Battery shell grabbing device

Abstract

The utility model provides a battery shell grabbing device, and relates to the technical field of battery preparation. The battery shell grabbing device comprises a clamping jaw mechanism, a plug pin mechanism and a driving mechanism. The clamping jaw mechanism comprises a first clamping jaw assembly and a second clamping jaw assembly; the first clamping jaw assembly and the second clamping jaw assembly are oppositely arranged and are configured to move towards the geometric center of a to-be-grabbed piece in the process of grabbing the to-be-grabbed piece. The bolt mechanism comprises a first positioning bolt assembly and a second positioning bolt assembly; the first positioning plug pin assembly and the second positioning plug pin assembly are configured to move in the direction close to a to-be-grabbed piece in the process of grabbing the to-be-grabbed piece and make contact with a positioning hole of the to-be-grabbed piece. The driving mechanism comprises a driving assembly and a guiding assembly; the driving assembly is used for driving the first clamping jaw assembly and the second clamping jaw assembly in the process of grabbing the to-be-grabbed part; the guide assembly supports and guides movement of the clamping jaw assembly and / or the positioning plug pin assembly. Accurate clamping and automatic positioning of grabbing are achieved.

Description

Technical Field

[0001] This application relates to the technical field of battery preparation, and more specifically, to a battery housing grasping device. Background Art

[0002] Existing automated handling equipment includes multiple adjustable components for grasping diverse product forms. However, due to design limitations, the size variation range of these product forms is limited, and when making adjustments, it is necessary to pause the operation and manually change the position of the grasping mechanism. However, pausing the operation and manually changing the position of the grasping mechanism will cause the equipment to stop during grasping or production, reducing production efficiency.

[0003] Furthermore, for some components to be grasped, simply clamping the end of the component to be grasped with the clamping mechanism is likely to cause unstable grasping, thereby posing a safety hazard of the component to be grasped falling. Summary of the Utility Model

[0004] In view of this, the purpose of the embodiments of this application is to provide a battery housing grasping device to improve the problems of insufficient size adaptability and low automation level existing in the prior art.

[0005] To solve the above problems, the embodiments of this application provide a battery housing grasping device, including:

[0006] A jaw mechanism, a pin mechanism, and a driving mechanism;

[0007] The jaw mechanism includes a first jaw assembly and a second jaw assembly; the first jaw assembly and the second jaw assembly are arranged opposite to each other and are configured to move towards the geometric center of the object to be grasped during the process of grasping the object to be grasped;

[0008] The pin mechanism includes a first positioning pin assembly and a second positioning pin assembly; the first positioning pin assembly and the second positioning pin assembly are configured to move towards the object to be grasped and contact the positioning holes of the object to be grasped during the process of grasping the object to be grasped;

[0009] The driving mechanism includes a driving component and a guiding component; the driving component is used to provide driving for the first jaw assembly and the second jaw assembly during the process of grasping the object to be grasped; the guiding component supports and guides the movement of the jaw assembly and / or the positioning pin assembly.

[0010] In the above implementation process, the symmetrical jaw components allow them to apply force evenly during the grasping process, reducing the risk of damage to the housing while providing stable grasping. The pin mechanism moves synchronously towards the part to be grasped during the automated grasping process and accurately inserts into the positioning holes on the housing, ensuring the compatibility of the device with different parts to be grasped and the stability of grasping. And through the precise control of the driving mechanism, the high-efficiency performance of quickly adapting to and switching between different products is achieved, while ensuring the safety of operation and the convenience of maintenance.

[0011] In the above embodiment, the first jaw component and the second jaw component include a jaw mounting plate, jaws, and jaw backing plates; the jaw backing plates are disposed on the side of the jaws facing the part to be grasped; the preparation material of the jaw backing plates includes a soft material with a rough surface. The jaw backing plates are prepared from a soft material with a rough surface, and the rough surface increases the friction coefficient with the part to be grasped, thereby improving the stability and reliability of grasping; during the grasping process, the soft material on the jaw backing plates can reduce damage to the surface of the part to be grasped, especially suitable for fragile or coated parts. The jaw mounting plate is provided with a plurality of positioning holes; among them, the hole positions of the plurality of positioning holes are arranged at a preset spacing; the hole size is adapted to the connection at the upper end of the jaws; the positioning holes are configured to fix the jaws on the jaw mounting plate based on the fastening connection of the fixing member with the positioning holes and the jaws. This ensures the stability and alignment accuracy of the jaws during the grasping process, and moreover, through fastening connection members such as bolts and nuts, it provides a modular feature that is easy to adjust and replace, enhancing the flexibility and maintenance convenience of the battery housing grasping device, thus adapting to changing production requirements.

