Clamping device and battery production system

Abstract

The application discloses a clamping device and a battery production system. The clamping device comprises a clamping mechanism, the clamping mechanism comprises a base plate, at least two fixed jaw assemblies and a movable mechanism, the at least two fixed jaw assemblies are arranged at intervals on the base plate, and the movable mechanism is movably arranged on the base plate. The movable mechanism comprises at least two movable jaw assemblies arranged at intervals, the at least two fixed jaw assemblies and the at least two movable jaw assemblies are arranged alternately, a first driving member is connected with the movable mechanism and used for driving the movable jaw assemblies to move, and the movable jaw assemblies convert the driving force of the first driving member into elastic force. At least two movable jaw assemblies are driven to move close to corresponding fixed jaw assemblies by the first driving member, equivalent to that at least two pairs of jaws work simultaneously, a plurality of materials are grabbed at one time, and the material grabbing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of battery technology, specifically to a clamping device and a battery production system. Background Technology

[0002] In industrial production, clamping devices are often used to hold materials. However, existing clamping devices can only grasp one piece of material at a time, which reduces the material grasping efficiency. Utility Model Content

[0003] In view of the above problems, this application provides a clamping device and a battery production system. Existing clamping devices can only grasp one material at a time, which reduces the material grasping efficiency.

[0004] To solve the above-mentioned technical problems, this application adopts the following technical solution: a clamping device, including a clamping mechanism, the clamping mechanism comprising: a base plate; at least two fixed gripper assemblies, spaced apart on the base plate; a movable mechanism, movably disposed on the base plate; the movable mechanism includes at least two movable gripper assemblies spaced apart, at least two fixed gripper assemblies and at least two movable gripper assemblies alternately arranged; a first driving member, connected to the movable mechanism, for driving the movable gripper assemblies to move; the movable gripper assemblies convert the driving force of the first driving member into elastic force. By driving at least two movable gripper assemblies closer to their corresponding fixed gripper assemblies through a first driving member, it is equivalent to at least two pairs of grippers working simultaneously, realizing the simultaneous gripping of multiple materials, thus improving material gripping efficiency.

[0005] In some embodiments, at least two movable gripper assemblies are movably connected to the substrate; the movable mechanism further includes a connector that connects the at least two movable gripper assemblies, and a first drive member that is connected to the connector or a movable gripper assembly. Through the combined action of the at least two movable gripper assemblies, the connector, and the first drive member, the connector provides a rigid series connection. One first drive member drives the connector or a movable gripper assembly to move multiple movable gripper assemblies closer to or further away from their corresponding fixed gripper assemblies, increasing the amount of material that can be gripped at one time and thus improving material gripping efficiency.

[0006] In some embodiments, the movable gripper assembly includes a movable part that can slide on a substrate. The movable part is provided with extensions, and a connector is detachably connected to multiple extensions. Connecting the connector to the extensions on the movable part facilitates the installation and replacement of the connector and reduces the risk of interference.

[0007] In some embodiments, one of the movable part and the substrate is provided with a first sliding part, and the other of the movable part and the substrate is provided with a first sliding track, and the first sliding part and the first sliding track are slidably connected. By providing the aforementioned first sliding part and first sliding track between the movable part and the substrate, the risk of the movable gripper assembly moving off-center in the first direction can be reduced, making the operation of the movable gripper assembly smoother.

[0008] In some embodiments, the movable mechanism includes a changing component movably connected to a substrate. At least two movable gripper assemblies are spaced apart on the side of the changing component facing away from the substrate. Fixed gripper assemblies pass through the changing component. A first drive member is connected to the substrate, and its drive shaft is connected to the end of the changing component facing the first drive member. Through the combined action of at least two movable gripper assemblies, the changing component, and the first drive member, a first drive member drives multiple movable gripper assemblies on the changing component to move closer to or further away from their corresponding fixed gripper assemblies, increasing the amount of material gripped at one time and thus improving material gripping efficiency.

[0009] In some embodiments, the moving mechanism further includes a first changing member and a second changing member; the first changing member includes a plurality of spaced-apart first changing units, each first changing unit including a first mounting portion and a first clearance hole, the first mounting portion being disposed on a side of the first changing member away from the substrate, and a first distance being between the first mounting portion and the first clearance hole; the first clearance hole having a first hole length; the second changing member includes a plurality of spaced-apart second changing units, each second changing unit including a second mounting portion and a second clearance hole, the second mounting portion being disposed on a side of the second changing member away from the substrate, and a second distance being between the second mounting portion and the second clearance hole; the second clearance hole having a second hole length; wherein the first distance and the second distance are different; and / or, the first hole length and the second hole length are different. By defining the first distance and / or the first hole length in the different changing members as described above, the gripping requirements of different material sizes can be met, thereby improving versatility, etc.

[0010] In some embodiments, the movable mechanism includes a sliding stage, a shape-changing component detachably connected to the sliding stage, the sliding stage being slidably disposed on the substrate, a drive shaft of a first drive component connected to the end of the sliding stage, and a fixed gripper assembly sequentially passing through the sliding stage and the shape-changing component. Through the combined action of the sliding stage, the shape-changing component, and the substrate, the disassembly and replacement of different shape-changing components can be facilitated, thereby meeting the needs of materials of different sizes and increasing versatility.

[0011] In some embodiments, one end of the substrate and one end of the slide stage are provided with a second sliding portion, and the other end of the substrate and one end of the slide stage are provided with a second sliding track; one end of the substrate and the other end of the slide stage are provided with another second sliding portion, and the other end of the substrate and the other end of the slide stage are provided with another second sliding track. By providing the above-mentioned two second sliding portions and two second sliding tracks between the slide stage and the substrate, the risk of the slide stage shifting relative to the substrate in the first direction can be reduced, making the operation of the movable gripper assembly smoother.

[0012] In some embodiments, the movable gripper assembly includes a movable part, a fixed part, a movable gripper, and an elastic component. The movable part slides on or is connected to a substrate, the movable gripper slides on the movable part, the fixed part is connected to the movable part, and the elastic component is disposed between the fixed part and the movable gripper, providing the movable gripper with an elastic force away from the fixed part. Through the combined action of the movable part, the fixed part, the movable gripper, and the elastic component, the elastic component can automatically adjust the clamping force on the material, preventing overpressure that could cause surface damage and deformation of the material.

[0013] In some embodiments, the elastic component includes a spring and a guide portion, the guide portion being connected between the movable gripper and the fixed portion, and the spring being sleeved on the guide portion. Through the combined action of the spring and the guide portion, a guiding force can be provided to the spring.

[0014] In some embodiments, a limiting portion is provided at the end of the movable part, which limits the movement distance of the movable gripper. This limiting portion limits the sliding distance of the movable gripper, thereby reducing the risk of the movable gripper disengaging.

