Battery gripper, transfer mechanism and battery production equipment

Abstract

The utility model provides a battery gripper, a transfer mechanism and battery production equipment. The battery gripper comprises a gripper main body and an abutting structure; the gripper body comprises two clamping jaws arranged in the first direction in a spaced mode and a driving structure used for driving the two clamping jaws to move in an opening and closing mode. The size of the abutting structure in the first direction is adjustable, and the abutting structure is used for abutting against the battery monomers; at least one clamping jaw is provided with an abutting structure. By arranging the abutting structure with the adjustable size on the clamping jaw, under the condition that the strokes of the two clamping jaws of the gripper body are limited, the size of the abutting structure on the clamping jaw in the first direction can be adjusted, and then the distance between the abutting structure and the other clamping jaw can be adjusted, so that a battery monomer with a larger size range can be clamped in a matched mode; therefore, the compatibility of the battery gripper is improved.

Description

Technical Field

[0001] This application belongs to the field of battery production technology, and more specifically, relates to a battery gripper, a transfer mechanism, and battery production equipment. Background Technology

[0002] Energy conservation and emission reduction are key to the sustainable development of the automotive industry, and electric vehicles, due to their energy-saving and environmentally friendly advantages, have become an important component of this sustainable development. For electric vehicles, battery technology is a crucial factor in their development.

[0003] During battery assembly, grippers are often used to grasp and move individual battery cells. However, the limited gripping and opening travel of these grippers restricts their suitability to holding only battery cells of specific sizes, resulting in poor versatility. Utility Model Content

[0004] The purpose of this application is to provide a battery gripper, a transfer mechanism, and battery production equipment to improve the poor compatibility of battery grippers in related technologies.

[0005] In a first aspect, embodiments of this application provide a battery gripper, including:

[0006] The gripper body includes two grippers spaced apart along a first direction and a drive structure for driving the two grippers to open and close.

[0007] The supporting structure is adjustable in size along the first direction, and the adjustment range of the supporting structure along the first direction is 10mm-500mm. The supporting structure is used to support a single battery cell.

[0008] At least one gripper is equipped with a holding structure.

[0009] In the technical solution of this application embodiment, by setting an adjustable-size abutment structure on the gripper, the driving structure drives the two grippers to open and close, so that the gripper can drive the abutment structure on it to move along the first direction, so that the abutment structure abuts against the battery cell, and then cooperates with the gripper to clamp the battery cell; when the stroke of the two grippers of the gripper body is limited, the size of the abutment structure on the gripper along the first direction can be adjusted, and then the distance between the abutment structure and the other gripper can be adjusted. Accordingly, it can be adapted to clamp a larger range of battery cells, so as to improve the compatibility of the battery gripper.

[0010] In some embodiments, the supporting structure includes an airbag that is stretchable and deformable along a first direction and a connector for connecting a pressure controller. The connector communicates with the airbag, the airbag is mounted on the grippers, and the airbag is disposed between two grippers. The connector is supported on the respective grippers.

[0011] The above technical solution uses an airbag in the support structure and a connector is set on the airbag to connect to a pressure controller. The pressure controller inflates the airbag, causing it to expand and extend, while the pressure controller controls the discharge of gas from the airbag, causing it to contract. The structure is simple and easy to control.

[0012] In some embodiments, the abutment structure includes a guide that supports and guides the airbag to extend and retract in a first direction, the guide being mounted on a corresponding gripper; in the first direction, one end of the guide is connected to the end of the airbag away from the corresponding gripper.

[0013] By using the above technical solution, a guide is provided to support the airbag, which facilitates the airbag to hold the battery cell and thus stably clamp the battery cell; and by using the guide to guide the extension and retraction of the airbag, the size of the airbag along the first direction can be easily adjusted.

[0014] In some embodiments, the guide includes a guide rod that is slidably mounted on a corresponding gripper along a first direction.

[0015] The above technical solution uses a guide rod to guide the airbag to move in the first direction. It has a simple structure, low cost, and is easy to assemble.

[0016] In some embodiments, at least a portion of the guide is disposed inside the airbag.

[0017] By extending the guide into the airbag through the above technical solution, the supporting force of the guide on the airbag can be close to or at the middle position of the airbag, so as to better support the airbag and facilitate the airbag to hold the battery cell.

[0018] In some embodiments, along a first direction, one end of the guide extends into the airbag, and the other end of the guide extends out of the airbag and is connected to the gripper. The end of the airbag near the gripper is provided with a first opening for the other end of the guide to extend out, and the airbag is sealed to the gripper around the first opening.

[0019] The above technical solution involves inserting one end of the guide into the airbag to support it, connecting the other end of the guide to the gripper to fix and support the guide, and sealing the airbag with the gripper around the first opening to seal the internal space of the airbag.

[0020] In some embodiments, the gripper is provided with a second opening for the other end of the guide to be fitted into the guide, and the inner surface of the second opening is sealed to the peripheral side of the guide.

[0021] The above technical solution allows the other end of the guide to be inserted into the gripper, which facilitates the assembly of the guide and also makes the gripper support the guide more stably; sealing the inner surface of the second opening with the peripheral side of the guide can reduce the risk of leakage of the internal space of the airbag.

[0022] In some embodiments, the airbag includes a rigid portion for supporting a battery cell and a deformable portion connected to the rigid portion to form an internal space, the deformable portion being connected to a corresponding gripper.

[0023] The above technical solution includes a rigid part to stably support the battery cell and facilitate clamping the battery cell; and a deformable part to support and drive the rigid part to extend and retract. The deformable part and the rigid part are connected to form an internal space to adjust the air pressure in the internal space, thereby adjusting the extension and retraction of the rigid part.

[0024] In some embodiments, the abutment structure includes a plurality of airbags arranged on the grippers.

[0025] By using the above technical solution, multiple airbags can be made smaller to reduce deformation in the tilt direction, making it easier for the airbags to hold the battery cell and thus more stably clamp the battery cell. In addition, the cooperation of multiple airbags to hold the gripper means that even if one airbag exerts a small force on the battery cell, the battery cell can still be stably clamped with the help of other airbags. It can also better adapt to changes in the size of the battery cell.

[0026] In some embodiments, the gripper body includes a support, each gripper is supported on the support, at least one gripper is slidably mounted on the support, and a drive structure is supported on the support.

[0027] The above technical solution involves setting up supports to hold the grippers and drive structure in place, so that the grippers and the supporting structure can work together to more stably hold the battery cells.

[0028] In some embodiments, the battery gripper includes a connector, and the gripper body is mounted on the connector.

