Hoisting device

Abstract

The utility model discloses a hoisting device, and relates to the technical field of hoisting devices. The lifting device comprises a lifting frame, a moving module and a plurality of adsorption assemblies, and the moving module is arranged on the lifting frame; each adsorption assembly is provided with an adsorption part for adsorbing a battery device; an adsorption area is defined by the area defined by the minimum outer contours of the adsorption positions of the multiple adsorption parts; at least part of the adsorption assemblies are arranged on the moving module, and the moving module is configured to drive the adsorption assemblies arranged on the moving module to move so as to adjust at least one of the area size of the adsorption area and the shape of the adsorption area. According to the technical scheme, the problems that the connecting part of the hoisting support and the battery box cracks, a welding point loses efficacy or the hoisting support inclines can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery, in particular to a hoisting device. BACKGROUND

[0002] The battery device is an integrated structure, which is obtained by electrically connecting a plurality of battery monomers and packaging in a battery box. In the manufacturing process of the battery device, the packaged battery device usually needs to be transported to the test, storage or shipment area. In the related art, the transportation mode of the battery device is to set a special hoisting support on the battery box, and connect the hoisting device with the hoisting support and hoist.

[0003] However, since the hoisting force is concentrated on the connection part of the hoisting support and the battery box, when hoisting frequently or the load is large, the connection part of the hoisting support and the battery box is prone to cracking, welding point failure or hoisting support skewing. In addition, the above hoisting and transportation scheme requires different hoisting devices for different sizes of battery devices, and when the production line changes different models of battery devices, the production line downtime is long, which is difficult to meet the rapid model change demand of different models of battery devices. CONTENT OF THE UTILITY MODEL

[0004] In view of the above problems, the present application provides a hoisting device, which aims to solve the problems of cracking, welding point failure or hoisting support skewing of the connection part of the hoisting support and the battery box, or reduce the downtime of the model change, so as to meet the rapid model change demand of different models of battery devices.

[0005] In a first aspect, the present application provides a hoisting device, which comprises a hoisting frame, a moving module and a plurality of adsorption assemblies, the moving module is arranged on the hoisting frame; each adsorption assembly has an adsorption part for adsorbing a battery device; the area surrounded by the minimum outer contour of the adsorption positions of a plurality of adsorption parts defines an adsorption area; at least part of the adsorption assemblies are arranged on the moving module, and the moving module is configured to drive the adsorption assemblies arranged thereon to move, so as to adjust at least one of the area size of the adsorption area and the shape of the adsorption area.

[0006] The lifting device of the technical solution of the present application adopts a plurality of adsorption assemblies, and the adsorption parts of the plurality of adsorption assemblies are configured to be adsorbed and connected with the battery device and to be lifted, so that the box of the battery device does not need to be provided with a lifting support, thereby solving the problems of cracking of the connecting part of the lifting support and the battery box, failure of the welding point, or tilting of the lifting support. Secondly, the plurality of adsorption parts also define an adsorption area. By setting a moving device to drive at least part of the adsorption assemblies to move, the relative positions of at least part of the adsorption parts can be changed, so that at least one of the size of the adsorption area and the shape of the adsorption area is adjusted. The moving device drives the adsorption assemblies to move, which can quickly and automatically adjust at least one of the size of the adsorption area and the shape of the adsorption area, without the need to replace different lifting devices, reducing downtime, and meeting the quick changeover requirements of different models of battery devices, thereby improving production efficiency.

[0007] In some embodiments, the moving module includes a plurality of displacement mechanisms, each of which includes a guide, a movable piece slidingly arranged on the guide, and a driving piece drivingly connected with the movable piece; the movable piece is provided with at least one adsorption assembly, and the driving piece is configured to drive the movable piece to move on the guide to drive the adsorption assembly to move. In this way, the movement path of the adsorption assembly is defined by the physical structure of the guide, which helps to reduce accidental deviation of the programmed trajectory, and provides better rigidity, carrying capacity and repeat positioning accuracy.

[0008] In some embodiments, the driving piece is configured to drive the movable piece to move in the length extension direction of the guide. In this way, the movement axis of the displacement mechanism is usually in linear relationship with the controller instruction, the model is simple, closed-loop control is easy to implement, dynamic response is fast, and tracking performance is good.

[0009] In some embodiments, the extension directions of at least two displacement mechanisms are different. In this way, by setting at least two displacement mechanisms with different extension directions, the adsorption assembly can be adjusted independently in two degrees of freedom, thereby making the adjustment dimension of the size of the adsorption area or the peripheral contour shape of the adsorption area more.

[0010] In some embodiments, among the plurality of displacement mechanisms, at least one is a first displacement mechanism configured to extend along a first direction, and at least another is a second displacement mechanism configured to extend along a second direction, the first direction intersecting the second direction; the adsorption assembly is provided on the first displacement mechanism, the first displacement mechanism is provided on the second displacement mechanism, and the second displacement mechanism is configured to drive the first displacement mechanism provided thereon to move along the second direction, thereby driving the adsorption assembly provided on the first displacement mechanism to move along the second direction. In this way, by mounting the first displacement mechanism on the second displacement mechanism, the superposition of multi-layer motion structure is realized, the flexibility of multi-directional motion is realized, and the space occupied by the displacement mechanisms is reduced.

[0011] In some embodiments, among the plurality of displacement mechanisms, at least one is a third displacement mechanism configured to extend along a third direction, the first direction, the second direction and the third direction are arranged in pairs of intersection; the second displacement mechanism is provided on the third displacement mechanism, and the third displacement mechanism is configured to drive the second displacement mechanism provided thereon to move along the third direction, thereby driving the first displacement mechanism provided on the second displacement mechanism and the adsorption assembly provided on the first displacement mechanism to move along the third direction. In this way, through the independent or composite motion of the first displacement mechanism, the second displacement mechanism and the third displacement mechanism in three intersecting directions, the plurality of adsorption assemblies can adjust the position in the horizontal plane to change the shape and coverage area of the adsorption area, and can also adjust the overall height of each adsorption assembly group relative to the surface of the hoisted object or realize obstacle avoidance positioning in three-dimensional space through the motion of the first direction, further expanding the adaptability of the hoisting device and enabling it to cope with more complex working conditions.

[0012] In some embodiments, the number of the first displacement mechanism, the second displacement mechanism and the third displacement mechanism is multiple; the first direction, the second direction and the third direction are arranged in vertical intersection; a plurality of the third displacement mechanisms are arranged side by side along the second direction, and at least two second displacement mechanisms arranged side by side along the third direction are provided on each of the third displacement mechanisms; at least one first displacement mechanism is provided on each of the second displacement mechanisms; and the first displacement mechanism and the adsorption assembly are arranged one by one. In this way, by constructing a three-dimensional grid motion system of the adsorption assembly, the independent positioning of each adsorption assembly in three-dimensional space is realized, so that the hoisting device can adapt to more types of battery devices.

[0013] In some embodiments, each of the first displacement mechanisms comprises a first guide extending in a first direction and a first movable member movably arranged on the first guide in the first direction, and the adsorption assembly is arranged on the first movable member; and / or each of the second displacement mechanisms comprises a second guide extending in a second direction and a second movable member movably arranged on the second guide in the second direction, and the first displacement mechanism is arranged on the second movable member; and / or each of the third displacement mechanisms comprises a third guide extending in a third direction and a plurality of third movable members movably arranged on each of the third guides in the third direction; and the second displacement mechanism is arranged on at least two of the third movable members. In this embodiment, a highly standardized linear module is adopted, thereby reducing the cost of manufacturing the hoisting device.

[0014] In some embodiments, the hoisting device comprises a control module and a plurality of displacement detection assemblies electrically connected to the control module; each of the displacement detection assemblies is configured to detect a current position of one of the adsorption assemblies; and the control module is further electrically connected to the movement module to control the movement module to move the adsorption assembly arranged thereon. In this way, through the use of a plurality of displacement detection assemblies, the positions of a plurality of adsorption assemblies can be monitored simultaneously, and at least one of the size and shape of the adsorption region can be quickly and automatically adjusted in cooperation with the use of the control module and the movement module, thereby improving the production efficiency.

[0015] In some embodiments, the adsorption assembly comprises an adsorption member and a vacuum generator arranged on the adsorption member; the adsorption member comprises a mounting portion and an adsorption portion, the mounting portion is connected to the movement module, and the adsorption portion is configured to define a sealed cavity together with a battery device; the adsorption portion is provided with a communication port in communication with the sealed cavity; and the vacuum generator performs vacuumizing operation on the sealed cavity. In this way, each adsorption member is equipped with a vacuum generator, which has the advantage of simple wiring and helps to simplify the structure of the hoisting device.