[0015] In some embodiments, the clamping device includes a gripper frame, and a clamping mechanism is movably connected to the gripper frame. Through the combined action of the gripper frame and the clamping mechanism, the material gripping needs at different locations can be met, improving versatility.

[0016] In some embodiments, the clamping device includes at least two clamping mechanisms and a second drive member. The second drive member is connected between the gripper frame and at least one clamping mechanism to change the distance between adjacent clamping mechanisms. Through the combined action of the at least two clamping mechanisms and the second drive member, the distance between adjacent clamping mechanisms can be changed, thereby enabling the adaptation to different production lines and material travel patterns.

[0017] To address the aforementioned technical problems, this application adopts the following technical solution: a battery production system, comprising: the aforementioned clamping device; at least two battery cells, wherein the movable gripper assembly and the fixed gripper assembly in the clamping device clamp or release the battery cells. Through the aforementioned clamping device and at least two battery cells, a first driving member in the clamping device drives at least two movable gripper assemblies to approach the corresponding fixed gripper assemblies, thereby enabling the simultaneous gripping of multiple materials and improving material gripping efficiency.

[0018] 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

[0019] 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:

[0020] Figure 1 This is a first structural schematic diagram of the first embodiment of the clamping device of this application;

[0021] Figure 2 yes Figure 1 An enlarged schematic diagram of A shown;

[0022] Figure 3 This is an exploded view of the clamping mechanism in the first embodiment of the clamping device of this application;

[0023] Figure 4 This is a schematic diagram of the clamping mechanism in the first embodiment of the clamping device of this application;

[0024] Figure 5 yes Figure 4 An enlarged schematic diagram of B is shown below;

[0025] Figure 6 This is a partial structural schematic diagram of the clamping mechanism in the first embodiment of the clamping device of this application;

[0026] Figure 7 This is a front view of the clamping mechanism in the second embodiment of the clamping device of this application;

[0027] Figure 8 This is a bottom view of the clamping mechanism in the second embodiment of the clamping device of this application;

[0028] Figure 9This is a schematic diagram of the sliding stage in the second embodiment of the clamping device of this application;

[0029] Figure 10 This is a schematic diagram of the structure of the first changing component in the second embodiment of the clamping device of this application;

[0030] Figure 11 This is a schematic diagram of the structure of the second changing component in the second embodiment of the clamping device of this application;

[0031] Figure 12 This is a schematic diagram of the structure of the movable gripper assembly in the first embodiment of the clamping device of this application;

[0032] Figure 13 This is an exploded view of the movable gripper assembly in the first embodiment of the clamping device of this application;

[0033] Figure 14 This is a schematic diagram of the structure of the movable gripper assembly in the second embodiment of the clamping device of this application;

[0034] Figure 15 This is a schematic diagram of the structure of the fixed gripper assembly in the first embodiment of the clamping device of this application;

[0035] Figure 16 This is an exploded view of the first embodiment of the clamping device of this application.

[0036] The reference numerals in the detailed embodiments are as follows: 10, clamping device; 11, clamping mechanism; 12, base plate; 13, fixed gripper assembly; 131, fixed gripper; 1311, second buffer pad; 14, movable mechanism; 141, movable gripper assembly; 1411, movable part; 14111, limiting part; 14112, extension part; 1412, fixing part; 1413, movable gripper; 14131, first buffer pad; 1414, elastic component; 14141, spring; 14142, guide part; 1415, third sliding part; 1416, third sliding track; 142, connecting member; 143, changing part; 1431, first changing part. Components; 14311, First changing unit; 14311a, First mounting part; 14311b, First clearance hole; 1432, Second changing component; 14321, Second changing unit; 14321a, Second mounting part; 14321b, Second clearance hole; 144, Sliding table; 1441, Third clearance hole; 15, First driving component; 1611, First sliding part; 1612, First sliding track; 1621, Second sliding part; 1622, Second sliding track; 1631, Fourth sliding part; 1632, Fourth sliding track; 17, Grab frame; 18, Second driving component; 19, Connecting flange; 20, Battery cell. Detailed Implementation

[0037] The embodiments of the technical solution of this application will be described in detail below. The following embodiments are only used to illustrate the technical solution of this application more clearly, and are therefore only examples, and should not be used to limit the scope of protection of this 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 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.

[0039] 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. In the description of the embodiments of this application, unless otherwise explicitly specified, 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).

[0040] 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.

[0041] 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.

[0042] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "front", "rear", "inner", "outer", 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.

[0043] In the description of the embodiments of this application, unless otherwise expressly specified and limited, 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.

[0044] In industrial production, clamping devices are often used to hold materials. However, existing clamping devices usually only have one pair of jaws, which can only grasp one piece of material at a time, reducing material grasping efficiency.

[0045] To address the problem that existing gripping devices can only grasp one material at a time, thus reducing material grasping efficiency, this application provides a gripping device. The gripping device includes a gripping mechanism, which comprises a base plate, at least two fixed gripper assemblies, and a movable mechanism. The at least two fixed gripper assemblies are spaced apart on the base plate; the movable mechanism is movably mounted on the base plate; the movable mechanism includes at least two movable gripper assemblies spaced apart, with at least two fixed gripper assemblies and at least two movable gripper assemblies alternately arranged; a first driving member is connected to the movable mechanism and drives the movable gripper assemblies to move; the movable gripper assemblies convert the driving force of the first driving member into elastic force. By having one first driving member drive at least two movable gripper assemblies to approach their corresponding fixed gripper assemblies, it is equivalent to at least two pairs of grippers working simultaneously, enabling the grasping of multiple materials at once and improving material grasping efficiency.

[0046] Please see Figure 1 , Figure 2 , Figure 3 as well as Figure 4 , Figure 1 This is a first structural schematic diagram of the first embodiment of the clamping device of this application; Figure 2 yes Figure 1 An enlarged schematic diagram of A shown; Figure 3 This is an exploded view of the clamping mechanism in the first embodiment of the clamping device of this application; Figure 4This is a schematic diagram of the clamping mechanism in the first embodiment of the clamping device of this application. This application provides a clamping device. The clamping device 10 includes a clamping mechanism 11. The clamping mechanism 11 includes a base plate 12, at least two fixed gripper assemblies 13, and a movable mechanism 14. The at least two fixed gripper assemblies 13 are spaced apart on the base plate 12. The movable mechanism 14 is movably disposed on the base plate 12. The movable mechanism 14 includes at least two movable gripper assemblies 141 spaced apart. The at least two fixed gripper assemblies 13 and the at least two movable gripper assemblies 141 are alternately arranged. A first driving member 15 is connected to the movable mechanism 14 and is used to drive the movable gripper assemblies 141 to move. The movable gripper assemblies 141 convert the driving force of the first driving member 15 into an elastic force.

[0047] The substrate 12 provides mounting positions for at least two fixed gripper assemblies 13, the movable mechanism 14, and the first drive member 15. The substrate 12 may be, but is not limited to, plate shape.