[0012] In the above embodiment, the driving mechanism includes a driving component and a guiding component; the positioning pin component includes a pin and a pin component mounting bracket; the driving component is connected to the pin and mounted on the pin component mounting bracket; wherein, the driving component is configured to provide a driving force for the pin during the movement of the pin in the direction approaching the part to be grasped. The driving component not only provides the necessary driving force for the movement of the pin, but also through the coordinated work with the guiding component, ensures that the movement of the pin is carried out precisely along a predetermined trajectory, realizing the rapid positioning and firm grasping of the part to be grasped.

[0013] In the above embodiments, the driving assembly includes a motor and a cylinder; the positioning pin assembly further includes a mounting plate for the pin assembly; the guiding assembly includes a lead screw, a lead screw nut seat, and a slide rail to achieve precise control; the motor is connected to the lead screw through a coupling to ensure effective transmission of power; the lead screw is respectively connected to the mounting plate of the pin assembly and the mounting plate of the jaw assembly to achieve synchronous movement of the two; the lead screw is provided with a guiding groove; the guiding groove is configured to guide the movement of the positioning pin assembly on the lead screw through the guiding groove when the motor drives the lead screw to rotate, ensuring that the pin can accurately enter the positioning hole of the workpiece to be grasped and achieving an efficient and stable grasping action.

[0014] In the above embodiments, the driving mechanism includes a first driving mechanism, a second driving mechanism, a third driving mechanism, and a fourth driving mechanism; the motor drives the first driving mechanism, the second driving mechanism, and the third driving mechanism, which are respectively responsible for the opening and closing of the jaw mechanism, the lateral movement of the positioning pin assembly, and the precise adjustment along a specific straight line direction; the cylinder drives the fourth driving mechanism, which is responsible for the vertical movement of the positioning pin assembly to make contact with and fix to the positioning hole.

[0015] In the above embodiments, the first driving mechanism is configured to drive the jaw mechanism to move in a first direction; wherein, the first direction is the direction of jaw opening and closing; the second driving mechanism is configured to drive the first positioning pin assembly and the second positioning pin assembly to move in the first direction; the third driving mechanism is configured to drive the first positioning pin assembly and the second positioning pin assembly to move in a second direction; wherein, the second direction is a straight line determined by the positions of the first positioning pin assembly and the second positioning pin assembly; the fourth driving mechanism is configured to drive the positioning pin assembly to move in a third direction; wherein, the third direction is the direction perpendicular to the positioning hole of the pin. The first driving mechanism is specifically responsible for the opening and closing of the jaw mechanism, controlling the movement of the jaw in the first direction of the jaw opening and closing direction to ensure the smoothness of the grasping and releasing actions. The second driving mechanism controls the first positioning pin assembly and the second positioning pin assembly to move in the same direction to adapt to the width change of the workpiece to be grasped and achieve precise lateral positioning. The third driving mechanism further expands the movement freedom of the pin assembly, making adjustments along the second direction - that is, the straight line determined by the position of the pin assembly - to adapt to positioning holes of different depths or positions. Finally, the fourth driving mechanism drives the positioning pin assembly to move vertically in a direction perpendicular to the plane of the aforementioned directions to complete the in-depth matching of the positioning hole.

[0016] In the above embodiments, a slider is connected to the slider guide rail; the lead screw nut seat is connected to the slider on the slider guide rail, driving the slider to move along the guide rail, and the movement of the slider guides the gripper assembly or the pin assembly to a predetermined position. An accurate motion transmission chain is formed, realizing precise control of the grasping action, and moreover, by reducing mechanical clearances and improving the linearity of the motion, the stability and repeat positioning accuracy of the entire grasping process are enhanced.