[0029] The above technical solution provides a connector for connecting to an external support medium, facilitating the safe use of the battery gripper.

[0030] Secondly, embodiments of this application provide a transfer mechanism, including a movable structure and a battery gripper as described in the above embodiments, wherein the battery gripper is mounted on the movable structure.

[0031] Thirdly, embodiments of this application provide a battery production equipment, including a battery gripper as described in the above embodiments, or a transfer mechanism as described in the above embodiments.

[0032] 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

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of a battery gripper holding a battery cell according to some embodiments of this application;

[0035] Figure 2 for Figure 1 A front view schematic diagram of the battery gripper;

[0036] Figure 3 for Figure 1 A side view of the battery gripper structure;

[0037] Figure 4 For along Figure 3 Schematic diagram of the cross-sectional structure along line AA;

[0038] Figure 5 This is a cross-sectional view of the gripper and holding structure used to hold a battery cell in some other embodiments of this application.

[0039] Figure 6 This is a cross-sectional structural diagram showing the gripper and holding structure of some embodiments of this application clamping a single battery cell;

[0040] Figure 7 This is a cross-sectional view of the gripper and holding structure used to hold a battery cell in some embodiments of this application.

[0041] Figure 8 This is a cross-sectional view of the gripper and holding structure used to hold a battery cell in some other embodiments of this application.

[0042] Figure 9 This is a cross-sectional structural diagram showing the gripper and holding structure of some embodiments of this application clamping a single battery cell;

[0043] Figure 10 This is a cross-sectional view of a clamping and supporting structure used to clamp a battery cell in some embodiments of this application.

[0044] The main markings in the attached figures are as follows:

[0045] 100. Battery gripper; 10. Gripper body; 11. Gripper claw; 110. Second opening; 12. Drive structure; 13. Support; 20. Supporting structure; 21. Airbag; 210. Internal space; 211. Rigid part; 212. Deformable part; 213. First opening; 22. Connector; 23. Guide; 231. Guide rod; 232. Telescopic rod; 233. Support; 24. Screw; 30. Connecting seat;

[0046] 41. Battery cell;

[0047] M, First direction. Detailed Implementation

[0048] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0049] 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 this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0050] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0051] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments in any suitable manner.

[0052] Unless otherwise specified, all embodiments and optional embodiments of this application can be combined to form new technical solutions.

[0053] Unless otherwise specified, all technical features and optional technical features of this application may be combined to form new technical solutions.

[0054] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0055] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces). "Several" means one or more, unless otherwise explicitly specified.

[0056] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0057] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0058] In the description of the embodiments of this application, unless otherwise expressly specified and limited, when an element is referred to as "fixed to" or "set on" another element, it may be directly on or indirectly on the other element. When an element is referred to as "connected to" another element, it may be directly connected to or indirectly connected to the other element.

[0059] In the description of the embodiments in this application, unless otherwise expressly specified and limited, the technical term "proximity" refers to being close in location. For example, among three components A1, A2, and B, if the distance between A1 and B is greater than the distance between A2 and B, then A2 is closer to B than A1; that is, A2 is adjacent to B, or B is adjacent to A2. Similarly, when there are multiple components C, namely C1, C2, ..., C... N If one of the C components, such as C2, is closer to the B component than the other C components, then B is adjacent to C2, or C2 is adjacent to B.

[0060] In the battery production process, grippers are often used to grasp and move individual battery cells. For example, individual battery cells undergo numerous inspections during production, and grippers are frequently used to move them as they pass through these processes. Similarly, in the battery assembly process, the process of directly loading individual battery cells into the casing also requires grippers. Furthermore, before packaging, some individual battery cells need to be arranged into groups, which also often necessitates the use of grippers to move them.

[0061] Because the travel distance of the grippers used for clamping is often limited, the size of the battery cells that the gripper can hold is also limited accordingly. This means that the gripper can often only hold battery cells of a specific size or those that are not much different in size. This makes the battery gripper less compatible and difficult to adapt to holding battery cells of different sizes.

[0062] Based on the above considerations, in order to improve the poor compatibility of battery grippers in related technologies, this application provides a battery gripper that uses an adjustable-size abutment structure on the gripper to abut against a battery cell, thereby cooperating with the gripper to clamp the battery cell. The direction of adjustment of the abutment structure is set to be the same as the movement direction of the gripper. With a fixed gripper movement stroke, the overall stroke of the combination of the gripper and the abutment structure can be changed by adjusting the size of the abutment structure, thereby adapting to clamping a wider range of battery cells and improving the compatibility of the battery gripper.

[0063] The linear module mentioned in the embodiments of this application is also called a linear drive module or linear module; a linear module refers to a device, component, module, or mechanism that can move structural parts linearly. A linear drive module can be a linear module, a lead screw and nut mechanism, a gear and rack mechanism, a cylinder, a hydraulic cylinder, etc. When using the linear drive module mentioned in the embodiments of this application, it can be any one of a linear module, a lead screw and nut mechanism, a gear and rack mechanism, a cylinder, or a hydraulic cylinder, and can be specifically configured and used as needed.

[0064] The linear module mentioned in the embodiments of this application is also known as a linear module, linear slide, etc. Currently, widely used linear modules can be divided into: synchronous belt type, ball screw type, and linear motor type. When the linear drive module mentioned in the embodiments of this application uses a linear module, any one of the synchronous belt type linear module, ball screw type linear module, and linear motor type linear module can be used, and the specific settings and uses can be made according to needs.

[0065] Synchronous belt type linear modules mainly include belts, linear guides, couplings, and motors. The working principle of the synchronous belt type is as follows: the belt is installed on the drive shafts on both sides of the linear module, one of which is connected to the motor as a power input shaft; a slider for connecting the workpiece is fixed on the belt. When the drive shaft rotates, it drives the belt to move, which in turn drives the slider to move linearly.

[0066] The ball screw type linear module mainly includes a ball screw, linear guide rail, ball screw bracket, motor, etc.

[0067] A ball screw is a product that converts rotary motion into linear motion, or vice versa. A ball screw mainly consists of a screw and a nut. The screw is a rod-shaped structure with external threads. The nut is a structure with internal threads. The external threads of the screw and the internal threads of the nut mate to allow the nut to be mounted on the screw. Rotation of the screw causes the nut to move along it, thus converting rotary motion into linear motion. Connecting the workpiece to the nut allows the workpiece to move linearly as the nut moves. Some ball screws also include balls, which primarily reduce the frictional resistance between the nut and the screw.