[0048] The number of fixing gripper assemblies 13 can be, but is not limited to, two, three, or more than four. In this embodiment, for example, there are two fixing gripper assemblies 13. At least two fixing gripper assemblies 13 are spaced apart on the substrate 12. Figure 1 As shown, at least two clamping jaw assemblies 13 can be spaced apart on the substrate 12 along the first direction X. When there are three clamping jaw assemblies 13, the three clamping jaw assemblies 13 are equally spaced on the substrate 12. The first direction X can be, but is not limited to, the front-back direction. The clamping jaw assemblies 13 can be detachably or fixedly connected to the surface of the substrate 12, which is not limited here.

[0049] The movable mechanism 14 is capable of moving a certain distance relative to the substrate 12 in the front-to-back direction. The movable mechanism can be, but is not limited to, sliding, rolling, and moving. The number of movable gripper assemblies 141 of the movable mechanism 14 can be, but is not limited to, two, three, or more than four. In this embodiment, the number of movable gripper assemblies 141 is two. At least two movable gripper assemblies 141 are spaced apart along the first direction X. When the number of movable gripper assemblies 141 is three, the three movable gripper assemblies 141 are equally spaced.

[0050] The aforementioned at least two movable gripper assemblies 141 can be directly and movably disposed on the substrate 12 along the first direction X; or the at least two movable gripper assemblies 141 can be indirectly and movably disposed on the substrate 12 along the first direction X, as long as the at least two movable gripper assemblies 141 can move synchronously, and no limitation is made here.

[0051] The number of movable gripper assemblies 141 can be the same as the number of fixed gripper assemblies 13. When two fixed gripper assemblies 13 and two movable gripper assemblies 141 are alternately arranged, one movable gripper assembly 141, one fixed gripper assembly 13, another movable gripper assembly 141, and another fixed gripper assembly 13 are arranged in sequence. When three fixed gripper assemblies 13 and three movable gripper assemblies 141 are alternately arranged, one movable gripper assembly 141, one fixed gripper assembly 13, another movable gripper assembly 141, another fixed gripper assembly 13, yet another movable gripper assembly 141, and yet another fixed gripper assembly 13 are arranged in sequence. The same principle applies when four fixed gripper assemblies 13 and four movable gripper assemblies 141 are alternately arranged, and will not be repeated here.

[0052] The first drive member 15 is detachably or fixedly connected to the movable mechanism 14, etc. The first drive member 15 is used to provide driving force. The first drive member 15 can drive the movable gripper assembly 141 on the movable mechanism 14 to move closer to or away from the corresponding fixed gripper assembly 13, so that the movable gripper assembly 141 and the fixed gripper assembly 13 clamp or release the material.

[0053] When the first driving member 15 drives the movable gripper assembly 141 to move, the movable gripper assembly 141 can convert the driving force of the first driving member 15 into elastic force, which can reduce the risk of damage to the material surface due to overpressure. The first driving member 15 can be, but is not limited to, a first driving cylinder. The material can be, but is not limited to, a battery cell.

[0054] By driving at least two movable gripper assemblies 141 to approach the corresponding fixed gripper assembly 13 through a first driving member 15, it is equivalent to at least two pairs of grippers working simultaneously, enabling the simultaneous gripping of multiple materials and improving material gripping efficiency. Furthermore, the movable gripper assembly 141 can convert the driving force of the first driving member 15 into elastic force, reducing the risk of damaging the material surface due to excessive driving force.

[0055] Please see Figure 5 , Figure 5 yes Figure 4 An enlarged schematic diagram of B is shown. (Combined with...) Figures 1 to 4 In some embodiments, at least two movable gripper assemblies 141 are movably connected to the substrate 12. The movable mechanism 14 also includes a connector 142. The connector 142 connects at least two movable gripper assemblies 141. A first drive member 15 is connected to the connector 142 or the movable gripper assembly 141.

[0056] The movable gripper assembly 141 is movably connected to the substrate 12. The movable gripper assembly 141 can move a certain distance relative to the substrate 12 in the front-to-back direction. The movable connection can be, but is not limited to, sliding, rolling, and moving.

[0057] The connector 142 can be detachably or fixedly connected to any part of at least two movable gripper assemblies 141, as long as the movement of the connector 142 can drive the movement of the movable gripper assemblies 141. The drive shaft of the first drive member 15 can be detachably or fixedly connected to the connector 142, such as... Figure 4 Alternatively, the drive shaft of the first drive member 15 can be detachably or fixedly connected to the adjacent movable gripper assembly 141. Alternatively, the drive shaft of the first drive member 15 can be simultaneously connected to the connector 142 or the movable gripper assembly 141, etc. The first drive member 15 can be disposed on the surface of the substrate 12 so that the substrate 12 fixes the first drive member 15.

[0058] Through the combined action of at least two movable gripper assemblies 141, a connector 142, and a first driving member 15, the connector 142 provides a rigid connection. One first driving member 15 drives the connector 142 or the movable gripper assembly 141 to move multiple movable gripper assemblies 141 closer to or further away from their corresponding fixed gripper assemblies 13, increasing the amount of material that can be gripped at one time and thus improving material gripping efficiency. Furthermore, the connector 142 can be directly connected to any component of the movable gripper assembly 141, resulting in a simple structure and ease of installation.

[0059] In other embodiments, the amount of material that can be gripped at one time can also be increased by increasing the length of the substrate 12 extending along the first direction X, increasing the number of movable gripper assemblies 141 and the number of fixed gripper assemblies 13.

[0060] Please see Figure 6 , Figure 6 This is a partial structural schematic diagram of the clamping mechanism in the first embodiment of the clamping device of this application. (Combined with...) Figures 1 to 5 In some embodiments, the movable gripper assembly 141 includes a movable portion 1411. The movable portion 1411 is slidable on the substrate 12. The movable portion 1411 is provided with extensions 14112. The connector 142 is detachably connected to a plurality of extensions 14112.

[0061] The connector 142 can be detachably or fixedly connected to any part of at least two movable gripper assemblies 141, as long as the movement of the connector 142 can drive the movement of the movable gripper assembly 141. The connector 142 can be, but is not limited to, columnar or rod-shaped.

[0062] In one embodiment, connector 142 is detachably connected to movable portion 1411 of movable gripper assembly 141. Movable portion 1411 slides along base plate 12 in a front-rear direction. Movable portion 1411 is detachably or securely connected to extension portion 14112. Movable portion 1411 provides a mounting position for extension portion 14112.

[0063] When there are at least two movable gripper assemblies 141, the movable part 1411 is detachably connected to at least two extensions 14112. As in this embodiment, when there are two movable gripper assemblies 141, the connector 142 and the two extensions 14112 are connected by bolts.

