A deviation correction gripper module and a battery piece deviation correction positioning device

Abstract

The utility model discloses a kind of deviation correction gripper module and battery piece deviation correction positioning device.The deviation correction gripper module includes: mounting plate, clamping device, horizontal drive device and at least a pair of gripper unit being oppositely arranged along first direction;Gripper unit is arranged below mounting plate, clamping device is used to drive the at least a pair of gripper unit and catch battery piece;Horizontal drive device is used to drive mounting plate and moves along first direction and second direction, to carry out deviation correction to the battery piece.The utility model directly realizes the contactless deviation correction positioning of battery piece, without being placed in conveying belt or transmission mechanism to carry out deviation correction, avoid the film layer damage caused by conveying belt or transmission mechanism support contact to battery piece, improve the power generation efficiency of battery piece;Adopt modular deviation correction gripper module, can be freely spliced according to actual automation production demand, simultaneously realize deviation correction positioning to multiple battery piece, satisfy more battery piece production demand.

Description

Technical Field

[0001] This utility model mainly relates to the field of photovoltaic technology, and mainly to a correction gripper module and a cell correction and positioning device. Background Technology

[0002] In the production of solar cells, automated loading and unloading machines are crucial equipment, enabling the automatic loading and unloading of solar cells. During the loading and unloading process using these machines, it is necessary to correct and position the solar cells correctly.

[0003] In existing technologies, solar cells are placed on a alignment platform for alignment and positioning. However, this method causes the back of the solar cell to come into contact with the alignment platform, resulting in damage to some of the back film layers and reducing the efficiency of the solar cell. Utility Model Content

[0004] This invention provides a correction gripper module and a battery cell correction and positioning device. A clamping device drives the gripper unit to grasp the battery cell, and a horizontal drive device drives the mounting plate to move along a first and second direction, thus achieving direct, contactless correction and positioning of the battery cell. This eliminates the need to place the battery cell on a conveyor belt or transmission mechanism for correction, avoiding damage to the film layer caused by contact with the conveyor belt or transmission mechanism, and improving the power generation efficiency of the battery cell. Furthermore, this invention uses a modular correction gripper module, which can be freely assembled according to actual automated production needs, simultaneously correcting and positioning multiple battery cells to meet the production requirements of more battery cells.

[0005] According to a first aspect of the present invention, a correction gripper module is provided, comprising: a mounting plate, a clamping device, a horizontal driving device, and at least a pair of gripper units disposed opposite each other along a first direction; the gripper units are disposed below the mounting plate, and the clamping device is used to drive the at least a pair of gripper units to grip battery cells; the horizontal driving device is used to drive the mounting plate to move along the first direction and a second direction to correct the deviation of the battery cells; the first direction and the second direction intersect each other and are both parallel to the horizontal plane.

[0006] Optionally, the gripper unit includes an adjustment device, a gripper member, and a sliding member; the gripper member is slidably disposed on the sliding member along a first direction and includes one or more grippers; the adjustment device is fixedly connected to the sliding member and can drive the gripper member to move relative to the sliding member along the first direction.

[0007] Optionally, the adjustment device includes a fixing member and an adjusting screw; the fixing member is fixedly connected to the sliding member, the adjusting screw is arranged along a first direction, and the adjusting screw is used to rotate under the drive of an external force to drive the gripper to move along the first direction.

[0008] Optionally, the gripper includes a plurality of grippers arranged along the second direction and a gripper connector for connecting the plurality of grippers; the slider is provided with two slide grooves extending along the first direction, the two slide grooves are arranged opposite to each other along the second direction, and the two ends of the gripper connector extend into one slide groove respectively.

[0009] Optionally, the end of the gripper connector extends out of the groove, and a locking screw is provided on the extended portion to limit the displacement of the gripper connector along the second direction.

[0010] Optionally, the clamping device is also used to place the battery cell on the battery cell carrier plate at the corresponding position on the transmission mechanism after the horizontal drive device corrects the battery cell; the upper surface of the transmission mechanism has a hollow part, and the image acquisition device inside the transmission mechanism acquires images through the hollow part to position the battery cell.

[0011] The maximum distance between two gripper units in a pair of gripper units is less than the distance between two adjacent hollowed-out parts.

[0012] Optionally, the clamping device includes a clamping drive, a cam, and a spring element;

[0013] The cam is positioned below the mounting plate and between two of the at least one pair of gripper units; the elastic element is positioned on the gripper unit and is in a compressed state.

[0014] The output end of the clamping drive is connected to the cam to drive the cam to rotate, thereby driving the two gripper units in a pair of gripper units to move closer or further apart.

[0015] Optionally, the correction gripper module also includes a base plate, which is located above the mounting plate;

[0016] The clamping drive is positioned above the substrate, and the horizontal drive is positioned between the mounting plate and the substrate; or, the clamping drive is positioned between the mounting plate and the substrate, and the horizontal drive is positioned above the substrate.

[0017] Optionally, the horizontal drive device is mounted on the mounting plate and includes: a first-direction linear drive device, a second-direction linear drive device, a first bidirectional slider, and a second bidirectional slider;

[0018] The first-direction linear drive device is connected to the first bidirectional slider and can drive the mounting plate to move along the first direction through the first bidirectional slider; the second-direction linear drive device is connected to the second bidirectional slider and can drive the mounting plate to move along the second direction through the second bidirectional slider.

[0019] Optionally, the first-direction linear drive device includes: a first-direction linear drive member, a first-direction base, and a first-direction linkage member; the upper end of the first bidirectional slider is slidably disposed on the first-direction base along the first direction, and the lower end is disposed on the mounting plate; the first-direction linkage member is fixedly connected to the first bidirectional slider and threadedly connected to the output end of the first-direction linear drive member; the first-direction linear drive member drives the first bidirectional slider to move along the first direction on the first-direction base through the first-direction linkage member;

[0020] The second-direction linear drive device includes: a second-direction linear drive component, a second-direction base, and a second-direction linkage component; the upper end of the second bidirectional slider is slidably disposed on the second-direction base along the second direction, and the lower end is disposed on the mounting plate; the second-direction linkage component is fixedly connected to the second bidirectional slider component and threadedly connected to the output end of the second-direction linear drive component; the second-direction linear drive component drives the second bidirectional slider component to move along the second direction on the second-direction base through the second-direction linkage component.

[0021] Optionally, the correction gripper module also includes a base plate, which is located above the mounting plate; both the first bidirectional slider and the second bidirectional slider include a main body, a first movable part, and a second movable part.

[0022] Each first movable part is connected to the base plate, and each second movable part is connected to the mounting plate;

[0023] The first movable part and the second movable part of the first bidirectional slider are respectively slidably engaged with the main body of the first bidirectional slider along the first direction and the second direction; the first movable part and the second movable part of the second bidirectional slider are respectively slidably engaged with the main body of the second bidirectional slider along the first direction and the second direction.

[0024] Optionally, the horizontal drive device further includes: a rotary connector and a connecting platform fixedly connected to the rotary connector;

[0025] A rotary connector is provided at one end of the first bidirectional sliding member and the second bidirectional sliding member, so as to rotate and engage with the mounting plate or base plate through the rotary connector and the connecting platform.

[0026] Optionally, there are two first-direction linear drive devices, each connected to one of the two first bidirectional sliders; and one second-direction linear drive device, connected to one second bidirectional slider.

