on the connecting plate at intervals along the width direction; And / or, the mounting frame is provided with two guide rails along the length direction, the two guide rails are spaced apart along the width direction, and one side of the connecting plate is slidably mounted on the two guide rails.

9. The gripper device according to claim 1, characterized in that: Each of the clamping jaw assemblies is provided with an in-position detector, and the in-position detector is used to detect whether the clamping jaw assembly clamps a battery.

10. The gripper device according to claim 9, characterized in that The in-position detector comprises a position detection switch and a spring telescopic rod, one end of the spring telescopic rod is located at the position where the clamping jaw assembly clamps the battery, and the position detection switch detects whether the clamping jaw assembly clamps the battery by detecting the position change of the spring telescopic rod; And / or, the in-place detector includes an inductive sensor, which is disposed adjacent to a position where the clamping jaw assembly clamps the battery, and the inductive sensor detects whether the clamping jaw assembly clamps the battery by detecting changes in the surrounding magnetic field.

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