[0068] Linear guides, also known as slide rails, linear guides, or linear slide rails, are used in linear reciprocating motion applications. They can withstand a certain amount of torque and achieve high-precision linear motion under high loads.

[0069] A linear motor module, also known as a linear motor, is a transmission device that directly converts electrical energy into linear motion mechanical energy without the need for any intermediate conversion mechanism.

[0070] The lead screw and nut mechanism mainly consists of a lead screw, a nut, and a motor. The nut is mounted on the lead screw, which is connected to the motor. The motor drives the lead screw to rotate, thus pushing the nut to move along the lead screw, achieving linear movement of the nut. When the workpiece is connected to the nut, the linear movement of the nut can drive the workpiece to move linearly as well.

[0071] A gear and rack mechanism mainly consists of a gear, a rack, and a motor. The gear meshes with the rack, and the gear is connected to the motor. The motor drives the gear to rotate, which in turn propels the rack to move linearly. When a workpiece is connected to the rack, the linear movement of the rack can drive the workpiece to move linearly as well. A rack is a component with multiple teeth evenly distributed along its length. A gear is a wheel-shaped component with multiple teeth evenly distributed on its outer circumference.

[0072] A cylinder is a mechanical component that guides a piston to perform linear reciprocating motion within the cylinder. A cylinder mainly includes a cylinder barrel, end caps, a piston, a piston rod, and seals. The end cap covers the end of the cylinder barrel, the piston rod is connected to the piston, and the piston is slidably mounted within the cylinder barrel. The piston rod extends out of the cylinder barrel through the end cap, and the seals seal the area between the piston rod and the end cap. It works by filling the cylinder barrel with high-pressure gas to one side of the piston, thus pushing the piston to move linearly within the cylinder barrel, which in turn pushes the piston rod to move linearly along the cylinder barrel. When the workpiece is connected to the piston rod, the linear movement of the piston rod causes the workpiece to move linearly as well.

[0073] A hydraulic cylinder is a hydraulic actuator that converts hydraulic energy into mechanical energy to perform linear reciprocating motion (or oscillating motion). A hydraulic cylinder generally includes a cylinder barrel, cylinder head, piston, piston rod, and sealing devices. The cylinder head covers the end of the cylinder barrel, the piston rod is connected to the piston, the piston is slidably mounted in the cylinder barrel, and the piston rod extends out of the cylinder barrel through the cylinder head. Seals seal the piston rod and cylinder head. It primarily works by filling the cylinder barrel with high-pressure fluid to one side of the piston, pushing the piston to move linearly within the cylinder barrel, which in turn pushes the piston rod to move linearly along the cylinder barrel. When the workpiece is connected to the piston rod, the linear movement of the piston rod drives the workpiece to move linearly.

[0074] In this embodiment of the application, the battery cell can be a secondary battery, which refers to a battery cell that can be recharged to activate the active materials and continue to be used after the battery cell has been discharged.

[0075] The battery cell can be a lithium-ion battery, sodium-ion battery, sodium-lithium-ion battery, lithium metal battery, sodium metal battery, lithium-sulfur battery, magnesium-ion battery, nickel-metal hydride battery, nickel-cadmium battery, lead-acid battery, etc., and the embodiments of this application are not limited to this.

[0076] As an example, the battery cell can be a cylindrical battery cell, a prismatic battery cell, a pouch battery cell, or a battery cell of other shapes. Prismatic battery cells include prismatic battery cells, blade-shaped battery cells, and multi-prismatic batteries, such as hexagonal prismatic batteries. This application does not have any particular limitations.

[0077] Please see Figures 1 to 10According to some embodiments of this application, this application provides a battery gripper 100, including a gripper body 10 and a holding structure 20; the gripper body 10 includes two grippers 11 spaced apart along a first direction M and a drive structure 12 for driving the two grippers 11 to open and close; at least one gripper 11 is equipped with a holding structure 20; the size of the holding structure 20 along the first direction M is adjustable, and the adjustment range of the size of the holding structure 20 along the first direction M is 10-500mm; the holding structure 20 is used to hold a battery cell 41.

[0078] The battery gripper 100 refers to a structure used to hold and grasp a moving battery cell 41.

[0079] The gripper body 10 refers to the main structural part of the battery gripper 100 used to hold the battery cell 41. The gripper body 10 can be a pneumatic gripper, an electric gripper, etc.

[0080] The gripper 11 refers to the structure in the gripper body 10 used to hold objects. The gripper 11 can be plate-shaped, block-shaped, or a combination of plates and blocks, or a structure formed by connecting multiple rods. The gripper 11 can be made of metals such as steel and aluminum, or materials such as ceramics, carbon fiber, and glass fiber.

[0081] Two grippers 11 are provided to grip objects, such as the opposite sides of a battery cell 41.

[0082] The first direction M is the direction in which the gripper 11 opens and closes.

[0083] Two grippers 11 are spaced apart along a first direction M so that the two grippers 11 can be placed on opposite sides of the object to be gripped, so that the two grippers can abut against the opposite sides of the object to be gripped to grip the object.

[0084] The drive structure 12 refers to a power structure that drives the gripper body 10 to move the grippers 11 along a first direction M, thereby allowing the distance between the two grippers 11 to decrease or increase. The drive structure 12 can use a linear module. As an example, the drive structure 12 uses a linear module, with the two grippers 11 respectively mounted on the main body and the actuator of the linear module. The actuator moves relative to the main body to drive the two grippers 11 to move closer to and further apart. As an example, if the linear module uses a cylinder, the gripper body 10 can be a pneumatic gripper.

[0085] The abutment structure 20 is an adjustable structure mounted on the gripper 11 used to hold the battery cell 41. The abutment structure 20 is mounted on the gripper 11 and located between the two grippers 11. The grippers 11 support the abutment structure 20. When the drive structure 12 moves the gripper 11 along the first direction M, it also moves the abutment structure 20 along the first direction M. When the drive structure 12 moves the two grippers 11 away from each other, it moves the abutment structure 20 on the gripper 11 away from the other gripper 11, so that the two grippers 11 and their abutment structures 20 extend into the opposite sides of the battery cell 41. Then, the drive structure 12 moves the two grippers 11 closer together, and the abutment structures 20 on the grippers 11 abut against the battery cell 41 to hold it in place.

