Pick-up and unstacking device and carrying equipment

Abstract

The utility model provides a picking and unstacking device and carrying equipment, and the picking and unstacking device comprises a base connected with a three-dimensional moving mechanism; the variable-pitch clamping mechanism comprises a first battery cell clamping jaw capable of being opened and closed and a second battery cell clamping jaw capable of being opened and closed, one of the first battery cell clamping jaw and the second battery cell clamping jaw is connected to the base, and the other one of the first battery cell clamping jaw and the second battery cell clamping jaw is slidably connected to the base, so that the first battery cell clamping jaw and the second battery cell clamping jaw can be far away from each other or close to each other; the tray clamping mechanism comprises a tray clamping jaw capable of being opened and closed, and the tray clamping jaw is arranged on the base. The picking and unstacking device integrates pitch changing, picking and unstacking functions, and is simple in structure and small in size.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of battery production, and more particularly relates to a picking and unstacking device and a carrying device. BACKGROUND

[0002] In the production of power batteries, it is often necessary to automatically pick and load the battery cells from the battery cell trays. However, each battery cell manufacturer has a dedicated battery cell tray, so the arrangement of the battery cells in the battery cell tray and the number of layers of the battery cell tray are different, and the battery cells need to be placed on the assembly line at a fixed interval for subsequent automatic operation. After the battery cells in one layer are loaded, the empty tray needs to be unstacked so that the battery cells in the next layer can be automatically picked and loaded. The above operation-related technologies require multiple devices to cooperate, and the structure is too complex and occupies too much space. CONTENT OF THE UTILITY MODEL

[0003] The embodiment of the application provides a picking and unstacking device which integrates the variable-distance, picking and unstacking functions, and has a simple structure and a small size.

[0004] The technical scheme adopted by the embodiment of the application is as follows: a picking and unstacking device is provided, which comprises:

[0005] a base connected with a three-dimensional moving mechanism;

[0006] a variable-distance clamping mechanism comprising a first battery cell clamping jaw and a second battery cell clamping jaw which can be opened and closed, one of the first battery cell clamping jaw and the second battery cell clamping jaw is connected to the base, and the other can be slidably connected to the base, so that the first battery cell clamping jaw and the second battery cell clamping jaw can move away from or close to each other;

[0007] a tray clamping mechanism comprising a tray clamping jaw which can be opened and closed, and the tray clamping jaw is arranged on the base.

[0008] Further, the variable-distance clamping mechanism further comprises a sliding member and a guide rail, the guide rail is arranged on the base and extends in a first direction, the sliding member slides along the guide rail, and one of the first battery cell clamping jaw and the second battery cell clamping jaw is arranged on the sliding member.

[0009] Further, the variable-distance clamping mechanism further comprises a buffer arranged on the guide rail and located on both sides of the sliding member, the buffer can abut against the sliding member to limit the position of the sliding member in the first direction, and the position of the buffer in the first direction is adjustable.

[0010] Further, the variable-distance clamping mechanism further comprises a first rotary driver and a second rotary driver;

[0011] The first rotary driver is arranged between the base and the first battery cell clamping jaw and is configured to drive the first battery cell clamping jaw to rotate.

[0012] The second rotary driver is arranged between the sliding member and the second battery cell clamping jaw and is configured to drive the first battery cell clamping jaw to rotate.

[0013] Further, the tray clamping jaw comprises two third clamping plates and two third drivers corresponding to the third clamping plates respectively.

[0014] The tray clamping mechanism further comprises two connecting arms corresponding to the two third clamping plates respectively, the two connecting arms are arranged at two ends of the base and are arranged oppositely, one end of the connecting arm is connected to the base, and the other end is movably provided with the third clamping plate, and the third driver is configured to drive the corresponding third clamping plate to move to approach or move away from the other third clamping plate.

[0015] Further, the clamping openings of the first battery cell clamping jaw and the second battery cell clamping jaw are oriented in the same direction, and the clamping opening of the tray clamping jaw is oriented at an angle with the clamping opening of the first battery cell clamping jaw.

[0016] Further, the pick-and-depile device further comprises a pressure plate assembly, the pressure plate assembly comprises:

[0017] A lifting plate is movably arranged below the base;

[0018] A lifting driver is configured to drive the lifting plate to move up and down;

[0019] A buffer rod is arranged at one end of the lifting plate and extends downward at the other end and is elastically extendable;

[0020] A pressure plate is connected to the lower end of the buffer rod, and the lower end of the pressure plate is lower than the lower end of the first battery cell clamping jaw and the second battery cell clamping jaw.