[0027] According to a second aspect of the present invention, a battery cell alignment and positioning device is provided, comprising: an alignment gripper module, a transmission mechanism, and a lifting drive module;

[0028] The correction gripper module includes: a mounting plate, a clamping device, a horizontal drive device, and at least one pair of gripper units arranged opposite each other along a first direction;

[0029] The gripper unit is located below the mounting plate. The clamping device is used to drive at least one pair of gripper units to grip the battery cell and, after the horizontal drive device corrects the alignment of the battery cell, place the battery cell on the battery cell carrier plate at the corresponding position on the transmission mechanism. The horizontal drive device is used to drive the mounting plate to move along the first direction and the second direction to correct the alignment of the battery cell. The first direction and the second direction intersect each other and are both parallel to the horizontal plane.

[0030] Optionally, the battery cell alignment and positioning device also includes a lifting drive module for driving the alignment gripper module to move along a third direction, which is perpendicular to the horizontal plane.

[0031] Optionally, the cell alignment and positioning device includes multiple alignment gripper modules, and the cell alignment and positioning device also includes module connectors for interconnecting the multiple alignment gripper modules.

[0032] The lifting drive module drives the module connector to move along a third direction, thereby driving the correction gripper module to move along the third direction.

[0033] Optionally, the lifting drive module includes a lifting drive component, a lifting drive component support plate, a lifting screw, and a top seat;

[0034] The lifting drive component support plate is set on the module connector, and the lifting drive component is fixed above the lifting drive component support plate. The upper end of the lifting screw is connected to the lower end of the lifting drive component, and the lower end is connected to the upper end of the top seat. The lower end of the top seat is connected to the module connector. The lifting drive component drives the lifting screw to move, thereby causing the top seat to drive the module connector to move in a third direction.

[0035] Optionally, the transmission mechanism includes a support body, a transmission device, and an image acquisition device; the upper surface of the support body has a hollow section, the transmission device is disposed on the support body for transmitting the carrier plate of the battery cell; the image acquisition device is disposed inside the support body for acquiring images through the hollow section to position the battery cell.

[0036] Optionally, the transmission mechanism also includes an adjustment seat, which corresponds one-to-one with the image acquisition device; the image acquisition device is mounted on the adjustment seat, and the adjustment seat is used to adjust the acquisition position and / or acquisition angle of the image acquisition device mounted thereon.

[0037] Optionally, the cutout portion can be rectangular.

[0038] The above-mentioned utility model has the following advantages or beneficial effects: By using a clamping device to drive the gripper unit to grasp the battery cell, and using a horizontal driving device to drive the mounting plate to move along the first and second directions, non-contact alignment and positioning of the battery cell is directly achieved. This eliminates the need to place the battery cell on a conveyor belt or transmission mechanism for alignment, avoiding damage to the film layer caused by the support contact of the conveyor belt or transmission mechanism, and improving the power generation efficiency of the battery cell. Furthermore, this utility model embodiment uses a modular alignment gripper module, which can be freely assembled according to actual automated production needs, simultaneously achieving alignment and positioning of multiple battery cells, meeting the production needs of more battery cells. Attached Figure Description

[0039] The accompanying drawings are provided to better understand this utility model and do not constitute an undue limitation on it. Wherein:

[0040] Figure 1 This is a perspective view of the correction gripper module in some embodiments of this utility model;

[0041] Figure 2 This is a bottom view of the correction gripper module in some embodiments of this utility model;

[0042] Figure 3 This is a main image of the correction gripper module in some embodiments of this utility model;

[0043] Figure 4 This is a schematic diagram of the horizontal drive device in an optional embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the first direction linear drive device in an optional embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the second-direction linear drive device in an optional embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the structure of the bidirectional sliding member in an optional embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the structure of the battery cell alignment and positioning device in an optional embodiment of this utility model;

[0048] Figure 9 This is a cross-sectional schematic diagram of the battery cell alignment and positioning device in an optional embodiment of this utility model;

[0049] Figure 10 This is a schematic diagram of the lifting drive module in an optional embodiment of the present invention;

[0050] Figure 11 This is a perspective view of the transmission mechanism in an optional embodiment of this utility model;

[0051] Figure 12 This is a top view of the transmission mechanism in an optional embodiment of this utility model;

[0052] Figure 13 This is a cross-sectional view of the transmission mechanism in an optional embodiment of this utility model.

[0053] The attached figures are labeled as follows:

[0054] 100-Correction gripper module; 110-Mounting plate; 120-Clamping device; 121-Clamping drive component; 122-Cam; 123-Elastic component; 124-Clamping device support plate; 130-Horizontal drive device; 1301-Main body; 131-First bidirectional sliding component; 132-Second bidirectional sliding component; 1302-First movable part; 1303-Second movable part; 133-First direction linear drive device; 1331-First direction linear drive device Drive component; 1332-First direction base; 1333-First direction linkage; 1334-First direction drive screw; 134-Second direction linear drive device; 1341-Second direction linear drive component; 1342-Second direction base; 1343-Second direction linkage; 1344-Second direction drive screw; 135-Rotary connector; 136-Connecting platform; 140-Gripper unit; 141-Adjusting device; 1411-Fixing component; 1412-Adjusting screw; 142-Gripper; 1421-Gripper; 1422-Gripper connector; 143-Sliding part; 1431-Slide groove; 144-Locking screw; 150-Base plate; 200-Transmission mechanism; 210-Bracket body; 211-Hollowed part; 220-Transmission device; 230-Image acquisition device; 240-Adjusting seat; 300-Lifting drive module; 310-Lifting drive; 320-Lifting drive support plate; 330-Lifting screw; 340-Top seat; 400-Module connector. Detailed Implementation

[0055] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These embodiments should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0056] It should be noted that the terms "upper," "lower," "inner," "outer," "side," and "end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the elements 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 this utility model. In addition, the terms "first," "second," etc., are used for descriptive purposes only and can be simply used to more clearly distinguish different components, and should not be construed as indicating or implying relative importance.

[0057] Unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection or an indirect connection through an intermediate medium; it can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0058] According to a first aspect of the present invention, a correction gripper module is provided. Figure 1 These are perspective views of the correction gripper module in some embodiments of this utility model, such as... Figure 1 As shown, the alignment correction gripper module 100 of this utility model embodiment includes: a mounting plate 110, a clamping device 120, a horizontal driving device 130, and at least one pair of gripper units 140 arranged opposite each other along a first direction; the gripper units 140 are disposed below the mounting plate 110, and the clamping device 120 is used to drive the at least one pair of gripper units 140 to grip the battery cells; the horizontal driving device 130 is used to drive the mounting plate 110 to move along the first direction and the second direction to correct the alignment of the battery cells; the first direction and the second direction intersect each other and are both parallel to the horizontal plane. Figure 1 In the optional embodiments shown, the first direction refers to the positive or negative X-axis direction, and the second direction refers to the positive or negative Y-axis direction. Figure 1 The illustrated embodiment includes a pair of gripper units 140. Those skilled in the art can set two or more pairs of gripper units 140 according to actual needs.

[0059] In this embodiment of the invention, the clamping device 120 can drive the gripper unit 140 to grip or release the battery cell, and the horizontal driving device 130 can drive the gripper unit 140 to move in the first and second directions to correct the battery cell's alignment. Since this invention can first use at least one pair of gripper units 140 to grip the battery cell, and then drive the mounting plate 110 to move along the first and second directions via the horizontal driving device 130 to correct the battery cell's alignment, non-contact alignment of the battery cell can be achieved in the horizontal plane. This eliminates the need to place the battery cell on a conveyor belt or transmission mechanism for alignment, avoiding damage to the film layer caused by contact with the conveyor belt or transmission mechanism, and improving the power generation efficiency of the battery cell.