[0016] In some embodiments, each of the adsorption members is provided with a vacuum degree detection member configured to detect the vacuum degree of the corresponding sealed cavity and output a vacuum degree detection signal; and the hoisting device comprises a control module electrically connected to the vacuum degree detection member, and the control module sends an alarm signal when the vacuum degree value corresponding to the vacuum degree detection signal is less than a first preset threshold value. In this way, through the vacuum degree monitoring and alarm mechanism, the indirect judgment of adsorption force is converted into a quantifiable and real-time monitorable electrical signal, which is linked with the control module, thereby helping to improve the safety and automation level of hoisting operation.

[0017] In some embodiments, the hoisting device further comprises an anti-falling mechanism, the anti-falling mechanism comprises an anti-falling piece, the anti-falling piece is switchably arranged on the hanger at least in a first position and a second position, the anti-falling piece has a supporting part; when the anti-falling piece is in the first position, the supporting part is below the adsorption assembly, and a horizontal projection of the supporting part at least partially overlaps a horizontal projection of the adsorption area; when the anti-falling piece is in the second position, the horizontal projection of the supporting part and the horizontal projection of the adsorption area are staggered. In this way, by arranging the anti-falling mechanism, the safety is improved, and the hoisting operation of the hoisting device is not affected.

[0018] In some embodiments, the anti-falling piece comprises two opposite and spaced apart connecting rods and the supporting part; the connecting rod has opposite first and second ends, the first end of the connecting rod is connected with the supporting part, and the second end of the connecting rod is rotationally connected with the hanger. In this way, the symmetrical layout of the double connecting rods helps to improve the stability of the bearing, and the structure is relatively simple, the reliability is high, and the maintenance is convenient.

[0019] In some embodiments, the hanger comprises two first edge posts oppositely arranged along a first direction and two second edge posts oppositely arranged along a second direction; the length of the first edge post is greater than or equal to the length of the second edge post, both ends of each first edge post are connected with two second edge posts respectively, both ends of each second edge post are connected with two first edge posts respectively, and the second ends of the two connecting rods are rotationally connected with the two first edge posts respectively. In this way, a wider installation base distance is provided, so that the distance between the rotation axes of the two connecting rods is larger, and secondly, the long side provides a more flexible hinge point position selection space, which facilitates the optimization of the swing trajectory of the connecting rod, so that the supporting part can more effectively cover or avoid the adsorption area below.

[0020] In some embodiments, the first edge post is arranged in extension along a third direction, the second edge post is arranged in extension along the second direction, and the second direction and the third direction are perpendicular to each other; the number of the anti-falling pieces is at least two, and the at least two anti-falling pieces are arranged in sequence along the length direction of the first edge post. In this way, the anti-falling pieces and the load borne by them are dispersed to multiple points in the long side direction, reducing the situation that the load is excessively concentrated on a certain part of the hanger, which is beneficial to the uniform distribution of the overall stress of the hanger, improving the use stability and service life of the structure.

[0021] In some embodiments, the anti-falling mechanism further comprises a support rod connected between the connecting rod and the hanger; the support rod is configured to drive the anti-falling piece to swing with the second end of the connecting rod as a fulcrum. This embodiment has the advantages of compact structure, direct transmission, easy control and accurate positioning.

[0022] In some embodiments, the anti-fall mechanism further includes a fourth displacement mechanism and a fourth movable member; the fourth displacement mechanism is disposed on the hanger and extends along the third direction; the fourth movable member is mounted on the fourth displacement mechanism and is capable of moving along the third direction under the drive of the fourth displacement mechanism; a first end of the support rod is rotatably connected to the fourth movable member, and a second end of the support rod is rotatably connected to the connecting rod; the fourth displacement mechanism is configured to drive the fourth movable member to move along the third direction, thereby causing the support rod and the connecting rod to swing. Thus, by combining linear displacement control with the linkage swing mechanism, the drive actuator will not directly bear the impact load that the anti-fall device may experience, improving the lifespan of the drive system.

[0023] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0025] Figure 1 This is a schematic diagram of the structure of a hoisting device according to some embodiments of this application;

[0026] Figure 2 for Figure 1 A structural schematic diagram from another perspective of the embodiment shown;

[0027] Figure 3 for Figure 1 A structural schematic diagram of another perspective of the embodiment shown;

[0028] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0029] Figure 5 for Figure 1 A side view of the embodiment shown;

[0030] Figure 6 for Figure 1 Another side view of the embodiment shown;

[0031] Figure 7 This is a schematic diagram of the lifting device according to other embodiments of this application;

[0032] Figure 8 For Figure 7 In the embodiment shown, the schematic view of the anti-falling piece in the second position;

[0033] Figure 9 The structural schematic diagram of the hoisting device of some embodiments of the present application.

[0034] The reference signs in the detailed description of the embodiments are as follows:

[0035] 1, hoisting device; 11, lifting frame; 111, first jamb; 112, second jamb; 12, moving module; 12a, displacement mechanism; 120a, guide piece; 120b, movable piece; 121, first displacement mechanism; 121a, first guide piece; 121b, first movable piece; 122, second displacement mechanism; 122a, second guide piece; 122b, second movable piece; 123, third displacement mechanism; 123a, third guide piece; 123b, third movable piece; 13, adsorption assembly; 13a, adsorption area; 131, adsorption member; 131a, adsorption part; 131b, mounting part; 15, displacement detection assembly; 16, vacuum degree detection piece; 17, anti-falling mechanism; 171, anti-falling piece; 171a, supporting part; 171b, connecting rod; 172, fourth displacement mechanism; 173, fourth movable piece; 174, supporting rod; z, first direction; x, second direction; y, third direction.

[0036] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0037] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used herein are only for the purpose of describing specific embodiments of the present application, and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0039] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0040] Reference to“an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase“in an embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiment, or to a common embodiment.

[0041] In the description of the embodiments of the application, the term“and / or” is merely an association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A existing alone, A and B existing together, and B existing alone. In addition, the character“ / ” herein generally represents that the front and rear associated objects are in an“or” relationship.

[0042] In the description of the embodiments of the application, the term“a plurality of” refers to two or more (including two), and similarly, “a plurality of groups” refers to two or more groups (including two groups), and “a plurality of pieces” refers to two or more pieces (including two pieces).

[0043] In the description of the embodiments of the application, the technical terms“center”,“longitudinal”,“transverse”,“length”,“width”,“thickness”,“upper”,“lower”,“front”,“rear”,“left”,“right”,“vertical”,“horizontal”,“top”,“bottom”,“inner”,“outer”,“clockwise”,“counterclockwise”,“axial”,“radial”,“circumferential” and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the embodiments of the application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the application.

[0044] In the description of the embodiments of the application, unless otherwise explicitly specified and limited, the technical terms“mounting”,“connection”,“connection”,“fixing” and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the application can be understood according to the specific circumstances.

[0045] The battery device is an integrated structure, which is obtained by electrically connecting a plurality of battery monomers and packaging them in a battery box. In the manufacturing process of the battery device, the packaged battery device usually needs to be transported to a testing, storage or shipment area. In the related art, the transportation mode of the battery device is to provide a special lifting support on the battery box, and to connect the lifting support with a lifting device and lift it.

[0046] However, since the lifting force is concentrated on the connecting part of the lifting support and the battery box, when frequently lifting or the load is large, the connecting part of the lifting support and the battery box is prone to cracking, welding point failure or lifting support skewing and other problems; in addition, the above lifting and transferring scheme requires different lifting devices for different sizes of battery devices, and when the production line changes different models of battery devices, the production line downtime is long, and it is difficult to adapt to the rapid model change demand of different models of battery devices.

[0047] Therefore, the lifting device of the technical scheme of the present application adopts a plurality of adsorption assemblies, and the adsorption parts of the plurality of adsorption assemblies are configured to be adsorbed and connected with the battery device and to be lifted. In this way, the box body of the battery device does not need to be provided with a lifting support, thereby solving the problems of cracking of the connecting part of the lifting support and the battery box, welding point failure or skewing of the lifting support and the like. Secondly, the plurality of adsorption parts also define an adsorption area. By providing a moving device to drive at least part of the adsorption assemblies to move, the relative positions of at least part of the adsorption parts can be changed, so that at least one of the area size of the adsorption area and the shape of the adsorption area is adjusted. By using the moving device to drive the adsorption assemblies to move, at least one of the area size of the adsorption area and the shape of the adsorption area can be quickly and automatically adjusted, without the need to replace different lifting devices, thereby reducing downtime and meeting the rapid model change demand of different models of battery devices, thereby facilitating the improvement of production efficiency.

[0048] According to some embodiments of the present application, please refer to Figures 1 to 3 The lifting device 1 includes a lifting frame 11, a moving module 12 and a plurality of adsorption assemblies 13. The moving module 12 is arranged on the lifting frame 11. Each adsorption assembly 13 has an adsorption part 131a for adsorbing a battery device. The area surrounded by the minimum outer contour of the adsorption positions of the plurality of adsorption parts 131a defines an adsorption area 13a. At least part of the adsorption assemblies 13 is arranged on the moving module 12. The moving module 12 is configured to drive the adsorption assemblies 13 arranged thereon to move, so as to adjust at least one of the area size of the adsorption area 13a and the shape of the adsorption area 13a.