[0086] The dimensional adjustment range of the supporting structure 20 along the first direction M, which is 10mm-500mm, means that the supporting structure 20, relative to the gripper 11 supporting it, moves within a range of 10mm-500mm along the first direction M and toward another gripper 11. For example, the movement dimension of the supporting structure 20 relative to the corresponding gripper 11 toward the other gripper 11 can be 10mm, 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, 90mm, 100mm, 110mm, 120mm, 130mm, etc. The sizes of the battery cells are 140mm, 150mm, 160mm, 170mm, 180mm, 190mm, 200mm, 310mm, 320mm, 330mm, 340mm, 350mm, 360mm, 370mm, 380mm, 390mm, 400mm, 510mm, 520mm, 530mm, 540mm, 550mm, 560mm, 570mm, 580mm, 590mm, and 500mm, to accommodate battery cells of different sizes and models.

[0087] Since the dimensions of the abutment structure 20 along the first direction M are adjustable, and the abutment structure 20 is mounted on the gripper 11, it is equivalent to being able to adjust the dimensions of the entire structure formed by the gripper 11 and the abutment structure 20 along the first direction M. When the stroke of the gripper 11 along the first direction M is constant, since the dimensions of the entire structure formed by the gripper 11 and the abutment structure 20 along the first direction M are adjustable, it can be adapted to clamp battery cells 41 with a larger size range, thereby improving the compatibility of the battery gripper 100.

[0088] In the technical solution of this application embodiment, by setting an adjustable-size abutment structure 20 on the gripper 11, the drive structure 12 drives the two grippers 11 to open and close, so that the gripper 11 can drive the abutment structure 20 on it to move along the first direction M, so that the abutment structure 20 abuts against the battery cell 41, and then cooperates with the gripper 11 to clamp the battery cell 41; when the stroke of the two grippers 11 of the gripper body 10 is limited, the size of the abutment structure 20 on the gripper 11 along the first direction M can be adjusted, so that the distance between the abutment structure 20 and the other gripper 11 can be adjusted, and accordingly, it can be adapted to clamp a larger range of battery cells 41, thereby improving the compatibility of the battery gripper 100.

[0089] In some embodiments, please refer to Figures 1 to 8 The supporting structure 20 includes an airbag 21 that is telescopically deformable along a first direction M and a connector 22 for connecting a pressure controller. The connector 22 is connected to the airbag 21. The airbag 21 is mounted on the gripper 11 and is located between two grippers 11. The connector 22 is supported on the corresponding gripper 11.

[0090] Airbag 21 refers to a rubber capsule structure with an internal space 210. When compressed air or water is filled into the internal space 210 of airbag 21, its overall volume increases; conversely, when the gas or water is expelled from the internal space 210, its overall volume decreases. The structural design of airbag 21 allows control over the direction of its expansion and deformation. For example, a limiting ring is provided around the periphery of airbag 21 along the first direction M to limit deformation perpendicular to the first direction M. Alternatively, a retractable tubular structure, such as a corrugated tube or telescopic sleeve, is used around the periphery of airbag 21 along the first direction M to ensure that the direction of expansion and deformation of airbag 21 is parallel to the first direction M, thereby enabling the retractable movement of airbag 21.

[0091] Connector 22 refers to the structure used to connect the air pressure controller. Connector 22 being in communication with airbag 21 means that connector 22 is in communication with the internal space 210 of airbag 21. As an example, connector 22 can be installed on airbag 21 to directly communicate with the internal space 210 of airbag 21. As an example, connector 22 can also be in communication with the internal space 210 of airbag 21 via a pipe fitting.

[0092] As an example, the air pressure controller can be an inflator connected to connector 22 to inflate the airbag 21, thereby controlling the extension and retraction of the airbag 21. Alternatively, the air pressure controller can be a control valve connected to the inflator and connector 22, controlling the connection between connector 22 and the inflator to control the inflation or deflation of gas into the airbag 21, thus controlling the extension and retraction of the airbag 21.

[0093] An airbag 21 is mounted on a gripper 11 to support the airbag 21. The airbag 21 is positioned between two grippers 11 so that the grippers 11 can move the airbag 21 along a first direction M. When gripping a battery cell 41, the grippers 11 push the airbag 21 to hold the battery cell 41. When an airbag 21 is mounted on one gripper 11, the airbag 21 cooperates with the other gripper 11 to grip the battery cell 41. When airbags 21 are mounted on both grippers 11, the airbags 21 on the two grippers 11 cooperate to grip the battery cell 41.

[0094] "Connector 22 is supported on the corresponding gripper 11" means that the connector 22, which communicates with the airbag 21, is supported on the gripper 11 that supports the airbag 21. As an example, the connector 22 can be mounted on the gripper 11 that supports the corresponding airbag 21, with the gripper 11 supporting the connector 22. Alternatively, the connector 22 can be directly mounted on the airbag 21, with the airbag 21 directly supporting the connector 22, while the airbag 21 is mounted on the corresponding gripper 11, thus indirectly supporting the connector 22 on the gripper 11.

[0095] Through the above technical solution, the supporting structure 20 uses an airbag 21, and a connector 22 is provided on the airbag 21 to connect to a pressure controller. The pressure controller inflates the airbag 21, causing it to expand and extend. Conversely, the pressure controller controls the discharge of gas from the airbag 21, causing it to contract. The structure is simple and easy to control. Furthermore, using the airbag 21 to support the battery cell 41 allows for good adaptation to the dimensional tolerances of the battery cell 41, even when the extension size of the airbag 21 is constant and it can effectively hold a specific type of battery cell 41.

[0096] In some embodiments, please refer to Figures 1 to 8 The supporting structure 20 includes a guide 23 that supports and guides the airbag 21 to extend and retract along a first direction M. The guide 23 is mounted on a corresponding gripper 11. Along the first direction M, one end of the guide 23 is connected to the end of the airbag 21 away from the corresponding gripper 11.

[0097] The guide 23 is a structural component that can guide the movement of the airbag 21. The guide 23 is connected to the airbag 21 and can also support the airbag 21 so that the airbag 21 can move better along the first direction M.

[0098] The guide 23 being mounted on the corresponding gripper 11 means that the guide 23 is mounted on the gripper 11 that supports the airbag 21 guided by the guide 23. As an example, the guide 23 can be mounted on the gripper 11 that supports the corresponding airbag 21, with the gripper 11 supporting the guide 23. As an example, the guide 23 can be directly mounted on the airbag 21, with one end of the airbag 21 connected to the guide 23 fixed to the gripper 11, thus indirectly mounting the guide 23 on the gripper 11. The guide 23 is mounted on the corresponding gripper 11 so that the gripper 11 supports the guide 23, allowing the guide 23 to guide the telescopic movement of the airbag 21.