[0064] Specifically, the movable part 1411 extends along a first direction. The extension 14112 is located at one end or the other end of the movable part 1411 extending along the first direction, which reduces the risk of the connector 142 interfering with the movement of the movable gripper assembly 141. Connecting the movable part 1411 to the connector 142 via the extension 1411 facilitates the installation and replacement of the connector 142, reducing the risk of interference. Furthermore, since the movable part 1411 is a main component of the movable gripper assembly 141, connecting it to the extension 14112 on the movable part via the connector 142 further facilitates the transmission of driving force.

[0065] In some embodiments, one of the movable part 1411 and the substrate 12 is provided with a first sliding part 1611. The other of the movable part 1411 and the substrate 12 is provided with a first sliding track 1612. The first sliding part 1611 and the first sliding track 1612 are slidably connected.

[0066] A first sliding assembly (not shown in the figure) is provided between the movable part 1411 and the substrate 12. The movable part 1411 slides a certain distance relative to the substrate 12 via the first sliding assembly.

[0067] The first sliding assembly includes a first sliding portion 1611 and a first sliding track 1612. Both the first sliding portion 1611 and the first sliding track 1612 extend along a first direction X. The first sliding portion 1611 and the first sliding track 1612 are slidably connected.

[0068] The first sliding portion 1611 and the first sliding track 1612 may be located at different positions. In this embodiment, the first sliding portion 1611 is disposed on the movable portion 1411, and the first sliding track 1612 is disposed on the substrate 12. In another specific embodiment, the first sliding portion 1611 is disposed on the substrate 12, and the first sliding track 1612 is disposed on the movable portion 1411.

[0069] By providing the first sliding portion 1611 and the first sliding track 1612 between the movable portion 1411 and the base plate 12, the risk of the movable gripper assembly 141 shifting along the first direction X can be reduced, making the operation of the movable gripper assembly 141 smoother. In addition, the first sliding portion 1611 and the first sliding track 1612 have a simple structure and are easy to install and maintain.

[0070] In this embodiment, there are two movable gripper assemblies 141. There are also two first sliding tracks 1612, which are spaced apart on the substrate 12 along the first direction X.

[0071] Please see Figure 7 , Figure 8 , Figure 9 , Figure 10 as well as Figure 11 , Figure 7 This is a front view of the clamping mechanism in the second embodiment of the clamping device of this application; Figure 8 This is a bottom view of the clamping mechanism in the second embodiment of the clamping device of this application; Figure 9 This is a schematic diagram of the sliding stage in the second embodiment of the clamping device of this application; Figure 10 This is a schematic diagram of the structure of the first changing component in the second embodiment of the clamping device of this application; Figure 11 This is a structural schematic diagram of the second changing component in the second embodiment of the clamping device of this application. (Combined with...) Figure 1 In some embodiments, the movable mechanism 14 includes a changing member 143. The changing member 143 is movably connected to the substrate 12. At least two movable gripper assemblies 141 are spaced apart on one side of the changing member 143 opposite to the substrate 12. A fixed gripper assembly 13 passes through the changing member 143. A first drive member 15 is connected to the substrate 12. The drive shaft of the first drive member 15 is connected to one end of the changing member 143 facing the first drive member 15.

[0072] The shape-changing component 143 may be, but is not limited to, a shape-changing plate or a shape-changing block. The shape-changing component 143 may be plate-shaped, etc. The shape-changing component 143 provides mounting positions for at least two movable gripper assemblies 141. The at least two movable gripper assemblies 141 are directly connected to the shape-changing component 143. Because the shape-changing component 143 is movably connected to the substrate 12 along the first direction X, the at least two movable gripper assemblies 141 are indirectly movably connected to the substrate 12 through the shape-changing component 143. The movable connection may include, but is not limited to, sliding, rolling, and moving. In this embodiment, the shape-changing component 143 may be slidably connected to the substrate 12.

[0073] At least two movable gripper assemblies 141 are arranged at equal intervals along a first direction X on the side of the form-changing member 143 facing away from the substrate 12. When there are three movable gripper assemblies 141, the three movable gripper assemblies 141 are equally spaced on the form-changing member 143. The movable gripper assemblies 141 can be detachably or fixedly connected to the side of the form-changing member 143 facing away from the substrate 12, which is not limited here.

[0074] At least two fixed gripper assemblies 13 are fitted with a changing member 143 so that the movable gripper assembly 141 is positioned opposite to the corresponding fixed gripper assembly 13.

[0075] The first driving member 15 is detachably or fixedly connected to the substrate 12 for fixing the first driving member 15. The drive shaft of the first driving member 15 is detachably or fixedly connected to one end of the shape-changing member 143 facing the first driving member 15. In other embodiments, the drive shaft of the first driving member 15 may be spaced apart from the shape-changing member 143, as long as the shape-changing member 143 is movably connected to the substrate 12.

[0076] Through the combined action of at least two movable gripper assemblies 141, the changing component 143, and the first driving component 15, the first driving component 15 drives multiple movable gripper assemblies 141 on the changing component 143 to move closer to or further away from their corresponding fixed gripper assemblies 13, thereby increasing the amount of material that can be gripped at one time and thus improving material gripping efficiency. Furthermore, by directly connecting multiple movable gripper assemblies 141 to the changing component 143, the structure is simple and easy to install.

[0077] Continue reading Figures 7 to 11 In some embodiments, the movable mechanism 14 further includes a first changing member 1431 and a second changing member 1432. The first changing member 1431 includes a plurality of spaced-apart first changing units 14311. Each first changing unit 14311 includes a first mounting portion 14311a and a first clearance hole 14311b. The first mounting portion 14311a is disposed on a side of the first changing member 1431 facing away from the substrate 12. A first distance (not shown in the figures) exists between the first mounting portion 14311a and the first clearance hole 14311b. The first clearance hole 14311b has a first hole length (not shown in the figures). The second changing member 1432 includes a plurality of spaced-apart second changing units 14321. Each second changing unit 14321 includes a second mounting portion 14321a and a second clearance hole 14321b. The second mounting portion 14321a is disposed on a side of the second changing member 1432 facing away from the substrate 12. There is a second distance (not shown in the figure) between the second mounting part 14321a and the second clearance hole 14321b. The second clearance hole 14321b has a second hole length (not shown in the figure). The first distance and the second distance are different. And / or, the first hole length and the second hole length are different.

[0078] The movable mechanism 14 includes, but is not limited to, a first changing component 1431, a second changing component 1432, and an nth changing component, where n can be greater than or equal to 3. The first changing component 1431, the second changing component 1432, and the nth changing component can all be, but are not limited to, changing plates or changing blocks. The first changing component 1431, the second changing component 1432, and the nth changing component can all be plate-shaped, etc. These different changing components can provide mounting positions for at least two movable gripper assemblies 141.