[0049] The lifting frame 11 is a rigid bearing structural member, which is used as the main frame of the lifting device 1 to integrate and support the moving module 12 and the adsorption assemblies 13. Generally, the lifting frame 11 includes a main beam and a support arm made of high-strength metal (such as aluminum alloy or steel), has a preset lifting point and a mounting interface to adapt to different load and span requirements. The structure is usually arranged in a truss or box type to optimize the strength-to-weight ratio.

[0050] The moving module 12 is a motorized and walking unit of the adsorption assembly 13. It usually contains a driving system and a guiding mechanism, which is responsible for driving the adsorption assembly 13 to move along a predetermined path, so as to realize the movement of the adsorption assembly 13 in at least one dimension in three-dimensional space. Generally, the moving module 12 includes a driving mechanism and a transmission mechanism, which can drive the adsorption assembly 13 to translate or lift, etc. in three-dimensional space. The moving module 12 can be implemented in many ways, for example, a multi-axis mechanical arm or a rail type sliding table structure, which is composed of a servo motor, a speed reducer and a guide rail to support linear or curved motion. The moving module 12 is usually equipped with an encoder or a position sensor for real-time position feedback, and a PLC (Programmable Logic Controller) or a motion controller is used to realize programmed path planning.

[0051] The adsorption assembly 13 is an execution unit of the hoisting device 1 that directly contacts and fixes the hoisted object. For example, the adsorption assembly 13 can realize adsorption based on negative pressure, and of course, other adsorption principles can also be used. Taking negative pressure adsorption as an example, the adsorption assembly 13 has an adsorption part 131a, which can be a suction cup. The adsorption parts 131a of multiple adsorption assemblies 13 are adapted to different shapes and materials of surfaces through different layouts. The material of the suction cup is usually wear-resistant rubber or polyurethane. In this embodiment, the number of adsorption assemblies 13 is multiple, for example, two, three, four, five, six or more, which will not be listed one by one here. The adsorption part 131a usually refers to an independent adsorption unit or an adsorption point. Each adsorption assembly 13 has at least one adsorption part 131a, and multiple adsorption assemblies 13 have multiple adsorption parts 131a.

[0052] The area surrounded by the minimum outer contour of the adsorption positions of the multiple adsorption parts 131a defines the adsorption area 13a. The adsorption part 131a usually has an adsorption surface for adsorption cooperation with a workpiece. The adsorption position can be understood as the geometric center of the adsorption surface. The minimum outer contour refers to the smallest closed boundary that can surround all adsorption positions. The feature is that the contour is as close as possible to the outermost adsorption point, and all adsorption positions of the adsorption part 131a are included. The continuous area surrounded by the minimum outer contour represents the effective coverage range of the adsorption assembly 13, that is, the adsorption area 13a. The minimum outer contour can be planar, curved or other irregular surface, for example, as shown in Figure 2 or Figure 9 Generally, in the actual hoisting process, the area size or shape of the surface matched by the battery device for adsorption can be adjusted to correspond to the area size or shape of the adsorption area 13a.

[0053] At least part of the adsorption assembly 13 is arranged on the mobile module 12, that is, part of the adsorption assembly 13 is arranged on the mobile module 12, and the other part of the adsorption assembly 13 is arranged on the hanger 11. For example, there are two adsorption assemblies 13, one of which is arranged on the mobile module 12, and the other is arranged on the hanger 11. The size, shape of the adsorption area 13a or the position of the adsorption area 13a relative to the hanger 11 can be adjusted; or all the adsorption assemblies 13 can be adjusted. Generally, each adsorption assembly 13 can be adjusted independently, or a plurality of adsorption assemblies 13 can be divided into groups, and the adsorption assemblies 13 in different groups can be adjusted independently, and the adsorption assemblies 13 in the same group can be adjusted simultaneously.

[0054] The mobile module 12 is configured to drive the adsorption assembly 13 arranged thereon to move, so as to adjust at least one of the size of the adsorption area 13a and the shape of the adsorption area 13a. That is, only the size of the adsorption area 13a can be adjusted, only the shape of the adsorption area 13a can be adjusted, or both the size of the adsorption area 13a and the shape of the adsorption area 13a can be adjusted. It can be understood that by moving the mobile module 12 to drive the adsorption assembly 13 to move, at least part of the plurality of adsorption portions 131a can be close to or away from each other, so as to expand or reduce the overall area covered by all the adsorption portions 131a; by moving the mobile module 12 to drive the adsorption assembly 13 to move, the position of at least part of the plurality of adsorption portions 131a relative to the hanger 11 can be changed. When the change form or amplitude of the plurality of adsorption portions 131a is different, the geometric profile of the plurality of adsorption points is changed, for example, from a rectangle to a circle, or adjusted to adapt to the specific shape of a special-shaped workpiece, or the adsorption area 13a changes from a horizontal area to an inclined area with a certain inclination relative to the horizontal direction, etc.; in an example, the matching adsorption surface of the battery device is a stepped surface, and the distance between the plurality of adsorption portions 131a relative to the hanger 11 can be adjusted to adapt to the stepped surface. Further, the plurality of adsorption assemblies 13 can be independently or in groups controlled to move. For example, only the adsorption assemblies 13 on both sides are moved to widen the distance therebetween, or the adsorption assemblies 13 on the corners are moved to form a trapezoid, or the allowed adsorption area on the battery device is adapted to avoid holes, weak parts or finishing surfaces.

[0055] The hoisting device 1 of the technical solution of the present application adopts a plurality of adsorption assemblies 13, the adsorption parts 131a of the plurality of adsorption assemblies 13 are configured to be adsorbed and connected with the battery device and to be hoisted, in this way, the box of the battery device does not need to be provided with a hoisting support, thereby solving the problems of cracking of the connection part of the hoisting support and the battery box, failure of the welding point, or tilting of the hoisting support, etc. Secondly, the plurality of adsorption parts 131a also define an adsorption area 13a, by setting a moving device to drive at least part of the adsorption assemblies 13 to move, the relative positions of at least part of the adsorption parts 131a can be changed, thereby adjusting at least one of the area size of the adsorption area 13a and the shape of the adsorption area 13a. By using the moving device to drive the adsorption assemblies 13 to move, at least one of the area size of the adsorption area 13a and the shape of the adsorption area 13a can be quickly and automatically adjusted, without the need to replace different hoisting devices 1, thereby reducing downtime and line change time, to meet the quick changeover requirements of different models of battery devices, thereby facilitating the improvement of production efficiency.

[0056] In some embodiments, referring to Figure 3 and Figure 4 , the moving module 12 includes a plurality of displacement mechanisms 12a, each displacement mechanism 12a includes a guide 120a, a movable piece 120b slidingly arranged on the guide 120a, and a driving piece drivingly connected with the movable piece 120b; the movable piece 120b is provided with an adsorption assembly 13, and the driving piece is configured to drive the movable piece 120b to move on the guide 120a to drive the adsorption assembly 13 to move.

[0057] The displacement mechanism 12a generally refers to a mechatronic mechanism capable of driving a load to make a controllable motion along a predetermined trajectory under the action of a control system. Through the coordinated or separate action of a plurality of displacement mechanisms 12a, the adsorption assembly 13 can be driven to move, so as to adjust at least one of the area size of the adsorption area 13a and the shape of the adsorption area 13a. Each displacement mechanism 12a includes a guide 120a, a movable piece 120b, and a driving piece.

[0058] The guide 120a is fixedly arranged and is provided with a guide structure. The guide 120a can be a guide rail, a guide groove, a guide rod or the like, and provides a determined path for the movement of the movable part 120b. The path can be linear, curvilinear or polygonal, or a combination of at least two of the above. The movable part 120b is slidably arranged on the guide 120a and can move along the direction and path defined by the guide 120a, which is usually determined by the guide structure on the guide 120a and is not specifically limited herein. The driving part is drivingly connected with the movable part 120b and provides power to drive the movable part 120b to slide along the guide 120a. The suction assembly 13 is directly or indirectly arranged on the movable part 120b. When the driving part works, it drives the movable part 120b connected therewith to move along the guide 120a.