[0021] Further, the buffer rod comprises:

[0022] A pressure rod is movably arranged in the lifting plate in the height direction, and the pressure plate is arranged at the lower end of the pressure rod;

[0023] A limiting member is arranged at the upper end of the pressure rod and above the lifting plate;

[0024] An elastic member is arranged between the lifting plate and the pressure plate.

[0025] Further, the pressure plate assembly further comprises a guide rod, the lifting plate is provided with a vertical guide hole, the guide rod is arranged in the guide hole, and the lower end of the guide rod is connected to the pressure plate.

[0026] The embodiment of the present application also provides a carrying device, which comprises a three-dimensional moving mechanism and the picking and unstacking device as described above, and the three-dimensional moving mechanism is connected with the base to drive the base to move in three dimensions.

[0027] The picking and unstacking device provided by the embodiment of the present application has the beneficial effects that: in the picking and unstacking device, one of the first battery cell clamping jaw and the second battery cell clamping jaw in the variable-distance clamping mechanism can slide on the base to change the distance between the first battery cell clamping jaw and the second battery cell clamping jaw, so that the variable-distance clamping mechanism can flexibly adjust the clamping distance and accurately clamp the battery cell regardless of the arrangement of the battery cell in the tray, effectively solves the clamping problem caused by different arrangement modes of the battery cell in the battery cell tray of different manufacturers, and improves the adaptability of the device to various battery cell trays. The openable tray clamping jaw provided by the tray clamping mechanism can conveniently perform the unstacking operation on the empty tray after the feeding of the battery cell in one layer is completed, facilitates the automatic grabbing and feeding of the battery cell in the next layer, so that the device can be applied to the battery cell tray with different layers and meet the use requirements of various different specifications of the tray. The variable-distance clamping of the battery cell and the tray unstacking are integrated in one device, the overall structure is more compact, the occupied space can be effectively reduced, and the utilization efficiency of the space is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 A perspective structural schematic view of the picking and unstacking device provided by the embodiment of the present application when clamping the battery cell;

[0030] Figure 2 An exploded view of the picking and unstacking device provided by the embodiment of the present application;

[0031] Figure 3 A perspective structural schematic view of the first battery cell clamping jaw provided by the embodiment of the present application;

[0032] Figure 4 A perspective structural schematic view of the second battery cell clamping jaw provided by the embodiment of the present application;

[0033] Figure 5 A perspective structural schematic view of the tray clamping mechanism provided by the embodiment of the present application;

[0034] Figure 6A perspective structural schematic view of the pressure plate assembly provided by the embodiment of the present application is shown in the figure.

[0035] In the figure, various reference numerals represent:

[0036] 10, base;

[0037] 20, distance-changing clamp taking mechanism; 21, sliding member; 22, first battery cell clamp jaw; 221, first driver; 222, first clamping plate; 23, second battery cell clamp jaw; 231, second driver; 232, second clamping plate; 24, guide rail; 25, buffer; 26, first rotary driver; 27, second rotary driver; 28, fourth driver;

[0038] 30, tray clamp taking mechanism; 31, tray clamp jaw; 311, third clamping plate; 312, third driver; 32, connecting arm;

[0039] 40, pressure plate assembly; 41, lifting plate; 42, lifting driver; 43, buffer rod; 431, pressing rod; 432, limiting member; 433, elastic member; 44, pressing plate; 45, guide rod;

[0040] 50, battery cell; X, first direction. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination 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 not to limit the present application.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0043] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0044] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an indicated number of technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0045] Please refer to Figure 1 and Figure 2 , the picking and unpacking device provided by the embodiment of the present application will be described. The picking and unpacking device provided by the embodiment of the present application comprises a base 10, a variable-distance clamping mechanism 20 and a tray clamping mechanism 30.

[0046] The base 10 is connected with a three-dimensional movement mechanism. The base 10 is a basic support component of the whole picking and unpacking device, which plays a role of bearing other mechanisms and is connected with the three-dimensional movement mechanism. The three-dimensional movement mechanism can generally realize accurate movement along three mutually perpendicular directions of X, Y and Z, so as to drive the base 10 and various mechanisms installed on the base 10 to be positioned flexibly in space and reach appropriate positions to perform corresponding operations. Specifically, the base 10 is in the shape of a plate, and has a connecting portion in the middle which is connected with the three-dimensional movement mechanism. The three-dimensional movement mechanism can be a three-axis translation mechanism or a mechanical hand.

[0047] Please refer to Figure 1 and Figure 2 , the variable-distance clamping mechanism 20 comprises a first battery cell clamping jaw 22 and a second battery cell clamping jaw 23 which can be opened and closed. One of the first battery cell clamping jaw 22 and the second battery cell clamping jaw 23 is arranged on the base 10, and the other is slidably arranged on the base 10, so that the first battery cell clamping jaw 22 and the second battery cell clamping jaw 23 can move away from or close to each other.