[0079] To illustrate the differences between the different replacement parts 143, this embodiment will describe in detail the differences between the first replacement part 1431 and the second replacement part 1432. The differences between the first replacement part 1431 and the second replacement part 1432 can be extrapolated to other replacement parts, and will not be repeated here.

[0080] The first changing unit 14311 provides an installation position for the movable gripper assembly 141 and a clearance position for the fixed gripper assembly 13. Multiple first changing units 14311 are arranged at equal intervals along the first direction X on the first changing member 1431. The number of first changing members 1431 can be the same as the number of movable gripper assemblies 141 and the number of fixed gripper assemblies 13.

[0081] Specifically, the first changing unit 14311 includes a first mounting portion 14311a and a first clearance hole 14311b. The first mounting portion 14311a provides a mounting position for the movable gripper assembly 141. The first mounting portion 14311a may be, but is not limited to, a mounting plate. The first mounting portion 14311a may be plate-shaped. The mounting plate is mounted on the first changing member 1431 and connected to the movable portion 1411 of the movable gripper assembly 141. The first mounting portion 14311a is detachably or fixedly connected to the side of the first changing member 1431 facing away from the substrate 12. The first mounting portion 14311a can be detachably connected to the corresponding movable gripper assembly 141, so that the movable gripper assembly 141 is connected to the corresponding first mounting portion 14311a. The first clearance hole 14311b passes through the first changing member 1431. The fixed gripper assembly 13 can pass through the first clearance hole 14311b. That is, the first clearance hole 14311b is used to avoid the fixed gripper assembly 13.

[0082] There is a first distance between the first mounting part 14311a and the first clearance hole 14311b. The first distance is the same among the plurality of first replacement units 14311. The first clearance hole 14311b has a first hole length. The first hole length can be the length by which the first clearance hole 14311b extends along a first direction X. The first clearance hole 14311b can be square, circular, etc.

[0083] The second changing unit 14321 provides an installation position for the movable gripper assembly 141 and a clearance position for the fixed gripper assembly 13. Multiple second changing units 14321 are arranged at equal intervals along a second direction on the second changing member 1432. The number of second changing members 1432 can be the same as the number of movable gripper assemblies 141 and the number of fixed gripper assemblies 13.

[0084] Specifically, the second changing unit 14321 includes a second mounting portion 14321a and a second clearance hole 14321b. The second mounting portion 14321a provides a mounting position for the movable gripper assembly 141. The second mounting portion 14321a may be, but is not limited to, a mounting plate. The second mounting portion 14321a may be plate-shaped. The mounting plate is mounted on the second changing member 1432 and connected to the movable portion 1411 of the movable gripper assembly 141. The second mounting portion 14321a is detachably or fixedly connected to one side of the second changing member 1432 facing away from the base plate 12. The second mounting portion 14321a can be detachably connected to the corresponding movable gripper assembly 141, so that the movable gripper assembly 141 is connected to the corresponding second mounting portion 14321a. The second clearance hole 14321b passes through the second changing member 1432. The fixed gripper assembly 13 can pass through the second changing member 1432. That is, the second clearance hole 14321b is used to avoid the fixed gripper assembly 13.

[0085] There is a second distance between the second mounting part 14321a and the second clearance hole 14321b. The second distance is the same among the plurality of second replacement units 14321. The second clearance hole 14321b has a second hole length. The second hole length can be the length by which the second clearance hole 14321b extends along a first direction X. The second clearance hole 14321b can be square, circular, etc.

[0086] The changing units on different changing parts 143 may have different distances; and / or, different changing parts 143 may have different hole lengths. For example, the first distance in the first changing unit 14311 on the first changing part 1431 may be different from the second distance in the second changing unit 14321 on the second changing part 1432. Alternatively, the first hole length of the first changing unit 14311 on the first changing part 1431 and the second hole length of the second changing unit 14321 on the second changing part 1432 may be different.

[0087] By limiting the first distance and / or the first hole length in the different replacement parts 143 mentioned above, the gripping requirements of different material sizes can be met, thereby improving versatility.

[0088] The changing process of different changing parts 143 is as follows. The movable part 1411 of the movable gripper assembly 141 is detachably connected to the first mounting part 14311a. The fixing part (not shown in the figure) passes through the positioning hole (not shown in the figure) of the first changing part 1431 and is connected to the sliding table 144. Material size A can be clamped between the movable gripper assembly 141 and the fixed gripper assembly 13. When the material size changes and the movable gripper assembly 141 is incompatible, the first changing part 1431 can be switched to the second changing part 1432. At this time, the movable part 1411 of the movable gripper assembly 141 is detachably connected to the second mounting part 14321a, so that material size B can be clamped between the movable gripper assembly 141 and the fixed gripper assembly 13. By switching different changing parts 143, more material sizes can be accommodated. Among them, material size A and material size B are range values, and the specific range values ​​are not limited here.

[0089] In some embodiments, the movable mechanism 14 includes a sliding stage 144. A shape-changing component 143 is detachably connected to the sliding stage 144. The sliding stage 144 is slidably disposed on the substrate 12. The drive shaft of the first drive component 15 is connected to the end of the sliding stage 144. A fixed gripper assembly 13 passes through the sliding stage 144 and the shape-changing component 143 in sequence.

[0090] The sliding stage 144 may be, but is not limited to, plate-shaped. The shape-changing component 143 is detachably connected to the sliding stage 144. The sliding stage 144 is slidable on the substrate 12 along the first direction X. That is, the shape-changing component 143 is indirectly slidable on the substrate 12 through the sliding stage 144. The drive shaft of the first drive component 15 is detachably or fixedly connected to the end of the sliding stage 144, and is used to drive the sliding stage 144 and the shape-changing component 143 to slide relative to the substrate 12.

[0091] The fixed gripper assembly 13 passes through the sliding table 144 and the changing component 143 in sequence. Specifically, the sliding table 144 may be provided with multiple third clearance holes 1441. The positions of the multiple third clearance holes 1441 correspond to the positions of multiple first clearance holes 14311b or multiple second clearance holes 14321b, so that the fixed gripper assembly 13 simultaneously passes through the third clearance holes 1441 and the first clearance holes 14311b or the second clearance holes 14321b, etc.

[0092] Through the combined action of the sliding stage 144, the changing part 143, and the base plate 12, it is possible to facilitate the disassembly and replacement of different changing parts 143, thereby meeting the needs of materials of different sizes and increasing versatility.

[0093] In some embodiments, a second sliding assembly (not shown in the figure) is provided between the sliding stage 144 and the substrate 12. The sliding stage 144 slides a certain distance relative to the substrate 12 via the second sliding assembly. The second sliding assembly includes a second sliding portion 1621 and a second sliding track 1622. Both the second sliding portion 1621 and the second sliding track 1622 extend along a first direction X. The second sliding portion 1621 and the second sliding track 1622 are slidably connected. The number of the second sliding portion 1621 and the number of the second sliding track 1622 may be, but is not limited to, one, two, or more than three.