[0059] Each movable part 120b is provided with a suction assembly 13. The suction assembly 13 can be directly mounted on the displacement mechanism 12a, can be mounted on a connecting part and then mounted on the movable part 120b of the displacement mechanism 12a, or can be mounted on one displacement mechanism 12a and then mounted on another displacement mechanism 12a together with the suction assembly 13. In other words, each displacement mechanism 12a can be directly provided with a suction assembly or indirectly provided with a suction assembly. In this embodiment, part of the displacement mechanisms 12a are directly provided with a suction assembly, and the other part of the displacement mechanisms 12a are indirectly provided with a suction assembly. In this way, the movement of the movable part 120b will directly drive the suction assembly 13 to move, so as to change the position or posture of the suction assembly 13. By controlling the driving parts of the displacement mechanisms 12a, the positions of the corresponding movable parts 120b can be adjusted, so that the suction assembly 13 can reach different working positions or adapt to different working requirements.

[0060] In this embodiment, the movement path of the suction assembly 13 is defined by the physical structure of the guide 120a, which helps to reduce accidental deviation of the programmed trajectory, and can provide better rigidity, carrying capacity and repeatability, which helps to reduce error accumulation.

[0061] In some embodiments, referring to Figure 3 and Figure 4 , the driving part is configured to drive the movable part 120b to move in the length extension direction of the guide 120a.

[0062] Generally, the length extension direction of the guide 120a and the path extension direction of the guide structure on the guide 120a are substantially the same, that is, in the embodiment, the displacement mechanism 12a can be understood as a linear displacement mechanism 12a, and the linear displacement mechanism 12a has many types, for example, a screw rod type, a gear and rack type, a synchronous belt type, a linear motor type or a hydraulic / pneumatic cylinder type, which are not specifically limited here. The screw rod type linear displacement mechanism 12a is composed of a servo motor, a precision ball screw (including a screw rod and a nut), a linear guide rail and a sliding block. The motor drives the screw rod to rotate, forcing the nut on the screw rod to produce linear displacement along the screw rod axis due to the thread engagement, and finally driving the adsorption assembly 13 fixed to the nut to move. The gear and rack type linear displacement mechanism 12a includes a driving motor, a pinion and a fixed long strip-shaped rack. The motor drives the pinion to rotate, and since the gear and the rack are continuously engaged, the rotation of the gear will be converted into the linear motion of the entire motor and the adsorption assembly 13 rigidly connected thereto along the length direction of the rack. The synchronous belt type linear displacement mechanism 12a includes a driving motor, a synchronous pulley, a closed annular synchronous belt and a linear slide rail. The motor drives the driving pulley to rotate, and the power is transmitted through the engagement of the teeth on the synchronous belt with the pulley, driving the sliding block fixed on one side of the synchronous belt to move on the slide rail, thereby driving the adsorption assembly 13. The linear motor type linear displacement mechanism 12a is a structure obtained by cutting the rotary motor along the radial direction and laying it flat. It usually includes a stator and a rotor, and there is no mechanical contact between the two. After being energized, the traveling wave magnetic field generated by the stator directly interacts with the permanent magnetic field of the rotor, thereby driving the rotor and the connected adsorption assembly 13 to move linearly. The hydraulic / pneumatic cylinder type linear displacement mechanism 12a is a kind of fluid driven mechanism, which includes a closed cylinder, a piston movable therein and a piston rod. When the pressure oil or compressed air enters the cylinder from one end, it pushes the piston, and then makes the piston rod connected with the piston extend or retract, realizing linear reciprocating motion.

[0063] In the embodiment, the displacement mechanism 12a is used as a motion execution component for adjusting the adsorption region 13a, the motion axis of which has a linear relationship with the controller instruction in general, the model is simple, the closed-loop control is easy to realize, the dynamic response is fast, and the tracking performance is good.

[0064] In some embodiments, referring to Figure 3 , the length extension directions of the guides 120a of the at least two displacement mechanisms 12a are different.

[0065] The length extension directions of the at least two guides 120a are different, that is, the guides 120a of the plurality of displacement mechanisms 12a are not all arranged in parallel. Generally, there are at least two guides 120a of displacement mechanisms 12a, and the length extension directions of the guides 120a are different from each other in space. For example, the guides 120a of one displacement mechanism 12a can extend in a first horizontal direction, and the guides 120a of another displacement mechanism 12a can extend in a second horizontal direction perpendicular to the first direction z. By mounting the plurality of adsorption assemblies 13 on the movable parts 120b of the displacement mechanisms 12a in different directions or by connecting the displacement mechanisms 12a in series, the driving parts respectively drive the movable parts 120b to move, so as to synthesize the composite displacement of the adsorption assemblies 13 in two-dimensional motion in a plane or even three-dimensional motion in space.

[0066] In the embodiment, by arranging at least two displacement mechanisms 12a with different length extension directions, the adsorption assembly 13 can be adjusted in two degrees of freedom, so that the adjustment dimension of the area size of the adsorption region 13a or the peripheral contour shape of the adsorption region 13a is more, and more models of battery devices can be adapted.

[0067] In some embodiments, referring to Figures 1 to 3 , of the plurality of displacement mechanisms 12a, at least one is configured as a first displacement mechanism 121, and at least another one is configured as a second displacement mechanism 122; the guides of the first displacement mechanism 121 extend in a first direction z, the guides of the second displacement mechanism 122 extend in a second direction x, and the first direction z intersects the second direction x; the adsorption assembly 13 is mounted on the first displacement mechanism 121, the first displacement mechanism 121 is arranged on the second displacement mechanism 122, and the second displacement mechanism 122 is configured to drive the first displacement mechanism 121 arranged thereon to move in the second direction x, so as to drive the adsorption assembly 13 arranged on the first displacement mechanism 121 to move in the second direction x.

[0068] The number of the first displacement mechanisms 121 can be one or more, for example, two, three, four or more than four, and the number of the second displacement mechanisms 122 can be one or more, for example, two, three, four or more than four. The first displacement mechanisms 121 extend in the first direction z, and the second displacement mechanisms 122 extend in the second direction x, wherein the first direction z intersects the second direction x. Further, the first direction z and the second direction x can be perpendicular to each other, so as to constitute a Cartesian coordinate driving system for decoupling the motion in a plane.

[0069] The adsorption assembly 13 is directly arranged on the first displacement mechanism 121, and the first displacement mechanism 121 itself is arranged as a moving load on the second displacement mechanism 122. Thus, when the second displacement mechanism 122 operates, the entire first displacement mechanism 121 and the adsorption assembly 13 carried thereby can be driven to move linearly along the second direction x. In this way, through the nested driving design, the movements of the first displacement mechanism 121 and the second displacement mechanism 122 can be independently or cooperatively controlled. When the first displacement mechanism 121 operates independently, the adsorption assembly 13 moves along the first direction z; when the second displacement mechanism 122 operates independently, the adsorption assembly 13 is driven to move along the second direction x; and when the two operate in combination, the adsorption assembly 13 can reach any target position in the plane defined by the first direction z and the second direction x, that is, at least one of the area size of the adsorption region 13a and the shape of the adsorption region 13a is adjusted.

[0070] In the embodiment, the first displacement mechanism 121 is arranged on the second displacement mechanism 122, the superposition of the multi-layer movement structure is realized, the flexibility of multi-directional movement is realized, and the space occupied by the displacement mechanism 12a is reduced.

[0071] In some embodiments, referring to Figures 1 to 3 , at least one of the plurality of displacement mechanisms 12a is configured as a third displacement mechanism 123, a guide of the third displacement mechanism 123 extends along a third direction y, and the first direction z, the second direction x and the third direction y are arranged to intersect with each other; the second displacement mechanism 122 is arranged on the third displacement mechanism 123, the third displacement mechanism 123 is configured to drive the second displacement mechanism 122 arranged thereon to move along the third direction y, and drive the first displacement mechanism 121 arranged on the second displacement mechanism 122 and the adsorption assembly 13 arranged on the first displacement mechanism 121 to move along the third direction y, so as to adjust at least one of the area size of the adsorption region 13a and the shape of the adsorption region 13a.

[0072] The number of third displacement mechanisms 123 can be one or more, for example, two, three, four or more, and the guide 120a of the third displacement mechanism 123 is arranged to extend in the third direction y. The guide of the first displacement mechanism 121, the guide of the second displacement mechanism 122 and the guide of the third displacement mechanism 123 can be of the same structure or different structures. In an example, the first direction z, the second direction x and the third direction y are perpendicular to each other in space, thereby forming a complete three-dimensional orthogonal coordinate system driving system. In this three-dimensional structure, the first displacement mechanism 121 of the adsorption assembly 13 is nested on the second displacement mechanism 122, and the second displacement mechanism 122 is installed on the third displacement mechanism 123. Therefore, the movement of the third displacement mechanism 123 drives the entire second displacement mechanism 122 subsystem to move linearly in the third direction y.