[0099] One end of the guide 23 refers to the end of the guide 23 along the first direction M, which is also the end of the guide 23 away from the gripper 11 supporting the guide 23 and close to the other gripper 11.

[0100] The end of the airbag 21 that is away from the corresponding gripper 11 refers to the end of the airbag 21 that is away from the gripper 11 that supports the airbag 21.

[0101] Since the guide 23 is mounted on the gripper 11, one end of the guide 23 along the first direction M is connected to the end of the airbag 21 away from the gripper 11 that supports the airbag 21, so that the guide 23 can stably support and guide the airbag 21 to extend and retract.

[0102] By using the above technical solution, the guide 23 is provided to support the airbag 21, which makes it easier for the airbag 21 to hold the battery cell 41 and thus stably clamp the battery cell 41; and by using the guide 23 to guide the extension and retraction of the airbag 21, it is easy to adjust the size of the airbag 21 along the first direction M.

[0103] In some embodiments, please refer to Figures 1 to 6 The guide 23 includes a guide rod 231, which is slidably mounted on the corresponding gripper 11 along the first direction M.

[0104] Guide rod 231 refers to the rod used to guide the movement of airbag 21. The cross-section of guide rod 231 can be circular, elliptical, polygonal, or other irregular shapes. Guide rod 231 can be made of materials such as metal, plastic, and ceramic.

[0105] The guide rod 231 is slidably mounted on the corresponding gripper 11 along the first direction M, with the length of the guide rod 231 parallel to the first direction M. The guide rod 231 is mounted on the gripper 11 and can slide relative to the gripper 11 along the first direction M, thereby supporting the guide rod 231 through the gripper 11 so that the guide rod 231 guides the airbag 21 to extend and retract along the first direction M.

[0106] The above technical solution uses a guide rod 231 to guide the airbag 21 to move along the first direction M. This method is simple in structure, low in cost, and easy to assemble. Furthermore, using the guide rod 231 allows it to pass through the gripper 11 and connect to the airbag 21, so that the gripper 11 supports the guide rod 231 and guides it to move along the first direction M.

[0107] In some embodiments, please refer to the following: Figure 7 and Figure 8 The guide 23 can also use a telescopic rod 232 to support and guide the airbag 21 to move along the first direction M.

[0108] In some embodiments, please refer to the following: Figure 1 , Figure 4 , Figure 5 , Figure 7 and Figure 8 At least a portion of the guide 23 is disposed inside the airbag 21.

[0109] The interior of airbag 21 refers to the internal space 210 of airbag 21.

[0110] The phrase "at least part of the guide 23 is located inside the airbag 21" means that the guide 23 can be completely placed inside the airbag 21, or a part of the guide 23 is located inside the airbag 21.

[0111] As an example, when the guide 23 uses the telescopic rod 232, the telescopic rod 232 can be placed inside the airbag 21 as a whole, and the airbag 21 can be guided to move in the first direction M by the telescopic movement of the telescopic rod 232.

[0112] As an example, when the guide 23 uses a guide rod 231 or a telescopic rod 232, one end of the guide rod 231 or the telescopic rod 232 can be inserted into the airbag 21, while the other end of the guide rod 231 or the telescopic rod 232 can extend out of the airbag 21 to connect with the gripper 11.

[0113] By extending the guide 23 into the airbag 21, the supporting force of the guide 23 on the airbag 21 can be close to or at the middle position of the airbag 21, so as to better support the airbag 21 and facilitate the airbag 21 to hold the battery cell 41.

[0114] In some embodiments, the guide 23 may also be disposed on the outside of the airbag 21, with one end of the guide 23 connected to the airbag 21 to support and guide the telescopic movement of the airbag 21. As an example, if the guide 23 uses a guide rod 231, the guide rod 231 can be disposed outside the airbag 21, slidably mounted on the gripper 11, and one end of the guide rod 231 connected to one end of the airbag 21, so as to support and guide the movement of one end of the airbag 21. As an example, if the guide 23 uses a telescopic rod 232, the telescopic rod 232 can be disposed outside the airbag 21, with one end of the telescopic rod 232 connected to one end of the airbag 21, and the other end of the telescopic rod 232 fixed to the gripper 11, so as to support and guide the telescopic movement of the airbag 21. As an example, the guide 23 uses a plate that can be slidably mounted on the gripper 11, while the airbag 21 is supported on the plate, and the end of the airbag 21 away from the corresponding gripper 11 is fixed to the plate so that the plate can support the airbag 21 and guide the airbag 21 to extend and retract.

[0115] In some embodiments, please refer to the following: Figure 9 The guide 23 may include a support 233, which is slidably mounted on the corresponding gripper 11. The support 233 is located outside the airbag 21, and one end of the support 233 is connected to the end of the airbag 21 away from the gripper 11 that supports the airbag 21. The airbag 21 is supported on the support 233.

[0116] The support member 233 refers to a plate, rod, or cylindrical member that can support the airbag 21. For example, if the airbag 21 has a circular cross-section, the support member 233 can be an arc-shaped plate, on which the airbag 21 is placed to support it. For example, if the airbag 21 has a rectangular cross-section, the support member 233 can be a flat plate. The support member 233 can be made of materials such as plastic, metal, or ceramic.

[0117] The support member 233 is slidably mounted on the corresponding gripper 11, which means that the support member 233 is slidably mounted on the gripper 11 corresponding to the airbag 21 to which the support member 233 is connected, so as to support the support member 233 through the gripper 11, and the support member 233 can slide on the gripper 11 along the first direction M.

[0118] One end of the support member 233 is connected to the end of the airbag 21 away from the gripper 11 that supports the airbag 21, so that when the airbag 21 moves along the first direction M under the control of air pressure, the support member 233 can move along the first direction M, and also guide the airbag 21 to move along the first direction M.

[0119] The airbag 21 is supported on the support member 233, thereby supporting the airbag 21 through the support member 233. When the airbag 21 clamps the battery cell 41, the support of the support member 233 can effectively reduce the deformation of the airbag 21, so that the airbag 21 can better clamp the battery cell 41 along the first direction M.

[0120] In some embodiments, please refer to the following: Figure 1 , Figure 4 , Figure 5 and Figure 7 Along the first direction M, one end of the guide 23 extends into the airbag 21, and the other end of the guide 23 extends out of the airbag 21 and is connected to the gripper 11. The airbag 21 is provided with a first opening 213 at one end near the gripper 11 for the other end of the guide 23 to extend out. The airbag 21 is sealed and connected to the gripper 11 around the first opening 213.

[0121] One end of the guide 23 refers to the end of the guide 23 along the first direction M. The other end of the guide 23 refers to the other end of the guide 23 along the first direction M.