[0094] Continue reading Figures 7 to 11 In some embodiments, one end of the substrate 12 and one end of the sliding stage 144 are provided with a second sliding portion 1621. The other end of the substrate 12 and one end of the sliding stage 144 are provided with a second sliding track 1622. The other end of the substrate 12 and the other end of the sliding stage 144 are provided with another second sliding portion 1621. The other end of the substrate 12 and the other end of the sliding stage 144 are provided with another second sliding track 1622.

[0095] The second sliding portion 1621 and the second sliding track 1622 are both two in number. One second sliding portion 1621 and one second sliding track 1622 are disposed between one end of the substrate 12 and one end of the sliding stage 144. The other second sliding portion 1621 and the other second sliding track 1622 are disposed between the other end of the substrate 12 and the other end of the sliding stage 144.

[0096] In this embodiment, two second sliding portions 1621 are disposed on the sliding stage 144, and two second sliding tracks 1622 are disposed on the substrate 12. In another specific embodiment, two second sliding portions 1621 are disposed on the substrate 12, and two second sliding tracks 1622 are disposed on the sliding stage 144.

[0097] By providing the aforementioned two second sliding portions 1621 and two second sliding tracks 1622 between the sliding stage 144 and the substrate 12, the risk of the sliding stage 144 shifting relative to the substrate 12 along the first direction X can be reduced, making the operation of the movable gripper assembly 141 smoother. Furthermore, the aforementioned second sliding portions 1621 and second sliding tracks 1622 have simple structures and are easy to install and maintain.

[0098] In one specific embodiment, two second sliding parts 1621 and two second sliding tracks 1622 are symmetrically arranged between the sliding stage 144 and the two sides of the substrate 12, further improving the stability of the operation of the movable gripper assembly 141.

[0099] Please see Figure 12 , Figure 13 as well as Figure 14 , Figure 12 This is a schematic diagram of the structure of the movable gripper assembly in the first embodiment of the clamping device of this application; Figure 13 This is an exploded view of the movable gripper assembly in the first embodiment of the clamping device of this application; Figure 14 This is a schematic diagram of the movable gripper assembly in the second embodiment of the clamping device of this application. (Combined with...) Figures 7 to 11 In some embodiments, the movable gripper assembly 141 includes a movable portion 1411, a fixed portion 1412, a movable gripper 1413, and an elastic component 1414. The movable portion 1411 slides on or is connected to the substrate 12. The movable gripper 1413 is slidable on the movable portion 1411. The fixed portion 1412 is connected to the movable portion 1411. The elastic component 1414 is disposed between the fixed portion 1412 and the movable gripper 1413, providing an elastic force to the movable gripper 1413 away from the fixed portion 1412.

[0100] When the movable gripper assembly 141 is directly movably connected to the substrate 12, the movable part 1411 can slide along the first direction X on the substrate 12. Alternatively, when the movable gripper assembly 141 is indirectly movably connected to the substrate 12 through the changing member 143, the changing member 143 can slide along the first direction X on the substrate 12.

[0101] The movable gripper 1413 can slide along the movable part 1411 in the front-to-back direction. The fixed part 1412 is detachably or fixedly connected to the movable part 1411. When the movable part 1411 moves, the fixed part 1412 moves along with the movable part 1411.

[0102] One end of the elastic component 1414 is detachably or fixedly connected to the fixing part 1412, and the other end of the elastic component 1414 is detachably or fixedly connected to the movable gripper 1413. The elastic component 1414 can provide the movable gripper 1413 with an elastic force away from the fixing part 1412.

[0103] For example, the first driving member 15 drives the movable part 1411 to slide relative to the substrate 12 along the first direction X. The movable part 1411 drives the elastic component 1414 and acts on the movable gripper 1413 to approach the fixed gripper assembly 13. Then the elastic component 1414 is forced to return to its original state and reacts on the movable gripper 1413, so that the material between the movable gripper 1413 and the fixed gripper assembly 13 is in a clamped state.

[0104] Alternatively, the first driving member 15 drives the changing member 143 to slide relative to the substrate 12 along the first direction X. The changing member 143 drives the movable gripper 1413 in the movable gripper assembly 141 to approach the fixed gripper assembly 13. Then, the elastic member 1414 is forced to return to its original state and reacts to the movable gripper 1413, so that the material between the movable gripper 1413 and the fixed gripper assembly 13 is in a clamped state.

[0105] Through the combined action of the movable part 1411, the fixed part 1412, the movable gripper 1413, and the elastic component 1414, the elastic component 1414 can automatically adjust the clamping force on the material, preventing overpressure that could cause damage and deformation to the material surface. When the material changes within a preset range, as long as the material size is within the safe stroke range of the first drive member 15, the driving force required for clamping the material can be converted into the pressure of the low-impact spring 14141, ensuring that the material is clamped.

[0106] In some embodiments, the elastic component 1414 includes a spring 14141. The first driving component 15 includes a first driving cylinder. S = k(A + X + Z). Wherein, S is the stroke distance of the first driving cylinder; k is the stroke safety factor of the first driving cylinder; A is the safety distance between the movable gripper assembly 141 and the material; X is the deformation of the spring 14141; Z is the tolerance for changes in material size; X ≥ amg / 2uK; wherein, a is the preset safety factor; m is the weight of the material; u is the static friction coefficient; and K is the coefficient of the spring 14141.

[0107] The clamping force required by spring 14141 is: F_static = 2 * u * F_pressure = 2 * u * K * X = mg. F_static is the static friction force. u is the static friction coefficient. F_pressure is the pressure provided by the first driving component 15. K is the coefficient of spring 14141. X is the deformation of spring 14141. m is the weight of the material.

[0108] X ≥ amg / 2uK. Where 'a' is a preset safety factor, which can be determined based on actual conditions. 'a' is greater than or equal to 1.5 and less than or equal to 2.

[0109] The stroke of the first driving cylinder is S = k(A + X + Z); where S is the stroke distance of the first driving cylinder. k is the safety factor for the stroke of the first driving cylinder. A is the safety distance between the movable gripper assembly 141 and the material. X is the deformation of the spring 141. Z is the tolerance for changes in material size.

[0110] H = L + A + N + M. Where L is the material width, A is the safe distance for gripping the part, N is the thickness of the movable gripper 1413, and M is the natural length of the spring 14141.

[0111] By limiting the stroke distance of the first drive cylinder and the deformation of the spring 14141, within the safe stroke range of the first drive cylinder, the spring 14141 slides and presses against the material, converting the pressure of the first drive cylinder required for material clamping into the low-impact pressure of the spring 14141. Furthermore, during material handling, the air pressure and the spring 14141 pressing achieve a dynamic balance, which can accommodate significant changes in material thickness and achieve clamping without the need for switching mechanisms.