[0073] The first displacement mechanism 121, the second displacement mechanism 122 and the third displacement mechanism 123 are independently or complexly moved in three intersecting directions, so that the adsorption assembly 13 at the end obtains omnidirectional positioning capability in three-dimensional space. In this way, multiple adsorption assemblies 13 can adjust the position in the horizontal plane to change the shape and coverage area of the adsorption area 13a, and can also adjust the overall height of each adsorption assembly 13 relative to the surface of the hoisted object or realize obstacle avoidance positioning in three-dimensional space through the movement of the first direction z, thereby further expanding the adaptability of the hoisting device 1 and enabling it to cope with more complex working conditions.

[0074] In some embodiments, please continue to refer to Figures 1 to 3 The first displacement mechanism 121, the second displacement mechanism 122 and the third displacement mechanism 123 are independently or complexly moved in three intersecting directions, so that the adsorption assembly 13 at the end obtains omnidirectional positioning capability in three-dimensional space. In this way, multiple adsorption assemblies 13 can adjust the position in the horizontal plane to change the shape and coverage area of the adsorption area 13a, and can also adjust the overall height of each adsorption assembly 13 relative to the surface of the hoisted object or realize obstacle avoidance positioning in three-dimensional space through the movement of the first direction z, thereby further expanding the adaptability of the hoisting device 1 and enabling it to cope with more complex working conditions.

[0075] The first direction z, the second direction x and the third direction y are perpendicular to each other, that is, the three displacement mechanisms 12a are perpendicular to each other, and they intersect at the same point in space, thereby forming a standard three-dimensional orthogonal coordinate system with a clear origin. In an example, as Figure 3As shown, the first direction z is the z-axis direction, the second direction x is the x-axis direction, and the third direction y is the y-axis direction. In this way, a three-dimensional motion network is constructed by arranging multiple units side by side on the Y-axis (third displacement mechanism 123) and arranging multiple X-axes (second displacement mechanism 122) in each unit. Moreover, each adsorption assembly 13 has an independent Z-axis (first displacement mechanism 121) that can be adjusted independently to adjust the contact height and pressing force. This allows the lifting device 1 to perfectly adapt to uneven surfaces, steps, or complex three-dimensional contours of the battery device, thereby improving the stability and safety of non-planar adsorption. In addition, this embodiment is easy to modularly expand, for example, to increase the coverage area, only need to increase the Y-axis mechanism (widen) and / or the number of X-axis mechanisms on each Y-axis (densify). Further, through program control, the array of adsorption assemblies 13 can be instantaneously reconfigured into any desired two-dimensional or three-dimensional layout. For example, from a dense array covering the entire adsorption surface of the battery device, quickly switch to a ring layout that only grabs the edge, or a cluster layout that focuses on a few stress points.

[0076] By constructing a three-dimensional grid motion system of the adsorption assembly 13, this embodiment realizes independent positioning of each adsorption assembly 13 in three-dimensional space, so that the lifting device 1 can adapt to more models of battery devices.

[0077] In some embodiments, referring to Figure 3 and Figure 4 each first displacement mechanism 121 includes a first guide 121a extending along the first direction z and a first movable piece 121b movably arranged on the first guide 121a along the first direction z, and the adsorption assembly 13 is arranged on the first movable piece 121b; each second displacement mechanism 122 includes a second guide 122a extending along the second direction x and a second movable piece 122b movably arranged on the second guide 122a along the second direction x, and the first guide 121a is arranged on the second movable piece 122b; each third displacement mechanism 123 includes a third guide 123a extending along the third direction y and a plurality of third movable pieces 123b movably arranged on each third guide 123a along the third direction y; and the second guide 122a is arranged on at least two third movable pieces 123b.

[0078] Generally, in the present embodiment, the first displacement mechanism 121, the second displacement mechanism 122, and the third displacement mechanism 123 are configured as linear displacement mechanisms 12a; the first guide 121a, the second guide 122a, and the third guide 123a generally have similar body structures, which generally include a base and a linear guide, the displacement mechanism 12a further includes a driving and transmission system, etc., the base serves as the structural basis and installation reference of the module, the movable part 120b can be provided as a slider, which provides rigid support for the driving and guiding system, and is provided with a standardized mechanical interface, the base can be an aluminum alloy profile or other profile; the linear guide and the slider constitute the precise guiding framework of the module, the straightness of the linear guide movement trajectory, and the slider directly bears the load and moves along the guide, the performance of the two directly determines the stability and precision of the module movement. The driving and transmission system, the driving part generally adopts a servo motor or a stepper motor, which provides a controllable power source; the transmission system converts the rotary power into linear motion of the slider, the transmission mechanism converts the rotary motion of the motor into linear displacement of the slider, thereby driving the end load. The first movable part 121b, the second movable part 122b, and the third movable part 123b can be block-shaped, plate-shaped, or rod-shaped. In an example, as shown in Figure 3 , the first movable part 121b is provided as a slider and a connecting rod arranged on the slider, one end of the connecting rod is connected with the slider, and the other end is connected with the mounting part 131b of the adsorption assembly 13; the second movable part 122b and the third movable part 123b are configured as block-shaped or plate-shaped.

[0079] In the present embodiment, the use of a highly standardized linear module has achieved the reduction of the risk of cracking, welding point failure, or tilting of the connection part of the hoisting support and the battery box, and the manufacturing cost of the hoisting device 1 is reduced.

[0080] In some embodiments, referring to Figure 3 and Figure 4 , each first displacement mechanism 121 includes a first guide 121a extending along a first direction z and a first movable part 121b movably arranged on the first guide 121a along the first direction z, and the adsorption assembly 13 is arranged on the first movable part 121b.

[0081] In some embodiments, referring to Figure 3 and Figure 4 , each second displacement mechanism 122 includes a second guide 122a extending along a second direction x and a second movable part 122b movably arranged on the second guide 122a along the second direction x, and the first displacement mechanism 121 is arranged on the second movable part 122b.

[0082] In some embodiments, referring to Figure 3 and Figure 4Each third displacement mechanism 123 includes a third guide 123a extending along the third direction y and a plurality of third movable members 123b movably arranged on the third guide 123a along the third direction y; and the second displacement mechanism 122 is arranged on the third movable member 123b.

[0083] In some embodiments, referring to Figures 3 to 5 and Figure 3 , the lifting device 1 includes a control module and a plurality of displacement detection assemblies 15 electrically connected to the control module; each displacement detection assembly 15 is configured to detect the current position of an adsorption assembly 13; and the control module is further electrically connected to the movement module 12 to control the movement module 12 to move the adsorption assembly 13 arranged thereon.

[0084] The lifting device 1 can realize the lifting, transfer and placement of the workpiece by detecting the position of the adsorption assembly 13 in real time and controlling the movement module 12 to adjust.

[0085] The plurality of displacement detection assemblies 15 are respectively arranged corresponding to the plurality of adsorption assemblies 13. Each displacement detection assembly 15 is configured to detect the current position of the corresponding adsorption assembly 13. The displacement detection assembly 15 can include displacement sensors such as linear encoders, photoelectric encoders or laser range finders. These sensors are installed at positions fixed relative to the adsorption assembly 13, for example, directly installed on the adsorption assembly 13 or installed at the driving joints of the movement module 12, to monitor the position changes of the adsorption assembly 13 in real time, including horizontal displacement, vertical height or angular deflection, etc.

[0086] The control module can be installed in a control cabinet or independently arranged on the lifting frame 11. The control module is a computing unit with processing capability, such as a programmable logic controller, a microprocessor or an industrial computer. The computing unit is equipped with a memory for storing control programs, target position data and real-time position information. The control module is responsible for processing displacement signals and generating control instructions to coordinate the overall operation of the lifting device 1. The control module is electrically connected to all displacement detection assemblies 15 through wired or wireless mode to receive real-time position signals from the displacement detection assemblies 15. At the same time, the control module is electrically connected to the movement module 12 to send control signals to the driving mechanism of the movement module 12, so as to adjust the position and motion state of the adsorption assembly 13.

[0087] During the operation of the lifting device 1, the displacement detection assembly 15 continuously detects the current position of the adsorption assembly 13 and transmits the detected position data to the control module in real time. The control module internally stores a preset target position or motion trajectory. By comparing the current position with the target position, the required moving direction, distance and speed are calculated, and then the corresponding control instructions are generated and sent to the moving module 12. The moving module 12 drives the adsorption assembly 13 to move according to the control instructions until the adsorption assembly 13 reaches the target position.

[0088] The present embodiment can monitor the positions of multiple adsorption assemblies 13 simultaneously through multiple displacement detection assemblies 15, and can quickly realize at least one of automatically adjusting the size and shape of the adsorption area 13a in cooperation with the use of the control module and the moving module 12, which helps to realize the full automation of the packaged battery device to be transferred to the testing, storage or shipment area, thereby improving the production efficiency.