[0017] In the above embodiments, the driving assembly and the guiding assembly are arranged in the first direction and the second direction; the second driving mechanism includes three parallel guide rails of the slider guide rail in the first direction, which are respectively located at the connection of the first positioning pin assembly, the end connection of the adjustable maximum distance of the second positioning pin assembly, and the connection where the motor of the second driving mechanism is located. The driving assembly and the guiding assembly work together in the battery housing grasping device, being precisely arranged in the first direction and the second direction. The second driving mechanism is specially designed with a slider guide rail composed of three parallel guide rails, extending in the first direction, and respectively corresponding to key operation points: the first guide rail is directly connected to the mounting plate of the positioning pin assembly at the connection of the first positioning pin assembly, providing initial positioning and support for the two positioning pin assemblies; the second guide rail is set at the end of the adjustable maximum distance of the second positioning pin assembly, allowing the pin to extend to the maximum range when necessary; the third guide rail is connected to the position where the motor of the second driving mechanism is located, providing multiple supports for the entire positioning pin mounting plate and dispersing the pressure on the two slider guide rails.

[0018] In summary, the battery housing grasping device of the embodiment of the present application aims to create a battery housing grasping device that can automatically adapt to different sizes and has two parallel sides with hole positions. By designing the gripper assembly and the positioning pin assembly, the device can quickly switch according to the position and size of the positioning holes of the workpiece to be grasped, realizing automatic grasping.

[0019] In order to improve the grasping efficiency, the concept of the embodiment of the present application includes precisely controlling the movement of the gripper and the pin assembly. By using driving components such as motors and cylinders, and guiding components such as lead screws and slider guide rails, precise positioning and stable grasping of the workpiece to be grasped during the grasping process are ensured.

[0020] The gripper backing plate is made of a soft material with a rough surface to adapt to the grasping requirements of different workpieces to be grasped, and at the same time reduce damage to the workpiece to be grasped. The gripper mounting plate is designed with a plurality of positioning holes to achieve quick adjustment and fixation of the gripper assembly.

[0021] In the embodiment of the present application, a plurality of driving mechanisms are designed, including the first to fourth driving mechanisms, which work together and are respectively responsible for the opening and closing of the gripper mechanism and the movement of the positioning pin assembly in different directions to achieve precise control of different workpieces to be grasped.

[0022] Through the connection between the lead screw nut seat and the slider guide rail, the smooth movement of the jaw assembly or the pin assembly along a predetermined path is achieved, ensuring the accuracy of reaching the predetermined position.

[0023] The design of the three-section parallel guide rail of the second driving mechanism provides adaptability to the sizes and shapes of different workpieces to be grasped, enhancing the versatility of the device.

[0024] The battery case grasping device according to the embodiment of the present application, through its innovative design, not only improves the adaptability to different products and the grasping stability, but also reduces manual intervention through automated control, improving production efficiency and operation safety. The design of this device takes into account ease of use, convenience of maintenance and flexibility, and can meet changing production requirements, having broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 Overall view of the battery case grasping device provided by the embodiment of the present application;

[0027] Figure 2A Top view of the battery case grasping device provided by the embodiment of the present application;

[0028] Figure 2B Bottom view of the battery case grasping device provided by the embodiment of the present application;

[0029] Figure 3 Provided by the embodiment of the present application Figure 1 Enlarged schematic view of part A in

[0030] Reference numerals: 100 - First jaw assembly; 110 - Second jaw assembly; 120 - Jaw mounting plate; 130 - Jaw; 140 - Jaw backing plate; 200 - First positioning pin; 210 - Second positioning pin; 220 - Positioning pin mounting bracket; 230 - Positioning pin mounting plate; 240 - Pin; 300 - Motor; 310 - Cylinder; 320 - Lead screw; 330 - Lead screw nut seat; 340 - Slider guide rail; 341 - Three-section slider guide rail distributed in parallel; 350 - Slider; 410 - First driving mechanism; 420 - Second driving mechanism; 430 - Third driving mechanism; 440 - Fourth driving mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0032] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs; the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of the present application or the above drawings are used to distinguish different objects and not to describe a specific order or primary-secondary relationship.