[0060] The gripper unit 140 is used to grip the battery cell, and its specific structure can be selectively configured. For example, a pair of gripper units 140 can adopt a retractable structure. For the two gripper units 140 in a pair, one end is connected and the other end is far apart. By adjusting the distance between the other ends of the two gripper units 140, different sizes of battery cells can be accommodated. By bringing the other ends of the two gripper units 140 closer together, the battery cell can be gripped tightly. A pair of gripper units 140 can also not adopt the above-mentioned retractable structure, but can directly achieve the gripping or putting down operation of the battery cell by adjusting the relative distance between the two gripper units 140. For example, the gripping operation is achieved by bringing the two gripper units 140 closer together, and the putting down operation is achieved by moving the two gripper units 140 far apart. As another example, one gripper unit 140 in a pair of gripper units remains stationary, and the putting down operation is achieved by driving the other gripper unit 140 in a direction away from the first gripper unit 140, and the gripping operation is achieved by driving the other gripper unit 140 in a direction closer to the first gripper unit 140. Those skilled in the art can design the structure of the gripper unit 140 according to actual needs, and this utility model does not make specific limitations in this regard.

[0061] In an optional embodiment of this utility model, the gripper unit 140 includes an adjusting device 141, a gripper 142, and a sliding member 143; the gripper 142 is slidably disposed on the sliding member 143 along a first direction, and the gripper 142 includes one or more grippers 1421; the adjusting device 141 is fixedly connected to the sliding member 143 and can drive the gripper 142 to move relative to the sliding member 143 along the first direction. Figure 1 and Figure 2As shown, when a battery cell needs to be grasped, the two gripper units 140 are driven to move closer to each other, or one gripper unit 140 is kept stationary while the other gripper unit 140 moves towards the first gripper unit 140. When a battery cell needs to be placed down, the two gripper units 140 are driven to move away from each other, or one gripper unit 140 is kept stationary while the other gripper unit 140 moves away from the first gripper unit 140. The gripper unit 140 in this embodiment has a simple structure, low space occupancy, and is easy to install and disassemble. In addition, since the gripper 142 can move relative to the sliding member 143 along the first direction, it can adapt to battery cells of different sizes within a certain range, thus adapting to various battery cell production environments and having wide adaptability.

[0062] The adjusting device 141 is used to drive the gripper 142 to move relative to the sliding member 143 along a first direction. The adjusting device 141 can be electrically driven, such as a stepper motor, or it can be mechanically driven. In some optional embodiments of this invention, the adjusting device 141 includes a fixing member 1411 and an adjusting screw 1412, such as... Figure 1 and Figure 2 As shown, the fixing member 1411 is fixedly connected to the sliding member 143, and the adjusting screw 1412 is arranged along the first direction. The adjusting screw 1412 is used to rotate under the drive of external force to drive the gripper 142 to move along the first direction. In this embodiment of the present invention, the adjusting screw 1412 and the gripper 142 are connected by a thread, which has good connection stability, simple structure, and low space occupation. In some alternative embodiments, the adjusting screw 1412 is not driven to rotate by external force, but the fixing member 1411 and the adjusting screw 1412 are connected by a thread, and the fixing member 1411 is fixedly connected to the gripper 142. By rotating the fixing member 1411, the fixing member 1411 can be driven to move along the adjusting screw 1412, thereby driving the gripper 142 to move along the first direction.

[0063] The gripper 142 includes one or more grippers 1421. Figure 1 In the illustrated embodiment, one gripper 142 includes two grippers 1421. Those skilled in the art can make one gripper 142 include one, three, or more grippers according to actual needs. When the gripper 142 includes two or more grippers 1421, the multiple grippers 1421 can be connected together. Exemplarily, the gripper 142 includes multiple grippers 1421 arranged along a second direction, and a gripper connector 1422 for connecting the multiple grippers. By using the gripper connector 1422 to connect the multiple grippers together, it is convenient to uniformly adjust the position of the multiple grippers 1421 in one gripper 142, achieving unified control.

[0064] The gripper 142 is slidable relative to the slider 143. Exemplarily, a slide rail can be provided on the slider 143, and the gripper 142 slides along the slide rail. In an optional embodiment of this invention, the slider 143 is provided with two grooves 1431 extending along a first direction, such as... Figure 1 As shown, two grooves 1431 are arranged opposite each other along the second direction, and both ends of the gripper connector 1422 extend into one of the grooves 1431. The grooves 1431 serve two purposes: firstly, they restrict the sliding path of the gripper 142 relative to the slider 143; secondly, they reduce the weight of the slider 143, facilitating installation and disassembly. Furthermore, by having both ends of the gripper connector 1422 extend into one of the grooves 1431, the gripper 142 is prevented from detaching from the slider 143. In practical applications, to reduce sliding friction between the gripper 142 and the slider 143, auxiliary sliding elements, such as rollers, can be provided on the outer surface of the portion of the gripper connector 1422 that extends into the groove 1431.

[0065] In optional embodiments of this utility model, the end of the gripper connector 1422 can extend out of the groove 1431, thereby better preventing the gripper connector 1422 from falling off the slider 143. To prevent the gripper connector 1422 from moving relative to the slider 143 in the second direction, in some embodiments of this utility model, a shape-fitting limiting structure can be provided between the gripper connector 1422 and the slider 143. For example, a protrusion can be provided at the end of the gripper connector 1422, and a corresponding groove can be provided on the slider 143. The shape fit of the protrusion and the groove prevents the gripper connector 1422 from moving relative to the slider 143 in the second direction. In other embodiments of this utility model, threads can be provided on the outer surface of the protruding portion of the gripper connector 1422, and a locking screw 144 can be provided on the protruding portion of the gripper connector 1422 to limit the displacement of the gripper connector 1422 relative to the slider 143 in the second direction. Figure 2 As shown. By setting the locking screw 144, the gripper unit 140 can be prevented from moving in the second direction, ensuring the gripping effect of the gripper unit 140, and the structure is simple and easy to install and disassemble.

[0066] The correction gripper module 100 in this embodiment can be used in conjunction with the transmission mechanism 200. Specifically, after the correction gripper module 100 grips the battery cell from the conveyor belt, the horizontal drive device 130 drives the mounting plate 110 to move along the first and second directions to correct the deviation of the battery cell. After the correction is completed, the correction gripper module 100 does not need to put the battery cell back onto the conveyor belt, but instead places it on the battery cell carrier plate at the corresponding position on the transmission mechanism 200. The upper surface of the transmission mechanism 200 has a hollow portion 211, through which the image acquisition device 230 inside the transmission mechanism 200 acquires images to position the battery cell. The clamping device 120 drives two of the pair of gripper units 140 to perform gripping or releasing operations on the battery cell on the transmission mechanism 200. Although the distance between the two gripper units 140 (i.e., the gripper width) can continuously change during the driving process to ultimately achieve a gripping or releasing operation, if the distance between the two gripper units 140 in a pair of gripper units is small, the driving stroke when driving the two gripper units 140 in a pair of gripper units 140 to achieve a gripping operation is correspondingly shorter, and thus the time required to achieve the gripping operation is shorter. Therefore, in order to improve gripping efficiency, in an optional embodiment of this utility model, the maximum distance between the two gripper units 140 in a pair of gripper units is smaller than the distance between two adjacent hollow portions 211.