[0048] Please refer to Figure 1 and Figure 2 , taking the first battery cell clamping jaw 22 fixedly arranged on the base 10 as an example, the first battery cell clamping jaw 22 is installed on the base 10 and has an opening and closing function. The opening and closing action is usually controlled by a corresponding driving device, such as a pneumatic finger (using compressed air to drive the opening and closing of the clamping jaw) or an electric clamping jaw (driven by a motor to realize the action). The shape and size of the clamping jaw are designed to adapt to the shape characteristics of the battery cell 50, so as to ensure that the battery cell 50 can be firmly gripped.

[0049] Then the second battery cell clamping jaw 23 is slidably arranged on the base 10 and also has the ability to be opened and closed. The driving mode is similar to that of the first battery cell clamping jaw 22, and it cooperates with the first battery cell clamping jaw 22 to clamp the battery cell 50. Its position can be changed as needed to realize the adjustment of different distances between the first battery cell clamping jaw 22.

[0050] The working process of the variable-distance clamping mechanism 20 is as follows: in the initial state, the first cell clamping jaw 22 and the second cell clamping jaw 23 are in an open state, the second cell clamping jaw 23 is preset or detected with the cell 50 spacing information, and is moved to adjust to the appropriate position, so that the distance between the first cell clamping jaw 22 and the second cell clamping jaw 23 matches the arrangement spacing of the cells 50 in the tray. Then, the first cell clamping jaw 22 and the second cell clamping jaw 23 are closed at the same time, and the cell 50 is clamped stably. Then, the three-dimensional moving mechanism drives the base 10 and the variable-distance clamping mechanism 20 with the clamped cell 50 to move to the designated position of the assembly line, where the first cell clamping jaw 22 and the second cell clamping jaw 23 are opened again, and the cell 50 is placed on the assembly line according to the fixed spacing, completing the feeding operation of the cell 50.

[0051] Referring to Figure 1 and Figure 2 , the tray clamping mechanism 30 includes an openable and closable tray clamping jaw 31, which is arranged on the base 10. The driving mode of the opening and closing of the tray clamping jaw 31 can also be selected as pneumatic or electric, for example, a cylinder is used to drive the two clamping plates of the clamping jaw to move relatively to achieve opening and closing. The structure design of the clamping jaw will consider factors such as the shape, size and carrying capacity of the tray to ensure that the tray can be reliably gripped.

[0052] When the feeding work of a layer of cells 50 is completed, the three-dimensional moving mechanism drives the base 10 to move, so that the tray clamping jaw 31 reaches the position of the empty tray. Then, the tray clamping jaw 31 is closed to tightly clamp the empty tray, and the empty tray is moved to the designated storage area or subjected to the next step of unstacking related processing under the action of the three-dimensional moving mechanism, so as to create space for the automatic grabbing and feeding operation of the next layer of cells 50. When the next layer of cells 50 is ready to be grabbed, the tray clamping jaw 31 places the processed tray back to the corresponding position, ensuring the continuous progress of the subsequent process.

[0053] Referring to Figure 1 and Figure 2 , the variable-distance clamping mechanism 20 further includes a sliding member 21 and a guide rail 24, the guide rail 24 is arranged on the base 10 and extends along the first direction X, the sliding member 21 slides along the guide rail 24, and one of the first cell clamping jaw 22 and the second cell clamping jaw 23 is arranged on the sliding member 21. The guide rail 24 is horizontally laid from one end of the base 10 to the other end along the first direction X (which can be a certain horizontal direction preset, for example, the left-right direction), providing a fixed guide path for the movement of the sliding member 21. The guide rail 24 can be fastened by screws or other connecting members to ensure that it will not displace during use.

[0054] Referring to Figure 1 and Figure 2The sliding member 21 is arranged on the guide rail 24 and can move along the first direction X to change the distance between the first battery clamp jaw 22 and the second battery clamp jaw 23 by moving close to or away from the first battery clamp jaw 22. The movement of the sliding member 21 can be realized by various driving modes, such as linear motor driving, screw-nut transmission, etc., to ensure the accuracy and stability of the movement.

[0055] With reference to Figure 2 The variable-distance clamping mechanism 20 further comprises buffers 25 arranged on the guide rail 24 at both sides of the sliding member 21, which can abut against the sliding member 21 to limit the position of the sliding member 21 in the first direction X, and the position of the buffer 25 in the first direction X is adjustable.