[0033] Referring to "embodiments" in the present application means that specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase does not necessarily refer to the same embodiment when it appears in various positions in the specification, nor is it an independent or alternative embodiment mutually exclusive with other embodiments.

[0034] The term "and / or" in the present application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present application generally represents an "or" relationship between the associated objects before and after.

[0035] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, in different embodiments, the detailed description of the same components is omitted. It should be understood that the thickness, length, width and other dimensions of various components shown in the drawings of the embodiments of the present application, as well as the overall thickness, length, width and other dimensions of the integrated device are only for illustrative purposes and should not constitute any limitation to the present application.

[0036] The term "a plurality of" as used in the present application means two or more (including two).

[0037] This embodiment includes a jaw mechanism, a pin mechanism and a driving mechanism;

[0038] The jaw mechanism includes a first jaw assembly 100 and a second jaw assembly 110; the first jaw assembly 100 and the second jaw assembly 110 are arranged opposite to each other and are configured to move towards the geometric center of the object to be grasped (not shown) during the process of grasping the object to be grasped.

[0039] The plug mechanism includes a first positioning plug component 200 and a second positioning plug component 210; the first positioning plug component 200 and the second positioning plug component 210 are configured to move in a direction close to the object to be grasped during the grasping process of the object to be grasped, and contact the positioning holes (not shown) of the object to be grasped.

[0040] The driving mechanism includes a driving component and a guiding component; the driving component is used to provide driving force for the first jaw component 100, the second jaw component 110 and / or the first positioning plug component 200, the second positioning plug component 210 during the grasping process of the object to be grasped; the guiding component supports and guides the movement of the first jaw component 100, the second jaw component 110 and / or the first positioning plug component 200, the second positioning plug component 210.

[0041] In this embodiment, the first jaw component 100 and the second jaw component 110 are arranged oppositely, on both sides of the object to be grasped, and the jaws 130 face the geometric center of the object to be grasped. The first positioning plug 200 and the second positioning plug 210 are located above or on the side of the jaw mechanism, and the specific position depends on the geometric shape of the object to be grasped and the layout of the positioning holes. The symmetrically arranged jaw mechanism enables the first jaw component 100 and the second jaw component 110 to uniformly apply force to the object to be grasped during the grasping process, avoiding the dropping of the object to be grasped due to unstable clamping during the clamping process or handling process of the object to be grasped, thus causing potential safety hazards. The installation of the jaw mechanism (see 100 - the first jaw component and 110 - the second jaw component in the figure) includes: the first jaw component 100 and the second jaw component 110 are fixed by a jaw mounting plate 120; the jaws 130 are mounted on a jaw backing plate 140, and the backing plate material is a soft material with a rough surface to adapt to the grasping requirements of different objects to be grasped and reduce damage.

[0042] Optionally, the soft material of the jaw backing plate 140 can be polyurethane rubber, silicone rubber, nitrile rubber, neoprene rubber, fluororubber, natural rubber, etc. Those skilled in the art can determine the most suitable material according to factors such as the specific application scenario, cost, processing technology and durability of the jaw backing plate.

[0043] As an example, the material of the jaws 130 can be selected as high-strength stainless steel, with a hardened surface to improve wear resistance and corrosion resistance. Micron-level serrations can be designed on the inner side to increase the friction with the object to be grasped and prevent slipping. Optionally, the metal material may be made of aluminum alloy, stainless steel or high-strength alloy steel, and the surface can be subjected to plating treatment such as nickel plating or chromium plating to enhance corrosion resistance and wear resistance. The polymer material may be made of high-performance engineering plastics such as ABS, PC or POM, and produced by an injection molding process.