[0067] The clamping device 120 is used to drive the aforementioned at least one pair of gripper units 140 to perform gripping or releasing operations on the battery cell. Exemplarily, the pair of gripper units 140 employs a retractable structure. For two of the gripper units 140 in the pair, one end is connected and the other end is spaced apart. The clamping device 120 adjusts the distance between the other ends of the two gripper units 140. By bringing the other ends of the two gripper units 140 closer together, the battery cell can be gripped; by moving the other ends of the two gripper units 140 further apart, the battery cell can be released. In some optional embodiments of this invention, such as... Figure 1-3 As shown, the clamping device 120 includes a clamping drive member 121, a cam 122, and an elastic member 123; the cam 122 is disposed below the mounting plate 110 and between two of the aforementioned at least one pair of gripper units 140; the elastic member 123 is disposed on the gripper unit 140 and is in a compressed state, see [reference]. Figure 1 and Figure 2The output end of the clamping drive 121 is connected to the cam 122, which drives the cam 122 to rotate, thereby driving the two gripper units 140 in the pair of gripper units 140 to move closer or further apart. The cam 122 is a disc-shaped component that rotates around a fixed axis and has a varying diameter, with a curved profile or groove on its circumferential surface. The two gripper units 140 in the pair of gripper units 140 respectively abut against the circumferential surface of the cam 122, thereby adjusting the distance between the two gripper units 140 in the pair of gripper units by driving the cam 122 to rotate. The structure of the cam 122 is set according to the motion requirements of the gripper units 140, so that the two gripper units 140 in the pair of gripper units 140 are driven closer or further apart under the drive of the clamping drive 121. Figure 2 In the optional embodiment shown, cam 122 is an elliptical cam. When the major axis of the elliptical cam 122 is located in the first direction, the distance between the two gripper units 140 in the pair of gripper units is the farthest; when the minor axis of the elliptical cam 122 is located in the first direction, the distance between the two gripper units 140 in the pair of gripper units is the closest. When the elliptical cam 122 switches from a position where the major axis is located in the first direction to a position where the minor axis is located in the first direction, the two gripper units 140 in the pair of gripper units move closer to each other to achieve a gripping operation; when the elliptical cam 122 switches from a position where the minor axis is located in the first direction to a position where the major axis is located in the first direction, the two gripper units 140 in the pair of gripper units move further apart to achieve a lowering operation. Cam 122 can also be a cam of other shapes, such as an eccentric wheel. Using a cam structure to drive the gripper unit 140 results in a simple structure, easy installation and disassembly, and low space occupancy. The elastic element 123 refers to a component that deforms under external force and returns to its original shape after the external force is removed. In this embodiment of the present invention, the elastic element 123 can be a metallic elastic element, such as a spring, or a non-metallic elastic element, such as a polymer material that deforms under external force and returns to its original shape after the external force is removed. The elastic element 123 is disposed on the gripper unit 140, for example, sleeved on the gripper unit 140. When the elastic element 123 is in a compressed state, as the two gripper units 140 in a pair of gripper units 140 approach each other, the compression deformation of the elastic element 123 gradually increases; as the two gripper units 140 in a pair of gripper units 140 move away from each other, the compression deformation of the elastic element 123 gradually decreases. By setting the elastic element 123 and keeping the elastic element 123 in a compressed state, on the one hand, the gripper unit 140 can always abut against the circumferential surface of the cam 122, and on the other hand, the gripper unit 140 can be prevented from shaking during the rotation of the cam 122, thus ensuring the operational stability of the gripper unit 140 when gripping or putting down the battery cell.

[0068] In this embodiment of the present invention, the clamping drive 121 and / or the horizontal drive device 130 can both be disposed on the mounting plate 110, or they can be disposed in other positions. In an optional embodiment of the present invention, the correction gripper module 100 further includes a base plate 150, which is located above the mounting plate 110; the clamping drive 121 is disposed above the base plate 150, and the horizontal drive device 130 is disposed between the mounting plate 110 and the base plate 150; or, the clamping drive 121 is disposed between the mounting plate 110 and the base plate 150, and the horizontal drive device 130 is disposed above the base plate 150. Figure 1-3 In the optional embodiment shown, the clamping drive 121 is disposed above the substrate 150, and the horizontal drive device 130 is disposed between the mounting plate 110 and the substrate 150. By setting the substrate 150 and separating the clamping drive 121 and the horizontal drive device 130, mutual interference between the two can be avoided during installation, maintenance, inspection, or disassembly, thus facilitating installation, disassembly, and maintenance.

[0069] In an optional embodiment, the clamping device 120 may further include a clamping device support plate 124 for fixing the clamping drive member 121; specifically, the clamping drive member 121 is fixed above the clamping device support plate 124. Figure 3 In the optional embodiment shown, the clamping device support plate 124 is disposed above the base plate 150. The clamping drive member 121 is fixed above the clamping device support plate 124 and has a cam 122 mounted axially thereon. Gripper units 140 are respectively provided on both sides of the cam 122. The gripper units 140 are mounted below the mounting plate 110 and are tightly fitted with the cam 122 by an elastic member 123. When the clamping drive member 121 is disposed between the mounting plate 110 and the base plate 150, the clamping device support plate 124 is disposed above the mounting plate 110, and the clamping drive member 121 is fixed above the clamping device support plate 124.

[0070] The horizontal drive device 130 is used to drive the mounting plate 110 to move in the first direction and the second direction. In an optional embodiment of this utility model, the horizontal drive device 130 can further drive the mounting plate 110 to rotate in the horizontal plane, thereby giving the correction gripper module 100 a higher degree of freedom in correction, enabling correction in the first direction, the second direction and rotational dimensions, and enabling simultaneous correction in the first direction, the second direction and rotational dimensions. Figure 4 This is a schematic diagram of the horizontal drive device in an optional embodiment of this utility model. (See diagram below.) Figure 1 and 4As shown, the horizontal drive device 130 is mounted on the mounting plate 110 and includes: a first-direction linear drive device 133, a second-direction linear drive device 134, a first bidirectional slider 131, and a second bidirectional slider 132; the first-direction linear drive device 133 is connected to the first bidirectional slider 131 and can drive the mounting plate 110 to move along the first direction through the first bidirectional slider 131; the second-direction linear drive device 134 is connected to the second bidirectional slider 132 and can drive the mounting plate 110 to move along the second direction through the second bidirectional slider 132.

[0071] like Figure 1 and 4 As shown, when the mounting plate 110 needs to move along the positive X-axis, the first bidirectional sliding member 131 is driven to move along the positive X-axis by the first direction linear drive device 133, thereby causing the mounting plate 110 to move along the positive X-axis; when the mounting plate 110 needs to move along the negative X-axis, the first bidirectional sliding member 131 is driven to move along the negative X-axis by the first direction linear drive device 133, thereby causing the mounting plate 110 to move along the negative X-axis. Thus, the solar cell is corrected in the X-axis direction (first direction).

[0072] When the mounting plate 110 needs to move along the positive Y-axis, the second bidirectional sliding member 132 is driven to move along the positive Y-axis by the second-direction linear drive device 134, thereby causing the mounting plate 110 to move along the positive Y-axis. When the mounting plate 110 needs to move along the negative Y-axis, the second bidirectional sliding member 132 is driven to move along the negative Y-axis by the second-direction linear drive device 134, thereby causing the mounting plate 110 to move along the negative Y-axis. Thus, the solar cell is corrected in the Y-axis direction (second direction).