[0056] The buffers 25 are arranged at both sides of the sliding member 21, so that the buffers 25 can limit and protect the sliding member 21 from both opposite directions. For example, when the sliding member 21 moves along the guide rail 24 towards the first battery clamp jaw 22, the buffer 25 at one side of the sliding member 21 can block it; and when moving away from the first battery clamp jaw 22, the buffer 25 at the other side can limit it accordingly.

[0057] The position of the buffer 25 in the first direction X is adjustable, such as arranging a mounting slot with scales on the guide rail 24 or using a screw adjusting device, or the buffer 25 itself has external threads, which is arranged on the guide rail 24, and the length of the buffer 25 penetrating out of the guide rail 24 can be adjusted by rotating, so as to adjust the position. The adjustable position of the buffer 25 can control the distance between the two clamp jaws to adapt to different tray distances. In principle, the buffer 25 is arranged on the guide rail 24 at both sides of the sliding member 21, and the sliding member 21 is connected with the second battery clamp jaw 23. Adjusting the position of the buffer 25 limits the movement range of the sliding member 21, and then adjusts the distance between the two clamp jaws to adapt to the distance of the batteries 50 on the tray. No matter what the arrangement distance of the battery 50 is, the position of the buffer 25 can be adjusted to quickly adapt to it, so as to ensure that the variable-distance clamping mechanism 20 can always efficiently and accurately complete the clamping and feeding of the battery 50, and greatly improve the universality and adaptability of the picking and unstacking device to different specifications of the battery 50 tray.

[0058] The buffer 25 generally contains elastic elements inside, such as springs, hydraulic dampers or rubber buffers, etc. Taking the hydraulic damper as an example, when the sliding member 21 abuts against the buffer 25 during movement, the hydraulic damper uses the resistance generated by the flow of liquid in the damping chamber to realize buffering, avoiding damage to the sliding member 21 due to direct impact on the rigid structure such as the end of the guide rail 24, and also enabling the sliding member 21 to stop smoothly at the predetermined position.

[0059] Referring to Figure 2 , Figure 3 and Figure 4 , when the battery cell 50 is transferred from one tray to another, the orientation of the battery cell 50 also needs to be adjusted sometimes, which requires the gripper for holding the battery cell 50 to have a rotating function. Therefore, the variable-distance gripping mechanism 20 of the embodiment of the present application further comprises a first rotating driver 26 and a second rotating driver.

[0060] Referring to Figure 2 and Figure 3 , the first rotating driver 26 is arranged between the base 10 and the first battery cell gripper 22, and is used to drive the first battery cell gripper 22 to rotate. The first rotating driver 26 can adopt various driving modes to realize the rotating function, and common ones include motor driving, such as a servo motor or a pneumatic rotating driver (for example, a rotating air cylinder).

[0061] Referring to Figure 2 and Figure 4 , the second rotating driver 27 is arranged between the sliding member 21 and the second battery cell gripper 23, and is used to drive the first battery cell gripper 22 to rotate. Similarly to the first rotating driver 26, the second rotating driver 27 can adopt various driving modes to realize the rotating function, and common ones include motor driving, such as a servo motor or a pneumatic rotating driver (for example, a rotating air cylinder).

[0062] When the battery cell 50 is transferred from one tray to another and the orientation needs to be adjusted, the first rotating driver 26 and the second rotating driver 27 can play a role. When the first battery cell gripper 22 and the second battery cell gripper 23 hold the battery cell 50, the first rotating driver 26 and the second rotating driver 27 work to drive the first battery cell gripper 22 and the second battery cell gripper 23 to rotate by a corresponding angle, so as to adapt to the orientation of the next tray, guarantee the smooth transfer of the battery cell 50 between different trays and the accurate orientation, and improve the reliability of the picking and destacking device.

[0063] Referring to Figure 3 , the first battery cell gripper 22 comprises a first driver 221 and two first clamping plates 222 oppositely arranged on the base 10, and at least one of the two first clamping plates 222 is movable. The first driver 221 is used to drive the two first clamping plates 222 to move close to or away from each other.

[0064] The first battery cell gripper 22 has two first clamping plates 222 oppositely arranged on the base 10. The two first clamping plates 222 are oppositely distributed on the base 10, and a certain space is reserved therebetween to accommodate the battery cell 50. Under the action of the first driver 221, the two first clamping plates 222 can realize the opening and closing action, and complete the clamping or releasing operation of the battery cell 50.