[0044] As an example, a plurality of positioning holes are provided on the jaw mounting plate 120; among them, the hole positions of the plurality of positioning holes are arranged at a preset spacing; the hole size is adapted to the connection at the upper end of the jaw 130; the positioning holes are configured to fix the jaw 130 on the jaw mounting plate 120 based on the fastening connection between the fixing member and the positioning holes and the jaw. Optionally, the spacing of the threaded holes on the jaw mounting plate 120 can be evenly distributed at a fixed interval, increased or decreased in a certain proportion, or arranged in a logarithmic scale. The evenly distributed fixed interval is simple and easy to implement, and is suitable for scenarios where the requirements for the jaw mounting position are not strict or do not change much; increasing or decreasing in proportion, this arrangement is suitable for applications that need to adjust the jaw position according to different object sizes. For example, if the jaw needs to adapt to different sizes of objects, the spacing can be increased to provide enough space for larger objects. Additionally, it can be arranged in a logarithmic scale, that is, the spacing of the threaded holes changes according to a logarithmic scale, that is, as the position changes, the rate of change of the spacing also changes. This arrangement can provide a more flexible adjustment range and is suitable for occasions that require precise adjustment of the jaw position within a large size range.

[0045] In this embodiment, during the automated grasping process, the plug mechanism moves synchronously towards the workpiece to be grasped and accurately inserts into the positioning holes on the housing, ensuring the compatibility of the device with different workpieces to be grasped and the stability of grasping. The arrangement of the plug mechanism (see 200 - the first positioning plug and 210 - the second positioning plug in the figure) includes: the first positioning plug 200 and the second positioning plug 210 are installed on the positioning plug mounting bracket 220, connected to the driving component through the positioning plug mounting plate 230, and each group of positioning plugs consists of a cylinder 310 and a plug 240. In particular, the second positioning plug 210 is sleeved on the lead screw 320 in the second driving mechanism 420 to facilitate corresponding movement.

[0046] In some embodiments, the plug 240 can be made of metal bars, such as stainless steel, alloy steel or aluminum, and formed by precision machining. Stainless steel materials are suitable for corrosion - resistant environments, alloy steel materials are suitable for high - load applications, while aluminum alloy materials are more suitable for applications where weight reduction is required. The surface of the plug 240 can be plated or coated, such as chrome plating or coating with wear - resistant coatings, to enhance durability and reduce maintenance requirements. The shape design of the plug 240 should consider the accuracy of inserting into the positioning holes and its self - positioning ability, and may include conical, cylindrical or customized shapes with guiding ribs.

[0047] As an example, the second plug assembly 210 does not require manual disassembly. During the actual production process, the production management system automatically generates a switching signal according to production requirements and sends it to the PLC through the industrial communication network; after receiving the signal, the PLC parses the instruction and controls the corresponding actions.

[0048] In this embodiment, the configuration of the driving mechanism (see 300 - motor and 310 - cylinder in the figure) includes: the motor 300 is connected to the lead screw 320 through a coupling, and the lead screw 320 is respectively connected to the positioning pin mounting plate 230 and the jaw mounting plate 120; the lead screw 320 is provided with a guiding groove; the guiding groove is configured to guide the movement of the positioning pin assembly on the lead screw when the motor 300 drives the lead screw 320 to rotate, ensuring that the first positioning pin 200 and the second positioning pin 210 can accurately enter the positioning holes of the workpiece to be grasped, so as to achieve an efficient and stable grasping action.

[0049] In this embodiment, the driving mechanism (see 410 - the first driving mechanism, 420 - the second driving mechanism, 430 - the third driving mechanism, 440 - the fourth driving mechanism in the figure) includes the first driving mechanism 410, the second driving mechanism 420, the third driving mechanism 430 and the fourth driving mechanism 440; the first driving mechanism 410 is configured to drive the jaw mechanism to move in the first direction to ensure the smoothness of the grasping and releasing actions; wherein, the first direction is the opening and closing direction of the jaw mechanism; the second driving mechanism 420 is configured to drive the first positioning pin 200 and the second positioning pin 210 to move in the first direction to adapt to the width change of the workpiece to be grasped and achieve precise lateral positioning; the third driving mechanism 430 is configured to drive the second positioning pin 210 to move in the second direction, further expanding the movement freedom of the pin assembly to adapt to positioning holes with different depths or positions; wherein, the second direction is a straight line determined by the positions of the first positioning pin 200 and the second positioning pin 210; the fourth driving mechanism 440 is configured to drive the first positioning pin 200 and / or the second positioning pin 210 to move in the third direction, driving the positioning pin assembly to move vertically to complete the in-depth matching of the positioning hole; wherein, the third direction is the direction perpendicular to the pin mechanism and the positioning hole, and the first direction, the second direction and the third direction are pairwise orthogonal. Briefly speaking, the motor 300 drives the first driving mechanism 410, the second driving mechanism 420 and the third driving mechanism 430, which are respectively responsible for the opening and closing of the jaw mechanism; the precise adjustment of the pin mechanism moving along the first direction or the second direction; the cylinder 310 drives the fourth driving mechanism 440, which is responsible for the movement of the first positioning pin assembly 200 and the second pin assembly 210 in the third direction to contact and fix with the positioning hole.