[0073] When the mounting plate 110 needs to be rotated clockwise, by Figure 4 The first linear drive device 133 on the left side drives the corresponding first bidirectional slider 131 to move along the positive X-axis, or through... Figure 4 The first linear drive device 133 on the right side drives the corresponding first bidirectional slider 131 to move along the negative X-axis, while the second linear drive device 134 drives the second bidirectional slider 132 to move along the positive Y-axis, which can make the mounting plate 110 rotate clockwise.

[0074] To drive the mounting plate 110 to rotate counterclockwise, use... Figure 4 The first linear drive device 133 on the left side drives the corresponding first bidirectional slider 131 to move along the negative X-axis, or through... Figure 4The first linear drive device 133 on the right side drives the corresponding first bidirectional slider 131 to move along the positive X-axis, while the second linear drive device 134 drives the second bidirectional slider 132 to move along the negative Y-axis, which can make the mounting plate 110 rotate counterclockwise.

[0075] The first-direction linear drive device 133 and the second-direction linear drive device 134 may each include a servo motor and a lead screw. The servo motor drives the lead screw to rotate, and the lead screw converts the rotational motion into linear motion. In other embodiments, the first-direction linear drive device 133 and the second-direction linear drive device 134 may be other linear drive devices. Those skilled in the art can set the structural form of the first-direction linear drive device 133 and the second-direction linear drive device 134 according to actual needs, and this utility model does not make specific limitations in this regard.

[0076] In some optional embodiments of this utility model, both the first direction linear drive device 133 and the second direction linear drive device 134 include a linear drive component, a base, and a linkage component. Figure 5 This is a schematic diagram of the first direction linear drive device in an optional embodiment of this utility model, as shown below. Figure 5 As shown, the first-direction linear drive device 133 includes: a first-direction linear drive member 1331, a first-direction base 1332, and a first-direction linkage member 1333; the upper end of the first bidirectional sliding member 131 is slidably disposed on the first-direction base 1332 along the first direction, and the lower end is disposed on the mounting plate 110; the first-direction linkage member 1333 is fixedly connected to the first bidirectional sliding member 131 and threadedly connected to the output end of the first-direction linear drive member 1331; the first-direction linkage member 1333 can be directly connected to the first-direction linear drive member 1331, or the first-direction linkage member 1333 and the first-direction linear drive member 1331 are connected through a first-direction drive screw 1334; the first-direction linear drive member 1331 drives the first bidirectional sliding member 131 to move along the first direction on the first-direction base 1332 through the first-direction linkage member 1333.

[0077] The structure of the second-direction linear drive device 134 is the same as that of the first-direction linear drive device 133. For ease of distinction, the linear drive component, base, linkage component, and drive screw in the second-direction linear drive device 134 are respectively labeled as second-direction linear drive component 1341, second-direction base 1342, second-direction linkage component 1343, and second-direction drive screw 1344. Figure 6As shown, the second-direction linear drive device 134 includes: a second-direction linear drive member 134, a second-direction base 1342, and a second-direction linkage member 1343; the upper end of the second bidirectional sliding member 132 is slidably disposed on the second-direction base 1342 along the second direction, and the lower end is disposed on the mounting plate 110; the second-direction linkage member 1343 is fixedly connected to the second bidirectional sliding member 132 and threadedly connected to the output end of the second-direction linear drive member 1341; the second-direction linkage member 1343 can be directly connected to the second-direction linear drive member 1341, or the second-direction linkage member 1343 and the second-direction linear drive member 1341 are connected through a second-direction drive screw 1344; the second-direction linear drive member 1341 drives the second bidirectional sliding member 132 to move along the second direction on the second-direction base 1342 through the second-direction linkage member 1343.

[0078] In the above embodiment, the first bidirectional slider 131 is disposed on the first directional base 1332, and the second bidirectional slider 132 is disposed on the second directional base 1342. That is, the first bidirectional slider 131 and the second bidirectional slider 132 are respectively disposed on the substrate 150 through their respective bases. With this structure, the bidirectional sliders can be first installed on their corresponding linear drive devices, and then both can be disposed on the substrate 150, thereby ensuring the positional correspondence between the bidirectional sliders and their corresponding linear drive devices and improving installation reliability.

[0079] In some alternative embodiments of this invention, the first bidirectional sliding member 131 and the second bidirectional sliding member 132 may be directly mounted on the substrate 150 instead of being mounted on the substrate 150 via corresponding bases. Specifically, the correction gripper module 100 includes a substrate 150, which is located above the mounting plate 110. The upper ends of the first bidirectional sliding member 131 and the second bidirectional sliding member 132 are fixedly mounted on the substrate 150, and their lower ends are connected to the mounting plate 110. This structure allows the bidirectional sliding members and their corresponding bases to be mounted on the substrate 150, facilitating quick installation and disassembly.

[0080] The structures of the first bidirectional slider 131 and the second bidirectional slider 132 may be the same or different. Figure 7This is a schematic diagram of the structure of a bidirectional slider in an optional embodiment of the present invention. The bidirectional slider, serving as the first bidirectional slider 131 and the second bidirectional slider 132, includes a main body 1301, a first movable part 1302, and a second movable part 1303. The first movable part 1302 is connected to the base plate 150, and the second movable part 1303 is connected to the mounting plate 110. The first movable part 1302 and the second movable part 1303 of the first bidirectional slider 131 slide in engagement with the main body of the first bidirectional slider 131 along a first direction and a second direction, respectively; similarly, the first movable part 1302 and the second movable part 1303 of the second bidirectional slider 132 slide in engagement with the main body of the second bidirectional slider 131 along the first direction and the second direction, respectively. By employing a bidirectional slider including the first movable part 1302 and the second movable part 1303, the structure of the bidirectional slider can be simplified while achieving bidirectional sliding.

[0081] by Figure 4 and Figure 7 For example, when the first direction linear drive device 133 drives the main body 1301 of the first bidirectional slider 131 to move relative to the first movable part 1302 of the first bidirectional slider 131 along the positive X-axis, it drives the second movable part 1303 of the first bidirectional slider 131 to move along the positive X-axis with the main body 1301 of the first bidirectional slider 131, thereby driving the mounting plate 110 to move along the positive X-axis. The second movable part 1303 of the second bidirectional slider 132 moves with the mounting plate 110, so that the mounting plate 110 can move along the positive X-axis.

[0082] Similarly, when the second direction linear drive device 134 drives the main body 1301 of the second bidirectional slider 132 to move relative to the first movable part 1302 of the second bidirectional slider 132 along the positive Y-axis, it drives the second movable part 1303 of the second bidirectional slider 132 to move along the positive Y-axis with the main body 1301 of the second bidirectional slider 132, thereby driving the mounting plate 110 to move along the positive Y-axis. The second movable part 1303 of the first bidirectional slider 132 moves with the mounting plate 110, so that the mounting plate 110 can move along the positive Y-axis.

[0083] When it is necessary to drive the mounting plate 110 to rotate, through Figure 4 The first linear drive device 133 on the left drives the main body 1301 of the first bidirectional slider 131 along the positive X-axis, or the first linear drive device 133 on the right drives the main body 1301 of the first bidirectional slider 131 along the negative X-axis, while the second linear drive device 134 drives the main body 1301 of the second bidirectional slider 132 to move along the positive Y-axis, thereby causing the mounting plate 110 to rotate clockwise; through Figure 4The first direction linear drive device 133 on the left drives the main body 1301 of the first bidirectional slider 131 along the negative X-axis, or the first direction linear drive device 133 on the right drives the main body 1301 of the first bidirectional slider 131 along the positive X-axis, while the second direction linear drive device 134 drives the main body 1301 of the second bidirectional slider 132 to move along the negative Y-axis, which can cause the mounting plate 110 to rotate counterclockwise.