[0065] The main function of the first driver 221 is to drive the two first clamping plates 222 to move closer to or away from each other, so as to realize the opening and closing action of the clamping jaw. If a pneumatic cylinder is used as the first driver 221, the cylinder body can be fixed on one side of the base 10 through a support, and the piston rod of the cylinder is connected with the movable first clamping plate 222, and the movement of the piston rod is used to drive the movement of the clamping plate. If an electric driver (such as a linear motor) is used as the first driver 221, a shaft coupling or a transmission screw rod structure is connected with the clamping plate, the rotary motion of the motor is converted into the linear motion of the clamping plate, and accurate position control is realized. Through such a structure design, the first battery cell clamping jaw 22 can flexibly, accurately and stably realize the clamping and releasing operation of the battery cell 50.

[0066] With reference to Figure 4 , the second battery cell clamping jaw 23 comprises a second driver 231 and two second clamping plates 232 oppositely arranged on the sliding member 21, at least one of the two second clamping plates 232 is movable, and the second driver 231 is used to drive the two second clamping plates 232 to move closer to or away from each other.

[0067] The second battery cell clamping jaw 23 has two second clamping plates 232 oppositely arranged on the sliding member 21, and the two second clamping plates 232 are oppositely distributed on the sliding member 21, and a certain space is reserved between them to accommodate the battery cell 50, and the opening and closing action is realized under the action of the second driver 231, and the clamping or releasing operation of the battery cell 50 is completed.

[0068] The main function of the second driver 231 is to drive the two second clamping plates 232 to move closer to or away from each other, so as to realize the opening and closing action of the clamping jaw. The specific structure of the second driver 231 can refer to the first driver 221, which will not be described here.

[0069] With reference to Figure 2 , the variable distance clamping mechanism 20 further comprises a fourth driver 28, the fourth driver 28 is connected with the sliding member 21, and is used to drive the sliding member 21 to move.

[0070] The fourth driver 28 is installed on the base 10 and connected with the sliding member 21, so that the sliding member 21 can move closer to or away from the first battery cell clamping jaw 22 along the first direction X defined by the guide rail 24, and then the distance between the first battery cell clamping jaw 22 and the second battery cell clamping jaw 23 is adjusted to adapt to the arrangement interval of the battery cells 50 in the tray of different battery cells 50. Specifically, a motor or a pneumatic cylinder can be used as the fourth driver 28, such as a servo motor or a stepper motor.

[0071] In the whole feeding process of the battery cell 50, the fourth driver 28 drives the slide 21 to adjust the distance between the clamping jaws, then the first battery cell clamping jaw 22 and the second battery cell clamping jaw 23 are closed under the action of the respective drivers to clamp the battery cell 50, then the variable-distance clamping mechanism 20 clamping the battery cell 50 is moved to the designated position of the assembly line by the three-dimensional moving mechanism, the fourth driver 28 drives the slide 21 to adjust the distance between the clamping jaws to adapt to the distance between the battery cells 50 on the other tray, and finally the clamping jaws are opened to release the battery cell 50.

[0072] With reference to Figure 2 and Figure 5 , the tray clamping jaw 31 comprises two third clamping plates 311 and two third drivers 312, and the third driver 312 corresponds to the third clamping plate 311 one-to-one.

[0073] The tray clamping mechanism 30 further comprises two connecting arms 32 corresponding to the two third clamping plates 311, and the two connecting arms 32 are oppositely arranged at the two ends of the base 10, one end of the connecting arm 32 is connected to the base 10, and the other end movably provided with the third clamping plate 311, and the third driver 312 is used to drive the corresponding third clamping plate 311 to move to approach or move away from the other third clamping plate 311.

[0074] The connecting arm 32 has two, which are oppositely arranged at the two ends of the base 10, and one end of them is firmly connected to the base 10, which ensures the stability of the connection between the whole structure and the base 10, and can withstand the force generated when the tray is clamped.

[0075] Each third clamping plate 311 is movably arranged at one end of the corresponding connecting arm 32, so that the third clamping plate 311 approaches or moves away from the other third clamping plate 311 under the drive of the third driver 312. The third driver 312 is installed on the connecting arm 32 and can stably output power to drive the third clamping plate 311 to move linearly to clamp the tray.

[0076] With reference to Figure 2 and Figure 5 , the third driver is a cylinder, which is fixed at one end of the connecting arm 32, and the third clamping plate 311 is installed at the end of the piston rod of the cylinder, and the movement of the third clamping plate 311 on the connecting arm 32 is realized by the extension and retraction of the piston rod of the cylinder. When the piston rod is extended, the two third clamping plates 311 approach each other to clamp the empty tray between them, and the empty tray is taken down under the drive of the three-dimensional moving mechanism.

[0077] With reference to Figure 1 and Figure 2The first cell gripper 22 and the second cell gripper 23 have the same direction of the clamping opening, and the direction of the clamping opening of the tray gripper 31 is offset from the direction of the clamping opening of the first cell gripper 22 by an angle.