[0112] In some embodiments, a third sliding assembly (not shown in the figure) is provided between the movable gripper 1413 and the movable part 1411. The movable gripper 1413 slides a certain distance relative to the movable part 1411 via the third sliding assembly. The third sliding assembly includes a third sliding part 1415 and a third sliding track 1416. The third sliding part 1415 and the third sliding track 1416 may have different positions. As in this embodiment, the third sliding track 1416 is disposed on the movable part 1411, and the third sliding part 1415 is disposed on the movable gripper 1413. As in another specific embodiment, the third sliding track 1416 is disposed on the movable gripper 1413, and the third sliding part 1415 is disposed on the movable part 1411.

[0113] By providing the third sliding part 1415 and the third sliding track 1416 between the movable gripper 1413 and the movable part 1411, the risk of the movable gripper 1413 shifting along the first direction X can be reduced, making the operation of the movable gripper 1413 smoother. In addition, the third sliding part 1415 and the third sliding track 1416 have a simple structure and are easy to install and maintain.

[0114] In some embodiments, the elastic component 1414 includes a spring 14141 and a guide portion 14142. The guide portion 14142 is connected between the movable gripper 1413 and the fixing portion 1412. The spring 14141 is sleeved on the guide portion 14142.

[0115] The guide portion 14142 may be, but is not limited to, a guide post. The guide portion 14142 serves a guiding function. One end of the guide portion 14142 is detachably or fixedly connected to the side of the fixing jaw 131 facing the fixing portion 1412. The other end of the guide portion 14142 passes through the fixing portion 1412. A spring 14141 is sleeved on the outer periphery of the guide portion 14142. When the movable portion 1411 and the fixing portion 1412 move under the force of the first driving member 15, the fixing portion 1412 acts on the spring 14141, and then the spring 14141 reacts on the fixing jaw 131.

[0116] The spring 14141 and the guide part 14142 work together to provide a guiding force for the spring 14141.

[0117] In some embodiments, a limiting portion 14111 is provided at the end of the movable portion 1411. The limiting portion 14111 limits the movement distance of the movable gripper 1413.

[0118] The limiting part 14111 is detachably or fixedly connected to the end of the movable part 1411. In this embodiment, the limiting part 14111 is bolted to the end of the movable part 1411. The limiting part 14111 can limit the movement distance of the movable gripper 1413.

[0119] The aforementioned limiting part 14111 can limit the sliding distance of the movable gripper 1413, thereby reducing the risk of the movable gripper 1413 detaching.

[0120] Please see Figure 15 , Figure 15 This is a structural schematic diagram of the fixed gripper assembly in the first embodiment of the clamping device of this application. (Combined with...) Figures 1 to 14 In some embodiments, a first buffer pad 14131 is provided on the side of the movable gripper 1413 in the movable gripper assembly 141. A second buffer pad 1311 is provided on the side of the fixed gripper 131 in the fixed gripper assembly 13. The first buffer pad 14131 and the second buffer pad 1311 are arranged opposite to each other. When the movable gripper assembly 141 and the fixed gripper assembly 13 are gripping materials, the first buffer pad 14131 and the second buffer pad 1311 can protect the materials and reduce the risk of material damage.

[0121] Please see Figure 16 , Figure 16 This is an exploded view of the first embodiment of the clamping device of this application. (Combined with...) Figures 1 to 15 In some embodiments, the clamping device 10 includes a gripper frame 17. The clamping mechanism 11 is movably connected to the gripper frame 17.

[0122] The gripper frame 17 provides a mounting position for the clamping mechanism 11. The gripper frame 17 may be plate-shaped or the like. The clamping mechanism 11 can be connected to the gripper frame 17 in a first direction X, but is not limited to sliding, rolling, and moving. That is, the clamping mechanism 11 as a whole can move a certain distance relative to the gripper frame 17 in the first direction X.

[0123] Through the combined action of the aforementioned gripper frame 17 and clamping mechanism 11, the material gripping needs at different locations can be met, thus improving versatility.

[0124] In one specific embodiment, a fourth sliding assembly (not shown in the figure) may be provided between the clamping mechanism 11 and the gripper frame 17. The fourth sliding assembly includes a fourth sliding portion 1631 and a fourth sliding track 1632. The fourth sliding portion 1631 is provided on one of the base plate 12 of the clamping mechanism 11 and the gripper frame 17. The fourth sliding track 1632 is provided on the other of the base plate 12 and the gripper frame 17. By providing the aforementioned fourth sliding portion 1631 and fourth sliding track 1632 between the base plate 12 and the gripper frame 17, the risk of the clamping mechanism 11 shifting along the first direction X can be reduced, making the movement of the clamping mechanism 11 more stable.

[0125] The aforementioned gripping device 10 also includes a connecting flange 19. The connecting flange 19 is a rigid connecting component that connects the gripping device 10 and the robot's end effector, and can transmit the robot's motion (such as translation, rotation, and gripping actions) and power. For example, the gripper frame 17 is connected to the robot through the connecting flange 19.

[0126] In some embodiments, the clamping device 10 includes at least two clamping mechanisms 11 and a second drive member 18. The second drive member 18 is connected between the gripper frame 17 and at least one clamping mechanism 11, and is used to change the distance between adjacent clamping mechanisms 11.

[0127] The clamping device 10 may include at least one clamping mechanism 11. The number of clamping mechanisms 11 may be, but is not limited to, one, two, or more than three. In this embodiment, there are two clamping mechanisms 11. The structure of each clamping mechanism 11 may be the same or different, and this is not limited here.

[0128] The second drive member 18 can provide driving force. The second drive member 18 is detachably or fixedly connected to the gripper frame 17. The drive shaft of the second drive member 18 is connected to one of at least two clamping mechanisms 11. The second drive member 18 drives the clamping mechanism 11 to be movably connected to the gripper frame 17, and can change the distance between adjacent clamping mechanisms 11.

[0129] The number of the second driving component 18 and the number of clamping mechanisms 11 can be determined according to the actual situation and are not limited here. When there are two clamping mechanisms 11, the number of the second driving component 18 is one; or, when there are three clamping mechanisms 11, the number of the second driving component 18 can be one or two, etc. The second driving component 18 can be, but is not limited to, a second driving cylinder.

[0130] By working together with the above-mentioned at least two clamping mechanisms 11 and the second driving member 18, the distance between adjacent clamping mechanisms 11 can be changed, thereby enabling the matching of different production lines and material strokes.