[0084] In this embodiment of the invention, a first-direction linear drive device 133 and a second-direction linear drive device 134 can be provided, with each linear drive device corresponding to a bidirectional slider, thereby simplifying the structure. Alternatively, this embodiment can provide two first-direction linear drive devices 133 and two second-direction linear drive devices 134, or two first-direction linear drive devices 133 and one second-direction linear drive device 134, or one first-direction linear drive device 133 and two second-direction linear drive devices 134, with each linear drive device corresponding to a bidirectional slider. By using two linear drive devices in one or two directions, the driving stability during the correction and positioning process can be improved. Furthermore, in this embodiment, each linear drive device can correspond to one bidirectional slider, and the number of linear drive devices is equal to the number of bidirectional sliders. Of course, other arrangements can also be used, for example, each linear drive device corresponds to one bidirectional slider, and one bidirectional slider is provided at each of the four corners of the mounting plate. In this way, during correction and positioning, the extra bidirectional sliders can provide auxiliary power, making the mounting plate 110 rotate more smoothly and respond more sensitively.

[0085] In this invention, the horizontal drive device 130 may further include: a rotary connector 135 and a connecting platform 136 fixedly connected to the rotary connector 135; the rotary connector 135 is provided at one end of the first bidirectional sliding member 131 and the second bidirectional sliding member 132, so as to rotatably engage with the mounting plate 110 or the base plate 150 through the rotary connector 135 and the connecting platform 136. For example, Figure 7 The first movable part 1301 of the bidirectional slider shown is provided with a rotary connector 135, so that it can be rotatably engaged with the substrate 150 through the rotary connector 135 and the connecting platform 136; or, Figure 5-6 The lower ends of the first bidirectional sliding member 131 and the second bidirectional sliding member 132 shown are provided with a rotary connector 135, so as to rotate with the mounting plate 110 through the rotary connector 135 and the connecting platform 136. By providing the rotary connector 135, the rotation process can be made smoother and more sensitive.

[0086] In the alignment correction gripper module 100 of this embodiment, the gripper unit 140 is driven by the clamping device 120 to grasp the battery cell, and the mounting plate 110 is driven by the horizontal driving device 130 to move along the first and second directions, thereby directly achieving non-contact alignment correction and positioning of the battery cell. This eliminates the need to place the battery cell on a conveyor belt or transmission mechanism for alignment correction, avoiding damage to the film layer caused by contact with the conveyor belt or transmission mechanism, and improving the power generation efficiency of the battery cell. Furthermore, this embodiment of the invention uses a modular alignment correction gripper module 100, which can be freely assembled according to actual automated production needs, simultaneously achieving alignment correction and positioning of multiple battery cells, meeting the production needs of more battery cells.

[0087] According to a second aspect of the present invention, a battery cell alignment and positioning device is provided.

[0088] Figure 8 This is a schematic diagram of the structure of the battery cell alignment and positioning device in an optional embodiment of this utility model, as shown below. Figure 8 As shown, the battery cell alignment and positioning device of this utility model embodiment includes: an alignment gripper module 100 and a transmission mechanism 200; the alignment gripper module 100 includes: a mounting plate 110, a clamping device 120, a horizontal drive device 130, and at least one pair of gripper units 140 arranged opposite each other along a first direction; the gripper units 140 are disposed below the mounting plate 110, and the horizontal drive device 130 is used to drive the mounting plate 110 to move along the first direction and the second direction to align the battery cell; the clamping device 120 is used to drive the at least one pair of gripper units 140 to grip the battery cell, and after the horizontal drive device 130 aligns the battery cell, place the battery cell on the battery cell carrier plate at the corresponding position on the transmission mechanism 200. The first direction and the second direction intersect each other and are both parallel to the horizontal plane. Figure 8 In this context, the first direction refers to the positive or negative X-axis, and the second direction refers to the positive or negative Y-axis.

[0089] In an optional embodiment of this utility model, the battery cell alignment and positioning device further includes a lifting drive module 300, which drives the alignment gripper module 100 to move along a third direction, which is perpendicular to the horizontal plane. Figure 8In this context, the third direction refers to the positive or negative Z-axis. When the correction gripper module 100 picks up a battery cell from the conveyor belt, the lifting drive module 300 can drive the correction gripper module 100 to move along the third direction, thereby driving the gripper unit 140 to move closer to or away from the conveyor belt to pick up the battery cell. After the horizontal drive device 130 corrects the alignment of the battery cell, when the correction gripper module 100 places the battery cell on the battery cell carrier plate at the corresponding position on the transmission mechanism 200, the lifting drive module 300 can drive the correction gripper module 100 to move along the third direction, thereby driving the gripper unit 140 to move closer to or away from the battery cell position on the transmission mechanism 200 to place the battery cell on the battery cell carrier plate at the corresponding position.

[0090] The transmission mechanism 200 can transport the battery cell carrier. An image acquisition device 230 is located below the transmission mechanism 200 for taking pictures and positioning the battery cell carrier and the battery cells from bottom to top. The lifting drive module 300 drives the correction gripper module 100 to move along a third direction, thereby driving the gripper unit 140 to approach the battery cell position on the transmission mechanism 200. The clamping device 120 in the correction gripper module 100 drives one or more pairs of gripper units 140 to grasp the battery cell at the corresponding position on the transmission mechanism 200. The horizontal drive device 130 drives the mounting plate 110 to move along a first direction and a second direction, thereby achieving correction and positioning of the battery cell. Although in Figure 8 and Figure 9 In the optional embodiment shown, a correction gripper module 100 is provided on each side of the lifting drive module 300, that is, one lifting drive module 300 corresponds to two correction gripper modules 100. However, in actual application, the number and distribution of correction gripper modules 100 corresponding to one lifting drive module 300 can be selectively set according to the actual situation. For example, one lifting drive module 300 corresponds to one correction gripper module 100, or one lifting drive module 300 corresponds to four correction gripper modules 100, and the four correction gripper modules 100 are respectively located on one side of the lifting drive module 300.

[0091] The battery cell alignment and positioning device of this invention can independently achieve alignment and positioning of battery cells in the first, second, and third directions without the aid of other devices. It features high integration, low space occupancy, and high degree of freedom of movement, thus meeting the alignment requirements of battery cells. Since the number and distribution of the alignment gripper modules 100 corresponding to one lifting drive module 300 can be selectively set according to actual conditions, the battery cell alignment and positioning device in this embodiment can adapt to various battery cell production environments and has wide applicability.

[0092] When the battery cell alignment and positioning device in this embodiment includes multiple alignment gripper modules 100, it may further include a module connector 400 for interconnecting the multiple alignment gripper modules 100. The lifting drive module 300 drives the module connector 400 to move along a third direction, thereby simultaneously moving the multiple alignment gripper modules 100 along the third direction. By setting the module connector 400, multiple alignment gripper modules 100 can be uniformly driven by a single lifting drive module 300, ensuring the positional consistency of the multiple alignment gripper modules 100. This improves the accuracy of alignment and positioning and avoids damage to the battery cells due to inaccurate position control when gripping or placing them.

[0093] The lifting drive module 300 is used to drive the alignment gripper module 100 to move along a third direction, and its specific structure can be selectively configured. The lifting drive module 300 can be directly mounted on the base plate 150 or the mounting plate 110 to drive the alignment gripper module 100 to move along a third direction. When the cell alignment and positioning device includes a module connector 400, the lifting drive module 300 can be mounted on the module connector 400, such as... Figure 10 As shown.