[0122] The term "one end of guide 23 extends into the airbag 21" means that one end of guide 23 along the first direction M extends into the internal space 210 of airbag 21 in order to support airbag 21 and guide airbag 21 to move along the first direction M.

[0123] The other end of the guide 23 extends out of the airbag 21 and is connected to the gripper 11, which means that the other end of the guide 23 extends out of the airbag 21 and is connected to the gripper 11 that supports the airbag 21, so that the gripper 11 guides the guide 23.

[0124] One end of the guide 23 extends into the airbag 21, and the other end of the guide 23 extends out of the airbag 21 and is connected to the gripper 11, thereby supporting the guide 23 through the gripper 11. The guide 23 extends along the first direction M inside the airbag 21, thereby supporting and guiding the airbag 21 to move in and out along the first direction M.

[0125] The end of the airbag 21 near the gripper 11 refers to the end of the airbag 21 near the gripper 11 that supports the airbag 21.

[0126] The first opening 213 refers to the hole structure provided on the airbag 21 near the end of the gripper 11 that supports the airbag 21.

[0127] A first opening 213 is provided at one end of the airbag 21 so that one end of the guide 23 can be inserted into the airbag 21 and the other end of the guide 23 can be extended out of the airbag 21.

[0128] The area around the first opening 213 of the airbag 21 refers to the part of one end of the airbag 21 surrounding the first opening 213, and also the part of the airbag 21 surrounding the first opening 213 on the end of the airbag 21 near the gripper 11 that supports the airbag 21.

[0129] With the above technical solution, one end of the guide 23 is inserted into the airbag 21 to support the airbag 21, and the other end of the guide 23 is connected to the gripper 11 to fix and support the guide 23. The airbag 21 is sealed to the gripper 11 on the periphery of the first opening 213 to seal the internal space 210 of the airbag 21.

[0130] In some embodiments, please refer to the following: Figure 1 and Figure 7 When the guide 23 uses a telescopic rod 232 and the airbag 21 is provided with a first opening 213 for the telescopic rod 232 to extend, the airbag 21 can also be sealed to the periphery of the first opening 213 and the periphery of the telescopic rod 232. This structure can also seal the internal space 210 of the airbag 21.

[0131] In some embodiments, the size of the first opening 213 may be adapted to the size of the guide 23.

[0132] In some embodiments, the end of the airbag 21 near the corresponding gripper 11 can be configured to be open, so that the openness forms a first opening 213 for fabrication.

[0133] In some embodiments, please refer to the following: Figure 1 , Figure 4 , Figure 5 and Figure 7 The gripper 11 is provided with a second opening 110 for the other end of the guide 23 to be fitted into the guide. The inner surface of the second opening 110 is sealed to the peripheral side of the guide 23.

[0134] The second opening 110 refers to the hole structure provided on the gripper 11.

[0135] A second opening 110 is provided on the gripper 11, and the other end of the guide 23 is inserted into the second opening 110 so that the gripper 11 connects to and supports the guide 23.

[0136] The inner surface of the second opening 110 refers to the inner wall surface of the second opening 110.

[0137] The peripheral side surface of the guide 23 refers to the outer surface of the guide 23 surrounding the first direction M.

[0138] The sealing connection between the inner surface of the second opening 110 and the peripheral side of the guide 23 refers to filling the gap between the inner surface of the second opening 110 and the peripheral side of the guide 23 with sealant, sealing ring or other structures to reduce the risk of leakage of gas or liquid media from the internal space 210 of the airbag 21.

[0139] As an example, when the guide 23 uses the guide rod 231, the second opening 110 can be a through hole. The guide 23 is slidably inserted into the second opening 110. The gap between the guide and the inner surface of the second opening 110 can be sealed by a sealing ring or sealing ring, and the guide rod 231 can slide in the second opening 110.

[0140] As an example, when the guide 23 uses the telescopic rod 232, the second opening 110 can be a through hole. The telescopic rod 232 is inserted into the second opening 110, and the gap between the telescopic rod 232 and the inner surface of the second opening 110 can be sealed using a sealing ring, sealing ring, or sealant.

[0141] As an example, when the guide 23 uses a telescopic rod 232, the second opening 110 can be a blind hole. The other end of the telescopic rod 232 is inserted into the second opening 110, and the gap between the telescopic rod 232 and the inner surface of the second opening 110 can be sealed using a sealing ring, sealing ring, or sealant.

[0142] By using the above technical solution, the other end of the guide 23 is inserted into the gripper 11 to facilitate the assembly of the guide 23 and to make the gripper 11 support the guide 23 more stably; by sealing the inner surface of the second opening 110 with the peripheral side of the guide 23, the risk of leakage of the internal space 210 of the airbag 21 can be reduced.

[0143] In some embodiments, please refer to the following: Figure 1 , Figures 4 to 8 The airbag 21 includes a rigid part 211 for supporting the battery cell 41 and a deformable part 212 connected to the rigid part 211 to form an internal space 210. The deformable part 212 is connected to a corresponding gripper 11.

[0144] The rigid part 211 refers to the structural part of the airbag 21 that has a certain degree of hardness and small elastic deformation. The rigid part 211 can be made of materials such as plastic, metal, fiber, hard rubber, and hard silicone.

[0145] The deformable part 212 refers to the stretchable and deformable structural part of the airbag 21. As an example, the deformable part 212 can be a structural part made of an elastically deformable material. The deformable part 212 can be made of flexible materials such as rubber or silicone. The deformable part 212 can also be made of a corrugated tube. The deformable part 212 can also be made of a telescopic sleeve.

[0146] The deformable part 212 is connected to the rigid part 211 to form an internal space 210, which can be filled with a medium such as gas. The deformable part 212 deforms and expands to push the rigid part 211 to extend and move, while the deformable part 212 contracts to drive the rigid part 211 to contract and move.

[0147] Since the airbag 21 is mounted on the gripper 11, the deformable part 212 is connected to the corresponding gripper 11 to support the airbag 21 on the gripper 11.

[0148] Through the above technical solution, a rigid part 211 is provided to stably support the battery cell 41 and facilitate clamping the battery cell 41; a deformable part 212 is provided to support and drive the rigid part 211 to extend and retract. The deformable part 212 is connected to the rigid part 211 to form an internal space 210, so as to adjust the air pressure of the internal space 210, thereby adjusting the extension and retraction of the rigid part 211.