[0050] In this embodiment, the function of the guiding component (see 330 - lead screw nut seat and 340 - slider guide in the figure) includes: the lead screw nut seat 330 is connected to the slider on the slider guide 340, driving the slider 350 to move along the guide rail, guiding the jaw mechanism and / or the pin mechanism to reach the predetermined position. A precise motion transmission chain is formed to achieve precise control of the grasping action, and by reducing mechanical clearance and improving the linearity of movement, the stability and repeat positioning accuracy of the entire grasping process are enhanced.

[0051] In this embodiment, the driving component cooperates with the guiding component to be arranged in the first direction and the second direction; in particular, the second driving mechanism 420 includes a slider guide 340 with three parallel guide rails 341 in the first direction, which are respectively located at the connection of the first positioning pin assembly 200, the connection at the farthest adjustable end of the second positioning pin assembly 210, and the connection at the position of the motor 300 of the second driving mechanism 420.

[0052] As an example, the second driving mechanism 420 includes three parallel distributed guide rails 341 on the slider guide rail 340 (see Figure 2 for details), which are respectively located at the connection of the first positioning pin assembly 200, the connection of the second positioning pin assembly 210 at the farthest adjustable end, and the connection at the position of the second driving mechanism motor 300, providing multiple supports for the entire positioning pin mounting plate and dispersing the pressure of the two sections of the slider guide rails.

[0053] During the grasping process, the motor 300 drives the lead screw 320, so that the first clamping jaw assembly 100 and the second clamping jaw assembly 110 move toward the geometric center of the object to be grasped, and at the same time, the first positioning pin 200 and the second positioning pin 210 move toward the direction close to the object to be grasped and contact the positioning hole of the object to be grasped. The clamping jaw 130 contacts the object to be grasped through the clamping jaw pad 140. The clamping jaw pad 140 made of soft material can adapt to the objects to be grasped of different shapes to reduce damage. The cylinder 310 pushes the latch mechanism to move along the third direction to ensure that the latch 340 is accurately embedded in the positioning hole of the object to be grasped to achieve stable grasping.

[0054] As an example, the drive mechanism can be controlled by a control system, and the motor 300 can be selected to be a servo motor with high-precision control and fast response characteristics. The cylinder 310 adopts a double-acting cylinder to provide stable push-pull force. A precision ball screw is used to ensure transmission accuracy and stability. The slider guide 340 and the three-section slider guide 341 distributed in parallel can adopt linear guides, combined with preloaded ball sliders, to reduce friction and improve motion accuracy. The guide rail is designed with a sealing cover to prevent dust and debris from entering the guide rail, reducing maintenance requirements.

[0055] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

[0056] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, elements defined by the statement "comprising..." do not preclude the existence of additional identical elements in the process, method, article or device comprising said elements.

Claims

1. A battery case gripping device, characterized in that, Comprising: A jaw mechanism, a pin mechanism, and a driving mechanism; The jaw mechanism includes a first jaw assembly and a second jaw assembly; the first jaw assembly and the second jaw assembly are oppositely arranged and configured to move towards the geometric center of the workpiece to be grasped during the grasping process of the workpiece to be grasped; The pin mechanism includes a first positioning pin assembly and a second positioning pin assembly; the first positioning pin assembly and the second positioning pin assembly are configured to move towards the workpiece to be grasped during the grasping process of the workpiece to be grasped and contact the positioning holes of the workpiece to be grasped; The driving mechanism includes a driving component and a guiding component; the driving component is used to provide driving force for the first jaw assembly and the second jaw assembly during the grasping process of the workpiece to be grasped; the guiding component supports and guides the movement of the jaw assembly and / or the positioning pin assembly.