[0094] In an optional embodiment of this utility model, the lifting drive module 300 includes a lifting drive 310, a lifting drive support plate 320, a lifting screw 330, and a top seat 340. Figure 10 This is a structural schematic diagram of the lifting drive module in an optional embodiment of this utility model. Figure 10 In the optional embodiment shown, the lifting drive module 300 is disposed on the module connector 400, the lifting drive support plate 320 is disposed on the module connector 400, the lifting drive 310 is fixed above the lifting drive support plate 320, the upper end of the lifting screw 330 is connected to the lower end of the lifting drive 310, the lower end is connected to the upper end of the top seat 340, and the lower end of the top seat 340 is connected to the module connector 400; the lifting drive 310 drives the lifting screw 330 to move, thereby causing the top seat 340 to drive the module connector 400 to move in a third direction. It should be noted that when the cell alignment and positioning device does not include the module connector 400, the lifting drive module 300 can be directly mounted on the substrate 150 or the mounting plate 110. In this case, the lifting drive support plate 320 can be mounted on the alignment gripper module 100. Correspondingly, the lower end of the top seat 340 is connected to the alignment gripper module 100 to drive the alignment gripper module 100 to move in a third direction. The lifting drive module 300 with the above structure is simple in structure and easy to install and disassemble. In addition, by setting the lifting drive support plate 320, the installation stability of the lifting drive 310 can be improved, thereby enhancing the stability during alignment and positioning.

[0095] The transmission mechanism 200 includes a support body 210, a transmission device 220, and an image acquisition device 230. The transmission device 220 is mounted on the support body 210 and is used to transport the carrier plate of the battery cells. The image acquisition device 230 is used to position the battery cells by acquiring images. The image acquisition device 230 can be positioned above or diagonally above the transmission device 220 to acquire images from top to bottom. In an optional embodiment of this invention, the image acquisition device 230 is positioned below the transmission device 220. Specifically, the upper surface of the support body 210 has a hollow portion 211. The transmission device 220 is mounted on the support body 210 and is used to transport the carrier plate of the battery cells. The image acquisition device 230 is positioned inside the support body 210 and is used to acquire images through the hollow portion 211 to position the battery cells. In this embodiment of the invention, the image acquisition device 230 acquires images from bottom to top to position the battery cells. By positioning the image acquisition device 230 below the transmission device 220, the space occupancy rate can be reduced.

[0096] The structure of the transmission device 220 can be selectively configured according to actual conditions, such as being a transmission wheel or a conveyor belt. The image acquisition device 230 can be a camera or an electronic device with image acquisition capabilities. The cutout portion 211 is used to expose the battery cells so that the image acquisition device 230 can acquire images. Its shape can be selectively configured, such as being rectangular or elliptical. In some optional embodiments, a larger rectangular or elliptical cutout portion 211 is provided on the upper surface of the support body 210. For example, only one large cutout portion 211 is provided on the upper surface of the support body 210 to expose multiple carrier plates for supporting the battery cells. Figure 9 and 11 In the optional embodiment shown, the upper surface of the support body 210 has a plurality of regularly arranged rectangular cutouts 211. By setting a plurality of relatively small rectangular cutouts 211, the reliability of the transmission process can be ensured while the carrier plate used to carry the battery cells is being transported, and the carrier plate is prevented from falling off the cutouts 211.

[0097] In an optional embodiment of this utility model, the transmission mechanism 200 further includes an adjustment seat 240, which corresponds one-to-one with the image acquisition device 230; the image acquisition device 230 is mounted on the adjustment seat 240, so that the image acquisition device 230 can completely acquire images of battery electrodes at different positions.

[0098] In practical applications, when the battery cell carrier plate on the transmission mechanism 200 is conveyed to the image acquisition device 230 at the corresponding position, the image acquisition device 230 acquires an image of the battery cell carrier plate, thereby positioning the battery cell carrier plate. After the correction gripper module 100 clamps the battery cell on the conveyor belt above the image acquisition device 230, the image acquisition device 230 acquires an image of the battery cell position, thereby determining the position of the battery cell. Then, according to the algorithm, the correction gripper module 100 performs individual correction for each battery cell. After the correction is completed, the lifting drive module 300 drives the battery cell to be placed on the battery cell carrier plate on the transmission mechanism 200.

[0099] In summary, this utility model provides the following technical solution:

[0100] Technical Solution 1. A correction gripper module 100, comprising: a mounting plate 110, a clamping device 120, a horizontal driving device 130, and at least a pair of gripper units 140 disposed opposite each other along a first direction;

[0101] The gripper unit 140 is disposed below the mounting plate 110, and the clamping device 120 is used to drive the at least one pair of gripper units 140 to grip the battery cell; the horizontal drive device 130 is used to drive the mounting plate 110 to move along a first direction and a second direction to correct the deviation of the battery cell; the first direction and the second direction intersect each other and are both parallel to the horizontal plane.

[0102] Technical Solution 2. According to the correction gripper module 100 of Technical Solution 1, the gripper unit 140 includes an adjustment device 141, a gripper 142, and a sliding member 143; the gripper 142 is slidably disposed on the sliding member 143 along a first direction and includes one or more grippers 1421; the adjustment device 141 is fixedly connected to the sliding member 143 and can drive the gripper 142 to move relative to the sliding member 143 along the first direction.

[0103] Technical Solution 3. According to the correction gripper module 100 of Technical Solution 2, the adjustment device 141 includes a fixing member 1411 and an adjusting screw 1412; the fixing member 1411 is fixedly connected to the sliding member 143, the adjusting screw 1412 is arranged along the first direction, and the adjusting screw 1412 is used to rotate under the drive of external force to drive the gripper 142 to move along the first direction.

[0104] Technical Solution 4. According to the correction gripper module 100 of Technical Solution 2, the gripper component 142 includes a plurality of grippers 1421 arranged along the second direction and a gripper connector 1422 for connecting the plurality of grippers; the sliding component 143 is provided with two sliding grooves 1431 extending along the first direction, the two sliding grooves 1431 are arranged opposite to each other along the second direction, and the two ends of the gripper connector 1422 respectively extend into one sliding groove 1431.

[0105] Technical Solution 5. According to the correction gripper module 100 of Technical Solution 4, the end of the gripper connector 1422 extends out from the slide groove 1431, and a locking screw 144 is provided on the extended part to limit the displacement of the gripper connector 1422 in the second direction.

[0106] Technical Solution 6. According to any one of the correction gripper modules 100 in technical solutions 1-5, the clamping device is also used to place the battery cell on the battery cell carrier plate at the corresponding position on the transmission mechanism after the horizontal drive device corrects the battery cell; the upper surface of the transmission mechanism 200 has a hollow part 211, and the image acquisition device 230 inside the transmission mechanism 200 performs image acquisition through the hollow part 211 to position the battery cell;

[0107] The maximum spacing between two gripper units 140 in a pair of gripper units is less than the spacing between two adjacent hollow parts 211.

[0108] Technical Solution 7. According to the correction gripper module 100 of Technical Solution 1, the clamping device 120 includes a clamping drive component 121, a cam 122 and an elastic component 123;

[0109] Cam 122 is disposed below mounting plate 110 and between two of at least one pair of gripper units 140; elastic element 123 is disposed on gripper unit 140 and elastic element 123 is in a compressed state.

[0110] The output end of the clamping drive 121 is connected to the cam 122 and is used to drive the cam 122 to rotate, thereby driving the two gripper units 140 in the pair of gripper units 140 to move closer or further apart.