[0089] In some embodiments, referring to Figure 4 , the adsorption assembly 13 includes an adsorption member 131 and a vacuum generator arranged on the adsorption member 131; the adsorption member 131 includes a mounting portion 131b and an adsorption portion 131a, the mounting portion 131b is connected with the moving module 12, and the adsorption portion 131a is configured to define a sealed cavity together with the battery device; the adsorption portion 131a is provided with a communication port, and the communication port is in communication with the sealed cavity; the vacuum generator performs vacuumizing operation on the sealed cavity through the communication port.

[0090] The adsorption assembly 13 mainly includes two parts of the adsorption member 131 and the vacuum generator. The adsorption member 131 is a component that directly interacts with the battery device, and its structure usually includes the mounting portion 131b and the adsorption portion 131a. The mounting portion 131b serves as a mechanical interface between the adsorption member 131 and the moving module 12 in the lifting device 1, and can be firmly installed on the output end of the moving module 12 through bolt connection, buckle fixing or quick-change connector, etc. The adsorption portion 131a is the part that performs the adsorption function, and is used to adhere to the upper surface, side surface or specific mounting surface of the battery device. The adsorption portion 131a does not define a sealed cavity by itself, but when its flat or shaped adsorption surface is in close contact with the smooth surface of the battery device, the two together define a temporary sealed cavity that is relatively isolated from the outside atmosphere.

[0091] The vacuum generator is a device for providing negative pressure power, for example, it can be a pneumatic vacuum generator based on the Venturi principle. The vacuum generator can be built-in in the suction accessory 131 or mounted on the suction accessory 131. In this scheme, the vacuum generator is reliably connected with the communication port on the suction part 131a. When the suction part 131a is attached to the surface of the battery device to define a sealed cavity, the vacuum generator is started by the control module and continuously performs the vacuum operation on the sealed cavity through the communication port, rapidly extracting the air in the cavity, thereby defining a negative pressure state in the cavity which is significantly lower than the atmospheric pressure outside. In this way, the pressure difference generated by the negative pressure acts on the surface of the battery device, that is, it is converted into strong suction force to firmly grasp the battery device. When it is necessary to release, the vacuum generator is stopped and the valve is switched to allow external air to re-enter the sealed cavity through the communication port, and the internal and external pressures are balanced, and the suction force disappears, and the battery device is safely released. In other embodiments, the vacuum generator can be an electric vacuum pump, which is usually arranged on the hanger 11.

[0092] In this embodiment, each suction accessory 131 is equipped with a vacuum generator, which has the advantage of simple wiring and helps to simplify the structure of the hoisting device 1.

[0093] In some embodiments, referring to Figures 3 to 9 and Figure 6 each suction accessory 131 is provided with a vacuum degree detection piece 16, which is configured to detect the vacuum degree of the corresponding sealed cavity and output a vacuum degree detection signal; the hoisting device 1 includes a control module, which is electrically connected with the vacuum degree detection piece 16, and in the case that the vacuum degree value corresponding to the vacuum degree detection signal is less than a first preset threshold value, the control module sends an alarm signal.

[0094] In order to monitor the working state of each suction point, each suction accessory 131 is provided with a vacuum degree detection piece 16, which is a sensing element. The vacuum degree detection piece 16 can detect the vacuum degree in the sealed cavity defined by the corresponding suction accessory 131 and the battery device in real time or intermittently. The vacuum degree can be understood as the negative pressure value. The vacuum degree detection piece 16 can usually convert the detected physical quantity (pressure) into a vacuum degree detection signal (usually an electrical signal such as an analog voltage, current or digital signal) that can be processed and output. In an example, the vacuum degree detection piece 16 can adopt a differential pressure sensor, which is installed on the suction part 131a and connected to the sealed cavity through a branch air path in parallel with the communication port to obtain the pressure in the cavity.

[0095] The control module is electrically connected with the vacuum degree detection member 16 of each suction accessory 131 to receive the vacuum degree detection signal of each vacuum degree detection member 16. The control module is internally preset with safety judgment logic, for example, a first preset threshold value greater than or equal to the critical value of the minimum vacuum degree required to maintain safe suction is internally stored or set.

[0096] During operation, the control module continuously or periodically compares the actual vacuum degree value corresponding to the received vacuum degree detection signal with the first preset threshold value. Once it is determined that the actual vacuum degree value of one or more suction points is less than the first preset threshold value, it means that the suction force of the suction point has dropped below the safety level, and there is a risk of battery device loosening or falling off. At this time, the control module will immediately trigger a safety response and issue an alarm signal. The specific form of the alarm signal can be various. In one embodiment, the alarm signal drives an audible and visual alarm (such as a buzzer and a warning light) to sound and flash on site, directly reminding the operator. In another embodiment, the alarm signal can be sent to the upper computer monitoring system or mobile terminal to trigger a pop-up window, a short message or a voice notification on the graphical interface. Further, the control module can automatically execute a predetermined safety program at the same time or after issuing the alarm signal, such as immediately suspending all movements of the mobile module 12, starting the standby suction assembly 13 or controlling the hoisting device 1 to slowly move to a safe area, thereby forming an active safety protection closed loop.

[0097] The vacuum degree monitoring and alarm mechanism in this embodiment converts the indirect judgment of suction force into quantifiable and real-time monitorable electrical signals, which are linked with the control module, helping to improve the safety and automation level of hoisting operations.

[0098] In some embodiments, referring to Figure 7 , the hoisting device 1 further comprises an anti-falling mechanism 17, the anti-falling mechanism 17 comprises an anti-falling member 171, the anti-falling member 171 is switchably arranged on the hanger 11 at least in a first position and a second position, the anti-falling member 171 has a supporting portion 171a; when the anti-falling member 171 is in the first position, the supporting portion 171a is located below the suction assembly 13, and the horizontal projection of the supporting portion 171a at least partially overlaps the horizontal projection of the suction area 13a; when the anti-falling member 171 is in the second position, the horizontal projection of the supporting portion 171a and the horizontal projection of the suction area 13a are staggered.

[0099] The main function of the anti-falling mechanism 17 is to provide a physical protection to intercept and support the battery device being hoisted in case of accidental failure of the suction assembly 13. The anti-falling mechanism 17 comprises an anti-falling piece 171. The anti-falling piece 171 is not fixed but is movably arranged on the structure of the hoist 11. Generally, the anti-falling piece 171 can be switched between at least two different working positions, i.e. a first position and a second position. The position switching can be achieved by various driving and guiding modes, for example, the anti-falling piece 171 can be hinged on the hoist 11 and driven to rotate by a pneumatic cylinder, an electric push rod or a rotary motor; it can also be installed by a linear slide rail and pushed to move horizontally by a linear driver; or it can be adjusted manually. The support part 171a is a structural part directly used to contact and support the battery device in an emergency. Its form can be adapted to the bottom or side structure of the battery device, for example, it can be a flat plate, a frame, a bracket with grooves or positioning blocks, or an expandable fork arm, a grid structure, etc.

[0100] When the anti-falling piece 171 is in the first position, as shown in Figure 8 and Figure 3 , the support part 171a is located directly below or below the side of the suction assembly 13 in spatial orientation, and at this time, as viewed from the vertically downward direction (i.e. horizontal projection), there is at least a part of the planar area occupied by the support part 171a that overlaps with the planar range of the suction area 13a below the suction assembly 13 for suction of the battery device. In this way, when the battery device falls downward due to suction failure, its falling path will be blocked by the support part 171a in the first position, and the battery device will fall on the support part 171a. When the anti-falling piece 171 is in the second position, as shown in Figure 5 , the horizontal projection of the support part 171a and the horizontal projection of the suction area 13a are staggered with each other and no longer have overlapping parts. In this state, the support part 171a is moved away from directly below the suction assembly 13, leaving sufficient space for the suction assembly 13 to perform normal suction, hoisting and placing operations and does not interfere with the taking and placing of the battery device or the interfacing with other equipment. In an example, the anti-falling piece 171 is two L-shaped swing arms that can rotate around a horizontal axis and are symmetrically arranged on both sides of the hoist 11. The support part 171a of the swing arm is divided into a horizontal segment. Through rotary driving, the swing arm can be switched between the first position (the horizontal segment is rotated inward to below the suction assembly 13 and is interfaced) and the second position (the horizontal segment is rotated outward to the outside of the hoist 11). In another example, the anti-falling piece 171 is a U-shaped bracket that can be driven by a linear slide and can be pulled out integrally laterally. In the first position, the U-shaped bracket is pushed into below the suction assembly 13; in the second position, it is pulled out to one side of the hoist 11.

[0101] In this embodiment, the working process of the anti-falling mechanism 17 is generally coordinated with the lifting operation process. For example, when the lifting device 1 moves above the battery device to prepare for adsorption, the anti-falling piece 171 can be in the second position so that the adsorption assembly 13 is lowered to contact; after adsorption is completed and the load begins to be lifted, the control module can instruct the anti-falling piece 171 to switch to the first position, entering the protection standby state; after the battery device is safely placed at the target position, the adsorption assembly 13 releases the load, and the anti-falling piece 171 can first remain in the first position as the last safety measure before switching back to the second position when the lifting device 1 moves away. In this way, the safety is improved while not affecting the lifting operation of the lifting device 1.