[0078] The first cell gripper 22 and the second cell gripper 23 have the same direction of the clamping opening, and the direction of the clamping opening of the tray gripper 31 is offset from the direction of the clamping opening of the first cell gripper 22 by an angle.

[0079] The first cell gripper 22 and the second cell gripper 23 have the same direction of the clamping opening, and the direction of the clamping opening of the tray gripper 31 is offset from the direction of the clamping opening of the first cell gripper 22 by an angle.

[0080] Referring to Figure 1 , Figure 2 and Figure 6 , the picking and destacking device further comprises a pressure plate assembly 40, and the pressure plate assembly 40 comprises a lifting plate 41, a lifting driver 42, a buffer rod 43 and a pressure plate 44.

[0081] The lifting plate 41 is arranged below the base 10 in a lifting manner. The lifting plate 41 serves as the basic load-bearing component of the entire pressure plate assembly 40, and is responsible for connecting other components and transmitting power.

[0082] The lifting driver 42 is used to drive the lifting plate 41 to lift. The lifting driver 42 is the power source for driving the lifting plate 41 to lift. The lifting driver 42 can adopt various driving forms, such as an electric push rod, a screw rod lifter or a pneumatic push rod, etc.

[0083] The buffer rod 43 is arranged at one end of the lifting plate 41 and extends downward at the other end and is elastically stretchable. The buffer rod 43 can be provided with an elastic element such as a spring, etc. When the buffer rod 43 is subjected to external force, the elastic element will be deformed, thereby achieving the effect of buffering.

[0084] The pressing plate 44 is connected with the lower end of the buffer rod 43. When the lifting plate 41 is driven to descend by the lifting driver 42, the lower end of the pressing plate 44 is lower than the lower ends of the first and second battery cell clamping jaws 22 and 23. It can be understood that before the lifting plate 41 is driven to descend by the lifting driver 42, the lifting plate 41 is higher than the lower ends of the first and second battery cell clamping jaws 22 and 23.

[0085] When the battery cell 50 is picked up, the pressing plate assembly 40 starts to work. The lifting plate 41 is driven to descend slowly along the base 10 by the lifting driver 42, and the buffer rod 43 and the pressing plate 44 connected with the lifting plate 41 are synchronously moved downward.

[0086] With the continuation of the descending process, the pressing plate 44 first contacts the tray because the lower end of the pressing plate 44 is lower than the lower ends of the first and second battery cell clamping jaws 22 and 23. At this time, the buffer rod 43 starts to work. The elastic elements (such as springs) in the buffer rod 43 are compressed according to the contact condition, so as to adapt to the possible unevenness of the tray surface, and ensure that the pressing plate 44 is always closely attached to the tray. At the same time, the elastic force generated by the compression of the buffer rod 43 enables the pressing plate 44 to stably press the tray.

[0087] Subsequently, the first and second battery cell clamping jaws 22 and 23 start to clamp the battery cell 50. Even if suction or slight vibration occurs during the clamping process, the tray can still be stably maintained in place because the pressing plate 44 has been firmly pressed on the tray under the elastic force of the buffer rod 43, which ensures the smooth completion of the clamping operation of the battery cell 50.

[0088] After the battery cell 50 is clamped, the clamping jaws are lifted and moved by the three-dimensional moving mechanism, and the pressing plate assembly 40 still maintains the working state, the lifting plate 41 remains in the existing position, the elastic force of the buffer rod 43 continuously acts on the tray, and the pressing plate 44 continues to stably press the tray, so as to avoid the tray from being accidentally lifted when the battery cell 50 leaves the tray. The whole battery cell 50 picking and transferring operation is completed, and a stable state is maintained for subsequent operation.

[0089] Referring to Figure 1 , Figure 2 and Figure 6 , the buffer rod 43 comprises a pressing rod 431, a limiting piece 432 and an elastic piece 433.

[0090] The pressing rod 431 is movably arranged in the lifting plate 41 along the height direction, and the pressing plate 44 is arranged at the lower end of the pressing rod 431. Generally, a hole matching the pressing rod 431 is reserved on the lifting plate 41, and the pressing rod 431 can smoothly slide up and down in the hole to realize the movement along the height direction. The lower end of the pressing rod 431 is stably connected with the pressing plate 44, and the connection mode is welding, threaded connection or other reliable mechanical connection means, so as to ensure that the pressing plate 44 can move synchronously with the pressing rod 431 during the work. When the lifting plate 41 is lowered under the driving of the lifting driver 42, the pressing rod 431 will move downward along the overall movement trend, and then drive the pressing plate 44 to contact the tray. When the pressing plate 44 is subjected to upward or downward force due to various factors, the pressing rod 431 can move up and down in the hole of the lifting plate 41, which provides a movement basis for buffering and adapting to the external force change.