[0131] Combination Figures 1 to 16In some specific application scenarios, the clamping device 10 includes a clamping mechanism 11. The clamping mechanism 11 includes a base plate 12, at least two fixed gripper assemblies 13, at least two movable gripper assemblies 141, a first driving member 15, and a connecting member 142. At least two fixed gripper assemblies 13 are movably connected to the base plate 12 along a first direction X. At least two movable gripper assemblies 141 are movably connected to the base plate 12. The at least two fixed gripper assemblies 13 and the at least two movable gripper assemblies 141 are alternately arranged. The first driving member 15 drives the connecting member 142, and the connecting member 142 drives the at least two movable gripper assemblies 141 to move relative to the base plate 12, with the at least two movable gripper assemblies 141 moving closer to or further away from their corresponding fixed gripper assemblies 13. The movable gripper assemblies 141 can convert the driving force of the first driving member 15 into elastic force.

[0132] Alternatively, the clamping device 10 includes a clamping mechanism 11. The clamping mechanism 11 includes a substrate 12, at least two fixed gripper assemblies 13, at least two movable gripper assemblies 141, a first driving member 15, and a changing member 143. At least two fixed gripper assemblies 13 are movably connected to the substrate 12 along a first direction X. At least two movable gripper assemblies 141 are spaced apart from the changing member 143. The changing member 143 is movably connected relative to the substrate 12. The at least two movable grippers 141 and the at least two fixed gripper assemblies 13 are alternately arranged. The first driving member 15 drives the changing member 143 to slide relative to the substrate 12. At this time, the changing member 143 directly drives the at least two movable gripper assemblies 141 to move closer to or further away from their corresponding fixed gripper assemblies 13. The movable gripper assemblies 141 can convert the driving force of the first driving member 15 into an elastic force.

[0133] Continue reading Figures 1 to 16 This application provides a battery production system. The battery production system (not shown in the figure) includes a clamping device 10 and at least two battery cells 20. The movable gripper assembly 141 in the clamping device 10 clamps or releases the corresponding battery cell 20 with the fixed gripper assembly 13.

[0134] The clamping device 10 is the same as the clamping device 10 described in the above embodiments, and will not be repeated here. The number of battery cells 20 can be, but is not limited to, two, three, or more than four. Multiple movable gripper assemblies 141 clamp or release the corresponding battery cells 20 with the corresponding fixed gripper assemblies 13.

[0135] Through the aforementioned clamping device 10 and at least two battery cells 20, a first driving member 15 in the clamping device 10 drives at least two movable gripper assemblies 141 to approach the corresponding fixed gripper assembly 13, thereby enabling the simultaneous gripping of multiple materials and improving material gripping efficiency. Furthermore, the movable gripper assembly 141 can convert the driving force of the first driving member 15 into elastic force, reducing the risk of damaging the material surface due to excessive driving force.

[0136] 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 clamping device, characterized in that, Includes a clamping mechanism, the clamping mechanism comprising: substrate; At least two fixed gripper assemblies are spaced apart on the substrate; An active mechanism is movably disposed on the substrate; the active mechanism includes at least two movable gripper assemblies spaced apart, at least two fixed gripper assemblies and at least two movable gripper assemblies are alternately disposed; A first driving member, connected to the movable mechanism, is used to drive the movable gripper assembly to move; the movable gripper assembly converts the driving force of the first driving member into an elastic force.

2. The clamping device according to claim 1, characterized in that, At least two of the said movable gripper assemblies are movably connected to the substrate; The moving mechanism further includes a connector that connects at least two of the moving gripper assemblies, and the first drive member is connected to the connector or the moving gripper assembly.

3. The clamping device according to claim 2, characterized in that, The movable gripper assembly includes a movable part that can slide on the substrate. The movable part is provided with an extension, and the connector is detachably connected to a plurality of the extensions.

4. The clamping device according to claim 3, characterized in that, One of the movable part and the substrate is provided with a first sliding part, and the other of the movable part and the substrate is provided with a first sliding track, and the first sliding part and the first sliding track are slidably connected.

5. The clamping device according to claim 1, characterized in that, The movable mechanism includes a shape-changing component, which is movably connected to the substrate. At least two movable gripper assemblies are spaced apart on one side of the shape-changing component away from the substrate. A fixed gripper assembly passes through the shape-changing component. A first driving component is connected to the substrate, and the drive shaft of the first driving component is connected to one end of the shape-changing component facing the first driving component.

6. The clamping device according to claim 5, characterized in that, The active mechanism also includes a first changing component and a second changing component; The first replacement component includes a plurality of spaced-apart first replacement units. Each first replacement unit includes a first mounting portion and a first clearance hole. The first mounting portion is disposed on a side of the first replacement component away from the substrate. There is a first distance between the first mounting portion and the first clearance hole. The first clearance hole has a first hole length. The second replacement component includes a plurality of spaced-apart second replacement units. Each second replacement unit includes a second mounting portion and a second clearance hole. The second mounting portion is disposed on a side of the second replacement component away from the substrate. A second distance exists between the second mounting portion and the second clearance hole. The second clearance hole has a second hole length. Wherein, the first distance and the second distance are different; and / or, the first hole length and the second hole length are different.

7. The clamping device according to claim 5, characterized in that, The active mechanism includes a sliding stage, the shape-changing component is detachably connected to the sliding stage, the sliding stage is slidably disposed on the substrate, the drive shaft of the first drive component is connected to the end of the sliding stage, and the fixed gripper assembly passes through the sliding stage and the shape-changing component in sequence.

8. The clamping device according to claim 7, characterized in that, One of the substrate end and the sliding stage end is provided with a second sliding part, and the other of the substrate end and the sliding stage end is provided with a second sliding track; One of the other ends of the substrate and the other end of the sliding stage is provided with another second sliding part, and the other of the other ends of the substrate and the sliding stage is provided with another second sliding track.

9. The clamping device according to any one of claims 1 to 8, characterized in that, The movable gripper assembly includes a movable part, a fixed part, a movable gripper, and an elastic component. The movable part slides on or is connected to the substrate. The movable gripper can slide on the movable part. The fixed part is connected to the movable part. The elastic component is disposed between the fixed part and the movable gripper to provide the movable gripper with an elastic force away from the fixed part.

10. The clamping device according to claim 9, characterized in that, The elastic component includes a spring and a guide portion, the guide portion being connected between the movable gripper and the fixed portion, and the spring being sleeved on the guide portion.

11. The clamping device according to claim 9, characterized in that, The end of the movable part is provided with a limiting part, which limits the movement distance of the movable gripper.

12. The clamping device according to any one of claims 1 to 8, characterized in that, The clamping device includes a gripper frame, and the clamping mechanism is movably connected to the gripper frame.

13. The clamping device according to claim 12, characterized in that, The clamping device includes at least two clamping mechanisms and a second driving member, the second driving member being connected between the gripper frame and at least one of the clamping mechanisms, for changing the distance between adjacent clamping mechanisms.

14. A battery production system, characterized in that, include: The clamping device according to any one of claims 1 to 13; At least two battery cells, wherein the movable gripper assembly and the fixed gripper assembly in the clamping device clamp or release the corresponding battery cells.

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