[0102] In some embodiments, referring to Figures 1 to 3 and Figure 5 , the anti-falling piece 171 includes two opposite and spaced connecting rods 171b and a supporting part 171a; the connecting rod 171b has opposite first and second ends, the first end of the connecting rod 171b is connected with the supporting part 171a, and the second end of the connecting rod 171b is rotationally connected with the hanger 11.

[0103] The two connecting rods 171b are in a state of being opposite and spaced in space. This means that the two connecting rods 171b are generally parallel or approximately parallel, and maintain a certain distance between them. The spaced arrangement not only balances the stability and stress of the structure, but also leaves installation and movement space for the supporting part 171a and its possible driving components. Each connecting rod 171b has a first end and a second end opposite to it. The first end of each connecting rod 171b is connected with the supporting part 171a, and the specific connection mode can be fixed connection (such as welding, bolt fastening), or can be hinged, depending on whether the supporting part 171a needs to adjust the posture during movement. The supporting part 171a and the connecting rod 171b group are connected through two connecting points to define a stable support frame, so that the supporting part 171a is uniformly stressed when bearing and is not easy to deflect or twist. The second end of each connecting rod 171b is rotationally connected with the hanger 11. This is the kinematic basis for the anti-falling piece 171 to realize position switching. The rotational connection is usually realized through shafts, hinges or bearings, etc., so that the connecting rod 171b can rotate relative to the hanger 11 about the fixed axis of the second end. In an example, the two connecting rods 171b can be located in the same vertical plane, the connecting points with the hanger 11 are located at a higher position, and the supporting part 171a is connected at the middle or lower end of the connecting rod 171b. When the connecting rod 171b rotates downward to be close to vertical, the supporting part 171a is lowered to the lowest point (first position); when the connecting rod 171b rotates upward and inward, the supporting part 171a is lifted to a high position and close to the main body of the hanger 11 (second position).

[0104] In this embodiment, the symmetrical arrangement of the double connecting rods 171b helps to improve the stability of the bearing, and the structure is relatively simple, reliable, and easy to maintain.

[0105] In some embodiments, referring to Figures 1 to 3 、 Figure 7 , the hanger 11 includes two first edge bars 111 arranged opposite to each other along a first direction z and two second edge bars 112 arranged opposite to each other along a second direction x; the length of the first edge bar 111 is greater than or equal to the length of the second edge bar 112, and the two ends of each first edge bar 111 are respectively connected to two second edge bars 112, and the two ends of each second edge bar 112 are respectively connected to two first edge bars 111; the second ends of the two connecting rods 171b are respectively rotationally connected to the two first edge bars 111.

[0106] The hanger 11 provides a stable support frame for the entire hoisting device 1, and the basic frame is enclosed by two first edge bars 111 and two second edge bars 112. The two first edge bars 111 are arranged opposite to each other along a first direction z, and the two first edge bars 111 can be parallel or nearly parallel. The two second edge bars 112 are arranged opposite to each other along a second direction x, and the two second edge bars 112 can be parallel or nearly parallel, thus forming a rectangular or approximately rectangular closed loop frame. The length of the first edge bar 111 is greater than or equal to the length of the second edge bar 112, that is, the overall shape of the hanger 11 is rectangular or long rectangular, and the first edge bar 111 is the long side and the second edge bar 112 is the short side. This layout is beneficial to providing a larger span and installation space in the long side direction to adapt to the common longer shape of the hoisted battery device. The two ends of each first edge bar 111 are respectively connected to the corresponding ends of two second edge bars 112; similarly, the two ends of each second edge bar 112 are respectively connected to the corresponding ends of two first edge bars 111. The connection method can be welding, bolt connection, or fastening through an angle piece or integrally formed. In this way, the overall frame of the hanger 11 has sufficient strength and rigidity to withstand hoisting loads and various forces in motion.

[0107] In this embodiment, the second ends of the two connecting rods 171b are rotationally connected to the two first edge bars 111 (i.e., the longer edge bars), and the hinge points of the rotational connection are usually arranged on the outer side or lower side of the two first edge bars 111 and correspond to each other. In this way, a wider installation base distance is provided, so that the distance between the rotation axes of the two connecting rods 171b is larger, and secondly, the long side provides a more flexible hinge point position selection space, which facilitates the optimization of the swing trajectory of the connecting rod 171b, so that the support part 171a can more effectively cover or avoid the underlying adsorption area 13a.

[0108] In some embodiments, referring to Figure 8The first edge 111 extends along a third direction y, and the second edge 112 extends along a second direction x, wherein the second direction x and the third direction y are perpendicular to each other. The number of the anti-falling members 171 is at least two, and the at least two anti-falling members 171 are arranged along the length direction of the first edge 111 in sequence.

[0109] The number of the anti-falling members 171 is at least two, and the at least two anti-falling members 171 are arranged along the length direction of the first edge 111 (i.e., the third direction y) in sequence. In this way, a plurality of independent anti-falling units are arranged below or on the side of one or two long edges (the first edge 111) of the hanger 11, and are distributed along the length direction of the long edges.

[0110] For a battery device with a large length dimension, the bearing part 171a of a single anti-falling member 171 may not effectively cover the entire range, and there is a risk of local instability. Arranging a plurality of anti-falling members 171 along the length direction is equivalent to providing a plurality of support points in the direction of the long edge where the load may fall, which can more evenly distribute the impact force when the load falls unexpectedly, reducing the risk of the load tilting, sliding or bending due to single-point bearing, and improving the reliability of safety protection. Further, the plurality of anti-falling members 171 can be flexibly configured according to the length and weight distribution of the actual hoisted load. In addition, the anti-falling member 171 and the load borne by it are dispersed to a plurality of points in the long edge direction, reducing the situation that the load is excessively concentrated on a certain part of the hanger 11, which is conducive to the uniform distribution of the overall stress of the hanger 11, and improves the stability and service life of the structure.

[0111] In some embodiments, referring to Figure 7 and Figure 8 The anti-falling mechanism 17 further comprises a support rod 174 connected between the connecting rod 171b and the hanger 11. The support rod 174 is configured to drive the anti-falling member 171 to swing with the second end of the connecting rod 171b as the fulcrum.

[0112] The support rod 174 is at least part of a driving element, one end of which is connected to the connecting rod 171b and the other end is connected to the hanger 11. The support rod 174 is configured to drive the anti-falling piece 171 to swing with the second end of the connecting rod 171b as the fulcrum. Generally, the support rod 174 applies a pushing force or a pulling force by changing its length. Since one end of the support rod 174 is hinged to the connecting rod 171b, usually at a position between the first end and the second end of the connecting rod 171b; the other end of the support rod 174 is hinged to a fixed point on the hanger 11. When the support rod 174 is extended, it will push the connecting rod 171b to rotate in one direction around the second end of the connecting rod 171b hinged to the hanger 11; when the support rod 174 is retracted, it will pull the connecting rod 171b to rotate in the opposite direction. The swing of the connecting rod 171b directly drives the support part 171a fixedly connected to the first end of the connecting rod 171b to move, thereby realizing the switching of the support part 171a between the first position and the second position. In another example, as shown in Figure 7 and Figure 8 , the position relationship of the support rod 174 relative to the hanger 11 can be changed to apply a pushing force or a pulling force, thereby realizing the switching of the support part 171a between the first position and the second position.

[0113] The embodiment has the advantages of compact structure, direct transmission, easy control and accurate positioning.

[0114] In some embodiments, referring to ​ and ​ , the anti-falling mechanism 17 further comprises a fourth displacement mechanism 172 and a fourth movable piece 173. The fourth displacement mechanism 172 is arranged on the hanger 11 and extends along the third direction y. The fourth movable piece 173 is installed on the fourth displacement mechanism 172 and can move along the third direction y under the drive of the fourth displacement mechanism 172. The first end of the support rod 174 is rotationally connected to the fourth movable piece 173, and the second end of the support rod 174 is rotationally connected to the connecting rod 171b. The fourth displacement mechanism 172 is configured to drive the fourth movable piece 173 to move along the third direction y, thereby driving the support rod 174 and the connecting rod 171b to swing.