[0091] The limiting piece 432 is arranged at the upper end of the pressing rod 431 and above the lifting plate 41. The limiting piece 432 can be fixed on the pressing rod 431 by welding, sleeve or threaded connection, and forms a stable overall structure with the pressing rod 431. The size of the limiting piece 432 is greater than the hole diameter of the hole through which the pressing rod 431 passes on the lifting plate 41, so as to realize the limiting function. The core function of the limiting piece 432 is to limit the movement range of the pressing rod 431 in the hole of the lifting plate 41, so as to prevent the pressing rod 431 from being separated from the lifting plate 41 during the upward and downward movement.

[0092] The elastic piece 433 is arranged between the lifting plate 41 and the pressing plate 44. The elastic piece 433 can be a spring, a rubber elastic body or the like. Taking the spring as an example, the spring is sleeved on the pressing rod 431, one end of the spring is in contact with the lifting plate 41, and the other end of the spring is in contact with the pressing plate 44. The spring realizes the functions of buffering and elastic force application by using its elastic property. During the work of the pressing plate assembly 40, when the pressing plate 44 contacts the tray, the lifting plate 41 continues to descend, the surface of the tray is uneven, external force changes occur during the clamping of the battery cell 50, and the like, the elastic piece 433 will be elastically deformed according to the size and direction of the external force. At the same time, the elastic force generated by the elastic piece 433 when being compressed can continuously act on the tray, so as to enhance the pressing effect of the pressing plate 44 on the tray, avoid the tray from being lifted during the clamping of the battery cell 50, and provide a powerful guarantee for the stable operation of the whole picking and unstacking device.

[0093] Referring to Figure 1 , Figure 2 and Figure 6The pressing plate assembly 40 further comprises a guide rod 45. The lifting plate 41 is provided with a vertical guide hole, and the guide rod 45 penetrates the guide hole. The lower end of the guide rod 45 is connected to the pressing plate 44. The guide rod 45 can be a straight cylinder, and the lower end is stably connected to the pressing plate 44. The lifting plate 41 is provided with a vertical guide hole, and the shape of the guide hole is matched with the guide rod 45. The guide hole is precisely machined, and the gap between the guide hole and the guide rod 45 is small. The guide hole is like a track, which can constrain the guide rod 45 to move linearly in the vertical direction.

[0094] When the lifting plate 41 is lifted or lowered under the action of the lifting driver 42, the guide rod 45 slides along the guide hole synchronously, and the pressing plate 44 is stably and vertically close to or away from the tray. For example, when the pressing plate 44 is lowered, the pressing plate 44 can contact the tray in the correct posture. The guide rod 45 cooperates with the buffer rod 43. The buffer rod 43 is buffered by the elastic member 433 and provides elastic force. The guide rod 45 ensures the vertical movement of the pressing plate 44 to be accurate, so that the elastic force is uniformly applied to the tray, the reliable pressing state of the pressing plate 44 on the tray is maintained, and the pickup of the battery cell 50 and other operations are smoothly carried out.

[0095] In some embodiments, referring to Figure 3 The first cell clamping jaw 22 is mainly composed of a clamping jaw cylinder and two first clamping plates 222 mounted thereon. The clamping jaw cylinder serves as a core component and plays a key role in driving the two first clamping plates 222 to move closer to or away from each other. When the clamping jaw cylinder receives a corresponding control signal, the internal pneumatic structure starts to work, the piston rod extends or retracts, and then the two first clamping plates 222 perform opening and closing actions, so as to realize clamping and releasing of the battery cell 50. The clamping jaw cylinder is not directly mounted on the base 10, but is connected to the rotating cylinder (i.e., the first rotating driver 26) through a plate. The rotating cylinder is stably fixed on the base 10 by means of a specially designed bracket. In this way, the rotating cylinder can drive the clamping jaw cylinder and the two clamping plates to rotate around an axis according to actual needs, so as to conveniently align the clamping plates with the battery cell 50 at a suitable angle or meet the requirements of subsequent placement of the battery cell 50 in different working scenarios.