[0149] In some embodiments, a rigid component may be provided at the end of the airbag 21 opposite to the gripper 11 supporting the airbag 21 to enhance the structural strength of the end of the airbag 21 opposite to the gripper 11, so as to support the battery cell 41. The rigid component refers to a structural component with a certain degree of hardness and small elastic deformation. The rigid component can be made of materials such as plastic, metal, fiber, hard rubber, and hard silicone.

[0150] In some embodiments, when the supporting structure 20 includes a guide 23, the rigid portion 211 can be connected to the guide 23 so that the guide 23 supports the rigid portion 211. In some embodiments, the rigid portion 211 and the guide 23 can be integrally formed for ease of manufacturing and to ensure a good connection between the rigid portion 211 and the guide 23.

[0151] In some embodiments, please refer to the following: Figure 1 , Figures 4 to 8 The holding structure 20 includes multiple airbags 21, which are arranged on the gripper 11.

[0152] Multiple refers to two or more items.

[0153] Since there are often certain errors in the manufacturing of battery cells 41, such as the surface of some battery cells 41 not being completely flat, multiple airbags 21 are set up. Each airbag 21 abuts against a part of the surface of the battery cell 41. In this way, multiple airbags 21 work together to more stably abut against the surface of the battery cell 41, so as to stably clamp the battery cell 41.

[0154] By using the above technical solution, multiple airbags 21 can be made smaller, thereby reducing deformation in the first direction M, making it easier for the airbags 21 to hold the battery cell 41, and thus clamping the battery cell 41 more stably. In addition, the cooperation of multiple airbags 21 to hold the gripper 11 means that even if one airbag 21 exerts a small force on the battery cell 41, the battery cell 41 can still be stably clamped with the cooperation of other airbags 21. Moreover, it can better adapt to changes in the size manufacturing error of the battery cell 41.

[0155] In some embodiments, multiple airbags 21 are provided. When the supporting structure 20 includes a guide 23, each airbag 21 can be connected to one or more guides 23. That is, the relationship between airbag 21 and guide 23 can be one-to-one, or the relationship between airbag 21 and guide 23 can be one-to-many.

[0156] In some embodiments, multiple airbags 21 are provided, and when the abutment structure 20 includes a guide 23, some of the airbags 21 may be connected to one or more guides 23.

[0157] In some embodiments, multiple airbags 21 are provided. When the supporting structure 20 includes a guide 23, one guide 23 can be connected to one airbag 21. Of course, when the guide 23 is located outside the airbag 21, one guide 23 can also be connected to multiple airbags 21.

[0158] In some embodiments, please refer to the following: Figure 1 and Figure 6 Each gripper 11 is equipped with a retaining structure 20, and the retaining structures 20 on the two grippers 11 are used to clamp the battery cell 41.

[0159] The phrase "each gripper 11 is equipped with a retaining structure 20" means that each gripper 11 is equipped with a retaining structure 20.

[0160] Since the supporting structure 20 is located between the two grippers 11, the two grippers 11 drive the two supporting structures 20 to move closer and further away from each other, thereby enabling the two supporting structures 20 to cooperate in clamping the battery cell 41.

[0161] By using the above technical solution, by installing the abutment structure 20 on each of the grippers 11, the grippers 11 can be adapted to clamp a larger range of battery cells 41 and to clamp more battery cells 41 of various sizes and models.

[0162] In some embodiments, please refer to the following: Figures 1 to 3The gripper body 10 includes a support 13, each gripper 11 is on the support 13, at least one gripper 11 is slidably mounted on the support 13, and the drive structure 12 is supported on the support 13.

[0163] Support 13 refers to the seat structure used to support the gripper 11. Support 13 can be made of metals such as steel and aluminum alloy, or it can be made of materials such as high-strength plastics. Support 13 can be plate-shaped, block-shaped, or other shapes.

[0164] At least one gripper 11 is slidably mounted on the support 13, meaning that one of the two grippers 11 can be slidably mounted on the support 13, or both grippers 11 can be slidably mounted on the support 13.

[0165] The drive structure 12 is supported on the support 13, which means that the drive structure 12 is installed on the support 13 and the support 13 supports the drive structure 12.

[0166] As an example, one gripper 11 can be fixed to the support 13, and the other gripper 11 can be slidably mounted on the support 13. The drive structure 12 can use a linear module to directly drive the gripper 11 slidably mounted on the support 13 to move, so that the two grippers 11 move closer and further away from each other to clamp the battery cell 41.

[0167] As an example, two grippers 11 can be slidably mounted on the support 13 respectively. The drive structure 12 uses a linear module, which can drive each gripper 11 to move respectively.

[0168] As an example, two grippers 11 can be slidably mounted on the support 13 respectively. The drive structure 12 uses a linear module. Two tie rods can be installed on the support 13. One end of each tie rod is connected to the linear module, and the other end of each tie rod is hinged to the two grippers 11 respectively. The linear module drives the two tie rods to move perpendicular to the first direction M, so that the other ends of the two tie rods move closer to each other and further away from each other, thereby driving the two grippers 11 to move closer to each other and further away from each other.

[0169] As an example, the drive structure 12 can use a combination of a rotating structure and a gear. A rack is connected to a jaw 11 slidably mounted on the support 13. The rack is slidably mounted in the support 13 along a first direction M. A gear is connected to the rotating structure, which drives the gear to rotate, thereby causing the rack to move in the support 13 along the first direction M, and thus causing the jaw 11 to move on the support 13 along the first direction M. If only one jaw 11 is slidably mounted on the support 13, only one rack can be provided. If two jaws 11 are slidably mounted on the support 13 respectively, each jaw 11 is connected to a rack, and the two racks mesh with opposite sides of the gear. When the gear rotates, it can drive the two racks to move synchronously in opposite directions, thereby causing the two jaws 11 to move closer to and further away from each other.

[0170] Through the above technical solution, a support 13 is set to support each gripper 11 and the drive structure 12 so that the gripper 11 and the supporting structure 20 can cooperate to more stably clamp the battery cell 41.

[0171] In some embodiments, please refer to the following: Figures 1 to 3 The battery gripper 100 includes a connector 30, and the gripper body 10 is mounted on the connector 30.

[0172] The connecting seat 30 refers to the seat structure used to connect to the external support. The connecting seat 30 can be made of metals such as steel and aluminum alloy, or high-strength plastics. The connecting seat 30 can be plate-shaped, block-shaped, or other shapes. The gripper body 10 is mounted on the connecting seat 30 to support the gripper.

[0173] The above technical solution provides a connecting base 30 for connecting to an external support medium, facilitating the safe use of the battery gripper 100.