[0115] The anti-falling mechanism 17 is based on the anti-falling piece 171 and the support rod 174, further integrated with the fourth displacement mechanism 172 and the fourth movable piece 173. The fourth displacement mechanism 172 itself is a mature linear motion unit, generally including a servo motor or a stepper motor, a ball screw or a synchronous belt transmission system, and a linear guide rail, capable of realizing smooth reciprocating linear motion of the slider in the set direction. The fourth displacement mechanism 172 is fixedly installed on the hanger 11, and the installation position is usually selected on the structural body of the hanger 11, for example, fixed on the first jamb 111 or the second jamb 112, or on the cross beam inside the hanger 11. The guide and motion axis of the fourth displacement mechanism 172 is arranged and extends along the third direction y (i.e. the length direction of the hanger 11, also the extension direction of the first jamb 111). The fourth movable piece 173 is fixedly installed on the motion output end of the fourth displacement mechanism 172. Therefore, the fourth movable piece 173 can move linearly along the third direction y under the drive of the fourth displacement mechanism 172. The fourth movable piece 173 acts as an intermediate force transmission structure, and its function is to transmit the linear motion of the linear module. In an example, the fourth displacement mechanism 172 is a ball screw module driven by a servo motor, and the base is bolted to the upper surface of the first jamb 111 of the hanger 11. The fourth movable piece 173 is an L-shaped plate, the vertical part of which is fixed with the module slider, and the horizontal part extends downward and is hinged to the first end of the support rod 174. The second end of the support rod 174 is hinged to the middle part of the connecting rod 171b of the anti-falling piece 171. By controlling the rotation of the servo motor, the position of the supporting part 171a can be set.

[0116] The support rod 174 is a rigid rod in this scheme, and its length is fixed and does not have the function of autonomous extension. The first end of the support rod 174 is rotationally connected with the fourth movable piece 173, for example, through a pin shaft or a joint bearing. The second end of the support rod 174 is rotationally connected with the connecting rod 171b, and the connection point is usually located between the first end and the second end of the connecting rod 171b. Thus, the movement path of the support rod 174, the connecting rod 171b, and the hanger 11 and the fourth movable piece 173 together form a motion chain. In this way, the fourth movable piece 173 is configured to drive the overall movement of the support rod 174 by its own movement, thereby driving the connecting rod 171b to swing.

[0117] In this embodiment, by combining linear displacement control with the connecting rod 171b swing mechanism, the driving actuator does not directly bear the impact load that the anti-falling piece 171 may receive, thereby improving the service life of the driving system; at the same time, the closed-loop control characteristics of the linear module make the position control of the supporting part 171a more accurate; in addition, multiple anti-falling pieces 171 arranged along the first jamb 111 can each be equipped with an independent fourth displacement mechanism 172 for driving, thereby realizing independent or cooperative control.

[0118] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced equivalently. Such modifications or replacements do not change the essence of the corresponding technical solutions, which should be covered in the scope of the present application. In particular, the technical features mentioned in each embodiment can be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A hoisting device, characterized in that The crane device comprises: a crane frame; a moving module arranged on the crane frame; and a plurality of adsorption assemblies, each of which is provided with an adsorption part for adsorbing a battery device. The minimum outer contour of the adsorption positions of the plurality of adsorption parts defines an adsorption area. At least part of the adsorption assemblies are arranged on the moving module, and the moving module is configured to drive the adsorption assemblies arranged thereon to move, so as to adjust at least one of the size of the adsorption area and the shape of the adsorption area. The moving module comprises a plurality of displacement mechanisms, each of which comprises a guide, a movable part slidingly arranged on the guide, and a driving part drivingly connected with the movable part.

2. The hoisting device of claim 1, wherein The movable part is provided with at least one adsorption assembly, and the driving part is configured to drive the movable part to move on the guide, so as to drive the adsorption assembly to move. The driving part is configured to drive the movable part to move in the length extension direction of the guide.

3. The hoisting device of claim 2, wherein The length extension directions of the guides of at least two displacement mechanisms are different.

4. The hoisting device of claim 3, wherein Among the plurality of displacement mechanisms, at least one is configured as a first displacement mechanism, and at least another one is configured as a second displacement mechanism; the guide of the first displacement mechanism is arranged in a first direction, and the guide of the second displacement mechanism is arranged in a second direction; the first direction intersects with the second direction.

5. The hoisting device of claim 3, wherein The adsorption assembly is mounted on the first displacement mechanism, the first displacement mechanism is arranged on the second displacement mechanism, and the second displacement mechanism is configured to drive the first displacement mechanism arranged thereon to move in the second direction, so as to drive the adsorption assembly arranged on the first displacement mechanism to move in the second direction. At least one of the plurality of displacement mechanisms is configured as a third displacement mechanism, and the guide of the third displacement mechanism is arranged in a third direction; the first direction, the second direction and the third direction are arranged in a perpendicular intersecting manner.

6. The hoisting device of claim 5, wherein The second displacement mechanism is arranged on the third displacement mechanism, and the third displacement mechanism is configured to drive the second displacement mechanism arranged thereon to move in the third direction, so as to drive the first displacement mechanism arranged on the second displacement mechanism and the adsorption assembly arranged on the first displacement mechanism to move in the third direction. The number of the first displacement mechanism, the second displacement mechanism and the third displacement mechanism is multiple, and the first direction, the second direction and the third direction are arranged in a perpendicular intersecting manner.

7. The hoisting device of claim 6, wherein A plurality of third displacement mechanisms are arranged side by side in the second direction, and each of the third displacement mechanisms is provided with at least two second displacement mechanisms arranged side by side in the third direction. Each of the second displacement mechanisms is provided with at least one first displacement mechanism; the first displacement mechanism and the adsorption assembly are arranged in a one-to-one correspondence. The crane device comprises a control module and a plurality of displacement detection assemblies electrically connected with the control module; each of the displacement detection assemblies is configured to detect the current position of one of the adsorption assemblies.

8. A hoisting arrangement according to any one of claims 1 to 7, characterised in that, The control module is also electrically connected with the moving module, so as to control the moving module to drive the adsorption assemblies arranged thereon to move. ​ 9. The hoisting device according to any one of claims 1 to 7, characterized in that The adsorption assembly comprises an adsorption member and a vacuum generator arranged on the adsorption member; The adsorption member comprises a mounting portion and an adsorption portion, the mounting portion is connected with the mobile module, and the adsorption portion is configured to jointly define a sealed cavity with the battery device; The adsorption portion is provided with a communication port in communication with the sealed cavity; and the vacuum generator is configured to perform vacuumizing operation on the sealed cavity through the communication port.

10. The hoisting device of claim 9, wherein Each adsorption member is provided with a vacuum degree detection member configured to detect the vacuum degree of the corresponding sealed cavity and output a vacuum degree detection signal; The lifting device comprises a control module electrically connected with the vacuum degree detection member, and the control module sends an alarm signal when the vacuum degree value corresponding to the vacuum degree detection signal is less than a first preset threshold.

11. The hoisting device of claim 10, wherein, The lifting device further comprises an anti-falling mechanism, the anti-falling mechanism comprises an anti-falling member, the anti-falling member is switchably arranged on the lifting frame at least in a first position and a second position, and the anti-falling member has a supporting portion; When the anti-falling member is in the first position, the supporting portion is located below the adsorption assembly, and the horizontal projection of the supporting portion at least partially overlaps with the horizontal projection of the adsorption region; When the anti-falling member is in the second position, the horizontal projection of the supporting portion and the horizontal projection of the adsorption region are staggered.

12. The hoisting device of claim 11, wherein, The anti-falling member comprises two opposite and spaced apart connecting rods and the supporting portion; The connecting rod has opposite first and second ends, the first end of the connecting rod is connected with the supporting portion, and the second end of the connecting rod is rotationally connected with the lifting frame.

13. The hoisting device of claim 12, wherein, The lifting frame comprises two first edge posts oppositely arranged along a first direction and two second edge posts oppositely arranged along a second direction; The length of the first edge post is greater than or equal to the length of the second edge post, both ends of each first edge post are connected with two second edge posts respectively, and both ends of each second edge post are connected with two first edge posts respectively; The second ends of the two connecting rods are rotationally connected with the two first edge posts respectively.

14. The hoisting device of claim 13, wherein, The first edge post extends along a third direction, and the second edge post extends along the second direction, the second direction and the third direction are perpendicular to each other; The number of the anti-falling members is at least two, and the at least two anti-falling members are arranged in sequence along the length direction of the first edge post.

15. The hoisting device of claim 14, wherein, The anti-falling mechanism further comprises a support rod connected between the connecting rod and the lifting frame; the support rod is configured to drive the anti-falling member to swing with the second end of the connecting rod as a fulcrum.

16. The hoisting device of claim 15, wherein, The anti-falling mechanism further comprises a fourth displacement mechanism and a fourth movable member; the fourth displacement mechanism is arranged on the lifting frame and extends along the third direction; The fourth movable member is mounted on the fourth displacement mechanism and can move along the third direction under the driving of the fourth displacement mechanism; The first end of the support rod is rotationally connected with the fourth movable member, and the second end of the support rod is rotationally connected with the connecting rod; The fourth displacement mechanism is configured to drive the fourth movable member to move along the third direction, thereby driving the support rod and the connecting rod to swing.

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