[0096] Referring to Figure 4The second battery cell clamping jaw 23 has substantially the same structure as the first battery cell clamping jaw 22, except that the rotary cylinder of the second battery cell clamping jaw 23 is fixed on a sliding member 21 which has a plate-like structure. The sliding member 21 is arranged on the base 10 through a slide rail which provides accurate and smooth movement guide for the sliding member 21. In addition, a cylinder (i.e. the first driver 221) is connected to the sliding member 21. When the cylinder receives the instruction from the control system, the sliding member 21 will be pushed to move along the slide rail, so as to change the distance between the second battery cell clamping jaw 23 and the first battery cell clamping jaw 22. In this way, no matter how the battery cells 50 are arranged in the tray, the second battery cell clamping jaw 23 can be flexibly adjusted to match the actual distance of the battery cells 50 from the first battery cell clamping jaw 22 under the driving of the sliding member 21, so as to create good conditions for accurately clamping the battery cells 50.

[0097] The embodiment of the present application further provides a carrying device, which comprises a three-dimensional moving mechanism and the pick-up and de-stacking device as described above, and the three-dimensional moving mechanism is connected with the base 10 to drive the base 10 to move in three dimensions.

[0098] The carrying device of the embodiment of the present application has the beneficial effects brought by the pick-up and de-stacking device in any of the above embodiments, and thus will not be repeated here.

[0099] The above only describes the preferred embodiments of the present application and should not be used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A pick de-palletizing apparatus, comprising: The application relates to a pick-up and unpacking device. The device comprises a base connected with a three-dimensional moving mechanism; a variable-distance clamping mechanism comprising a first battery cell clamping jaw and a second battery cell clamping jaw, one of the first battery cell clamping jaw and the second battery cell clamping jaw is connected with the base, and the other is slidably connected with the base, so that the first battery cell clamping jaw and the second battery cell clamping jaw can move away from or close to each other; a tray clamping mechanism comprising a tray clamping jaw, which is arranged on the base.

2. The pick-and-place apparatus of claim 1, wherein The variable-distance clamping mechanism further comprises a sliding member and a guide rail, the guide rail is arranged on the base and extends in a first direction, the sliding member slides along the guide rail, and one of the first battery cell clamping jaw and the second battery cell clamping jaw is arranged on the sliding member.

3. The pick-and-place apparatus of claim 2, wherein, The variable-distance clamping mechanism further comprises buffers arranged on the guide rail and located on both sides of the sliding member, the buffers can abut against the sliding member to limit the position of the sliding member in the first direction, and the position of the buffers in the first direction is adjustable.

4. The pick and de-stacker apparatus of claim 2, wherein, The variable-distance clamping mechanism further comprises a first rotary driver and a second rotary driver; The first rotary driver is arranged between the base and the first battery cell clamping jaw and is used for driving the first battery cell clamping jaw to rotate; The second rotary driver is arranged between the sliding member and the second battery cell clamping jaw and is used for driving the first battery cell clamping jaw to rotate.

5. The pick and de-stacker apparatus of claim 1, wherein, The tray clamping jaw comprises two third clamping plates and two third drivers, and the third drivers correspond to the third clamping plates one by one; The tray clamping mechanism further comprises two connecting arms corresponding to the two third clamping plates, the two connecting arms are oppositely arranged at two ends of the base, one end of each connecting arm is connected with the base, and the other end movably arranged with the third clamping plate, and the third driver is used for driving the corresponding third clamping plate to move to close to or away from the other third clamping plate.

6. The pick and de-stacker apparatus of claim 1, wherein, The orientations of the clamping openings of the first battery cell clamping jaw and the second battery cell clamping jaw are the same, and the orientation of the clamping opening of the tray clamping jaw is staggered with the orientation of the clamping opening of the first battery cell clamping jaw by an angle.

7. The pick and de-stacker apparatus of claim 1, wherein, The pick-up and unpacking device further comprises a pressure disc assembly, and the pressure disc assembly comprises: a lifting plate which is arranged below the base in a lifting manner; a lifting driver which is used for driving the lifting plate to lift; a buffer rod which is arranged at one end of the lifting plate and extends downward and is elastically stretchable; a pressure plate which is connected with the lower end of the buffer rod, and the lower end of the pressure plate is lower than the lower ends of the first battery cell clamping jaw and the second battery cell clamping jaw.

8. The pick-and-place apparatus of claim 7, wherein, The buffer rod comprises: a pressure rod which is movably arranged in the lifting plate in a height direction, and the pressure plate is arranged at the lower end of the pressure rod; a limiting member which is arranged at the upper end of the pressure rod and located above the lifting plate; an elastic member which is arranged between the lifting plate and the pressure plate.

9. The pick and de-stacker apparatus of claim 7, wherein, The pressure disc assembly further comprises a guide rod, the lifting plate is provided with a vertical guide hole, the guide rod is arranged in the guide hole, and the lower end of the guide rod is connected with the pressure plate.

10. A handling apparatus, characterised in that, The application relates to a pick-up and unpacking device.

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