2. The battery housing gripping device according to claim 1, wherein The jaw assembly includes a jaw and a jaw backing plate; the jaw backing plate is arranged on the side of the jaw facing the workpiece to be grasped; the preparation material of the jaw backing plate includes a soft material with a rough surface.

3. The battery housing gripping device according to claim 2, wherein, The jaw assembly further includes a jaw mounting plate; A plurality of positioning holes are provided on the jaw mounting plate; wherein, the positions of the plurality of positioning holes are arranged at a preset interval; The size of the hole position is adapted to the connection at the upper end of the jaw; the positioning hole is configured to fix the jaw on the jaw mounting plate based on the fastening connection between the fixing member and the positioning hole and the jaw.

4. The battery housing gripping device according to claim 1, wherein, The driving mechanism includes a driving component and a guiding component; the positioning pin assembly includes a pin and a pin assembly mounting bracket; the driving component is connected to the pin and is mounted on the pin assembly mounting bracket; Wherein, the driving component is used to provide driving force for the pin during the movement of the pin towards the workpiece to be grasped.

5. The battery housing gripping device according to claim 4, wherein, The driving component includes a motor and a cylinder; the positioning pin assembly further includes a pin assembly mounting plate; the guiding component includes a lead screw, a lead screw nut seat, and a slide rail; The motor is connected to the lead screw through a coupling; the lead screw is respectively connected to the pin assembly mounting plate and the jaw assembly mounting plate; The lead screw is provided with a guiding groove; the guiding groove is configured to guide the movement of the positioning pin assembly on the lead screw when the motor drives the lead screw to rotate through the guiding groove.

6. The battery housing gripping device according to claim 5, wherein The driving mechanism includes a first driving mechanism, a second driving mechanism, a third driving mechanism, and a fourth driving mechanism; The first driving mechanism is configured to drive the jaw mechanism to move in a first direction; wherein, the first direction is the jaw opening and closing direction; The second driving mechanism is configured to drive the first positioning pin assembly and the second positioning pin assembly to move in the first direction; The third driving mechanism is configured to drive the first positioning pin assembly and the second positioning pin assembly to move in a second direction; wherein, the second direction is a straight line determined by the positions of the first positioning pin assembly and the second positioning pin assembly; The fourth driving mechanism is configured to drive the positioning pin assembly to move in a third direction; wherein, the third direction is the direction perpendicular to the positioning hole of the pin.

7. The battery housing gripping device according to claim 6, wherein, The first driving mechanism, the second driving mechanism, and the third driving mechanism are driven by motors; the fourth driving mechanism is driven by a cylinder.

8. The battery case gripping device according to claim 6, wherein the first driving mechanism drives the jaw mechanism to open and close, and the movement of the jaws at both ends of the jaw mechanism is driven by a middle motor-driven lead screw to drive the lead screw nut seat to move along the guide rail in the first direction; the second driving mechanism drives the first positioning pin assembly and the second positioning pin assembly to move in the first direction; the first positioning pin assembly and the second positioning pin are fixed on the pin assembly mounting plate, and the motor-driven lead screw drives the lead screw nut seat to move the two pins as a whole in the first direction; the third driving mechanism drives the second positioning pin assembly to move in the second direction to adjust the distance between the first pin and the second pin in the second direction; the fourth driving mechanism drives the first positioning pin assembly and the second positioning pin assembly to move in the third direction, and the positioning pin assembly pushes the pin to move in the third direction through the telescopic action of the cylinder.

9. The battery housing gripping device according to claim 5, wherein, A slider is connected to the slider guide rail; the lead screw nut seat is connected to the slider on the slider guide rail to drive the slider to move along the guide rail, and the movement of the slider guides the jaw assembly or the pin assembly to reach a predetermined position.

10. The battery housing gripping device according to claim 6, characterized in that, The driving components are arranged in the first direction and the second direction in cooperation with the guiding components; the second driving mechanism includes three parallel guide rails of the slider guide rail in the first direction, which are respectively located at the connection of the first positioning pin assembly, the adjustable distal connection of the second positioning pin assembly, and the connection where the motor of the second driving mechanism is located.

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