[0174] In some embodiments, the gripper body 10 can be directly mounted on an external support medium to use the battery gripper 100.

[0175] In some embodiments, please refer to the following: Figure 1 and Figure 10 The holding structure 20 can also use other structures that can extend between the two grippers 11. For example, the holding structure 20 can use a screw 24, which is mounted on the gripper 11. By rotating the screw 24, the length of the screw 24 extending between the two grippers 11 can be adjusted to accommodate a wider range of battery cells 41, improving the compatibility of the battery gripper 100. Alternatively, the holding structure 20 can use a combination of a pin and a locking element. The pin is slidably mounted on the gripper 11, and after adjusting the length of the pin extending between the two grippers 11, the locking element locks the pin. The locking element can be a screw or similar structure mounted on the gripper 11.

[0176] Please see Figures 1 to 4 According to some embodiments of this application, this application provides a battery gripper 100, including a gripper body 10 and a supporting structure 20; the gripper body 10 includes two grippers 11 spaced apart along a first direction M and a drive structure 12 for driving the two grippers 11 to open and close; at least one gripper 11 is equipped with the supporting structure 20; the supporting structure 20 includes an airbag 21 that is retractable and deformable along the first direction M, a connector 22 for connecting to a pressure controller, and a guide 23 for supporting and guiding the airbag 21 to extend and retract along the first direction M; there are multiple airbags 21, which are arranged on the grippers 11; the connector 22 communicates with the airbags 21; the airbags 21 are mounted on the grippers 11, and the airbags 21 are connected to the grippers 11. The airbag 21 is located between two grippers 11, and the connector 22 is supported on the corresponding gripper 11. The guide 23 includes a guide rod 231. Along the first direction M, one end of the guide rod 231 extends into the airbag 21, and the other end of the guide rod 231 extends out of the airbag 21 and connects with the gripper 11. The end of the airbag 21 near the gripper 11 is provided with a first opening 213 for the other end of the guide rod 231 to extend out. The airbag 21 is sealed to the gripper 11 around the first opening 213. The guide rod 231 is slidably mounted on the corresponding gripper 11 along the first direction M. The gripper 11 is provided with a second opening 110 for the other end of the guide rod 231 to fit through. The inner surface of the second opening 110 is sealed to the circumferential surface of the guide rod 231.

[0177] An airbag 21 that can extend and retract along the first direction M is installed on the gripper 11, and a guide rod 231 is slidably installed on the gripper 11 to guide the airbag 21 to extend and retract along the first direction M. Thus, the extension and retraction length of the airbag 21 can be controlled by adjusting the air pressure or medium pressure in the airbag 21. In this way, when the stroke of the two grippers 11 of the gripper body 10 is limited, the extension and retraction length of the airbag 21 on the gripper 11 can be adjusted to adapt to the gripping of battery cells 41 with a larger size range, thereby improving the compatibility of the battery gripper 100.

[0178] This application also provides a transfer mechanism, including a movable structure and a battery gripper 100 as described in the above embodiments, wherein the battery gripper 100 is mounted on the movable structure.

[0179] The moving structure can be a robotic arm, a moving platform, or other structure that can drive the battery gripper 100 to move. A moving platform refers to a structure formed by combining one or more linear modules or a rotating mechanism that can move the battery gripper 100. For example, a moving platform using a single linear module can move the battery gripper 100 in one direction. For example, a moving platform using two linear modules can connect the actuator of one linear module to the actuator of the other linear module to move the battery gripper 100 in two directions. For example, the combination of a linear module and a rotating mechanism can move the battery gripper 100 in one direction and rotate it about one direction.

[0180] A movable structure is provided to support and drive the battery gripper 100 to move, thereby allowing the battery cell 41 to be transferred and moved to a set position when the battery gripper 100 is holding the battery cell 41.

[0181] This application also provides a battery production apparatus, including the battery gripper 100 as described in the above embodiments.

[0182] This application also provides a battery production equipment, including a transfer mechanism as described in the above embodiments.

[0183] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This 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 battery gripper characterized by, include: The gripper body includes two grippers spaced apart along a first direction and a drive structure for driving the two grippers to open and close. The abutment structure is adjustable in size along the first direction, and the adjustment range of the abutment structure along the first direction is 10mm-500mm. The abutment structure is used to abut against a single battery cell. At least one of the grippers is equipped with the abutment structure.

2. The battery gripper of claim 1, wherein, The supporting structure includes an airbag that can stretch and deform along the first direction and a connector for connecting a pressure controller. The connector communicates with the airbag, the airbag is mounted on the gripper, and the airbag is located between two of the grippers. The connector is supported on the corresponding gripper.

3. The battery gripper of claim 2, wherein, The supporting structure includes a guide that supports and guides the airbag to extend and retract along the first direction, the guide being mounted on a corresponding gripper; along the first direction, one end of the guide is connected to the end of the airbag away from the corresponding gripper.

4. The battery gripper of claim 3, wherein, The guide includes a guide rod, which is slidably mounted on the corresponding gripper along the first direction.

5. A battery gripper as claimed in claim 3 or 4, characterised in that, At least a portion of the guide is disposed inside the airbag.

6. The battery gripper of claim 5, wherein, Along the first direction, one end of the guide extends into the airbag, and the other end of the guide extends out of the airbag and is connected to the gripper. The airbag has a first opening near the corresponding gripper for the other end of the guide to extend out, and the airbag is sealed to the gripper around the first opening.

7. The battery gripper of claim 6, wherein, The gripper is provided with a second opening for the other end of the guide to be fitted and inserted, and the inner surface of the second opening is sealed to the peripheral side of the guide.

8. The battery gripper of any one of claims 2-4, wherein, The airbag includes a rigid portion for supporting the battery cell and a deformable portion connected to the rigid portion to form an internal space, the deformable portion being connected to a corresponding gripper.

9. The battery gripper of any one of claims 2-4, wherein, The supporting structure includes a plurality of airbags arranged on the gripper.

10. The battery gripper of any one of claims 1-4, wherein, The gripper body includes a support, each of the grippers is supported on the support, at least one of the grippers is slidably mounted on the support, and the drive structure is supported on the support.

11. The battery gripper of any one of claims 1-4, wherein, The battery gripper includes a connector, and the gripper body is mounted on the connector.

12. A transfer mechanism, characterized by, It includes a movable structure and a battery gripper as described in any one of claims 1-11, the battery gripper being mounted on the movable structure.

13. A battery production apparatus characterized by comprising: It includes the battery gripper as described in any one of claims 1-11, or the transfer mechanism as described in claim 12.

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