[0111] Technical solution 8. According to the correction gripper module 100 of technical solution 7, the correction gripper module 100 further includes a substrate 150, which is located above the mounting plate 110.

[0112] The clamping drive 121 is disposed above the substrate 150, and the horizontal drive device 130 is disposed between the mounting plate 110 and the substrate 150; or, the clamping drive 121 is disposed between the mounting plate 110 and the substrate 150, and the horizontal drive device 130 is disposed above the substrate 150.

[0113] Technical Solution 9. According to the correction gripper module 100 of Technical Solution 1, the horizontal drive device 130 is mounted on the mounting plate 110, including: a first direction linear drive device 133, a second direction linear drive device 134, a first bidirectional sliding member 131, and a second bidirectional sliding member 132.

[0114] The first direction linear drive device 133 is connected to the first bidirectional slider 131 and can drive the mounting plate 110 to move along the first direction through the first bidirectional slider 131; the second direction linear drive device 134 is connected to the second bidirectional slider 132 and can drive the mounting plate 110 to move along the second direction through the second bidirectional slider 132.

[0115] Technical Solution 10. According to the correction gripper module 100 of Technical Solution 9, the first direction linear drive device 133 includes: a first direction linear drive component 1331, a first direction base 1332, and a first direction linkage component 1333; the upper end of the first bidirectional sliding component 131 is slidably disposed on the first direction base 1332 along the first direction, and the lower end is disposed on the mounting plate 110; the first direction linkage component 1333 is fixedly connected to the first bidirectional sliding component 131 and threadedly connected to the output end of the first direction linear drive component 1331; the first direction linear drive component 1331 drives the first bidirectional sliding component 131 to move along the first direction on the first direction base 1332 through the first direction linkage component 1333;

[0116] The second-direction linear drive device 134 includes: a second-direction linear drive member 1341, a second-direction base 1342, and a second-direction linkage member 1343; the upper end of the second bidirectional sliding member 132 is slidably disposed on the second-direction base 1342 along the second direction, and the lower end is disposed on the mounting plate 110; the second-direction linkage member 1343 is fixedly connected to the second bidirectional sliding member 132 and threadedly connected to the output end of the second-direction linear drive member 1341; the second-direction linear drive member 1341 drives the second bidirectional sliding member 132 to move along the second direction on the second-direction base 1342 through the second-direction linkage member 1343.

[0117] Technical solution 11. According to the correction gripper module 100 of technical solution 9, the correction gripper module 100 further includes a base plate 150, which is located above the mounting plate 110; the first bidirectional sliding member 131 and the second bidirectional sliding member 132 both include a main body 1301, a first movable part 1302 and a second movable part 1303.

[0118] Each first movable part 1302 is connected to the base plate 150, and each second movable part 1303 is connected to the mounting plate 110;

[0119] The first movable part 1302 and the second movable part 1303 of the first bidirectional slider 131 slide in engagement with the main body of the first bidirectional slider 131 along the first direction and the second direction, respectively; the first movable part 1302 and the second movable part 1303 of the second bidirectional slider 132 slide in engagement with the main body of the second bidirectional slider 131 along the first direction and the second direction, respectively.

[0120] Technical solution 12. According to any one of the correction gripper module 100 in technical solutions 9-11, the horizontal drive device 130 further includes: a rotary connector 135 and a connection platform 136 fixedly connected to the rotary connector 135;

[0121] A rotating connector 135 is provided at one end of the first bidirectional sliding member 131 and the second bidirectional sliding member 132, so as to rotate and cooperate with the mounting plate 110 or the base plate 150 through the rotating connector 135 and the connecting platform 136.

[0122] Technical solution 13. According to any one of technical solutions 9-11, the correction gripper module 100 has two first-direction linear drive devices 133, which are respectively connected to two first bidirectional sliding members 131; and one second-direction linear drive device 134, which is connected to one second bidirectional sliding member 132.

[0123] Technical solution 14. A battery cell alignment and positioning device, comprising: an alignment gripper module 100 and a transmission mechanism 200;

[0124] The correction gripper module 100 includes: a mounting plate 110, a clamping device 120, a horizontal drive device 130, and at least a pair of gripper units 140 arranged opposite each other along a first direction;

[0125] The gripper unit 140 is disposed below the mounting plate 110. The clamping device 120 is used to drive the at least one pair of gripper units 140 to grip the battery cell and, after the horizontal drive device 130 corrects the deviation of the battery cell, place the battery cell on the battery cell carrier plate at the corresponding position on the transmission mechanism 200. The horizontal drive device 130 is used to drive the mounting plate 110 to move along the first direction and the second direction to correct the deviation of the battery cell. The first direction and the second direction intersect each other and are both parallel to the horizontal plane.

[0126] Technical Solution 15. The battery cell alignment and positioning device according to Technical Solution 14 further includes a lifting drive module 300 for driving the alignment gripper module 100 to move along a third direction, which is perpendicular to the horizontal plane.

[0127] Technical Solution 16. The battery cell correction and positioning device according to Technical Solution 15 includes multiple correction gripper modules 100, and the battery cell correction and positioning device also includes module connectors 400 for interconnecting the multiple correction gripper modules 100.

[0128] The lifting drive module 300 drives the module connector 400 to move in a third direction, thereby driving the correction gripper module 100 to move in a third direction.

[0129] Technical Solution 17. According to the battery cell correction and positioning device of Technical Solution 16, the lifting drive module 300 includes a lifting drive 310, a lifting drive support plate 320, a lifting screw 330 and a top seat 340.

[0130] The lifting drive support plate 320 is mounted on the module connector 400. The lifting drive 310 is fixed above the lifting drive support plate 320. The upper end of the lifting screw 330 is connected to the lower end of the lifting drive 310, and the lower end is connected to the upper end of the top seat 340. The lower end of the top seat 340 is connected to the module connector 400. The lifting drive 310 drives the lifting screw 330 to move, thereby causing the top seat 340 to drive the module connector 400 to move in a third direction.

[0131] Technical Solution 18. According to the battery cell alignment and positioning device of Technical Solution 14, the transmission mechanism 200 includes a support body 210, a transmission device 220 and an image acquisition device 230; the upper surface of the support body 210 has a hollow part 211, the transmission device 220 is disposed on the support body 210 and is used to transmit the carrier plate of the battery cell; the image acquisition device 230 is disposed inside the support body 210 and is used to acquire images through the hollow part 211 to position the battery cell.

[0132] Technical Solution 19. According to the battery cell correction and positioning device of Technical Solution 18, the transmission mechanism 200 further includes an adjustment seat 240, which corresponds one-to-one with the image acquisition device 230; the image acquisition device 230 is mounted on the adjustment seat 240, and the adjustment seat 240 is used to adjust the acquisition position and / or acquisition angle of the image acquisition device 230 mounted thereon.

[0133] Technical solution 20. According to the battery cell correction and positioning device of technical solution 18, the hollow part 211 is rectangular.

[0134] In this embodiment of the invention, a clamping device drives a gripper unit to grasp the battery cell, and a horizontal driving device drives a mounting plate to move along a first and second direction, thereby directly achieving non-contact alignment and positioning of the battery cell. This eliminates the need to place the battery cell on a conveyor belt or transmission mechanism for alignment, avoiding damage to the film layer caused by contact with the conveyor belt or transmission mechanism, and improving the power generation efficiency of the battery cell. Furthermore, this embodiment of the invention employs a modular alignment gripper module, which can be freely assembled according to actual automated production needs, simultaneously achieving alignment and positioning of multiple battery cells, meeting the production requirements of more battery cells.

[0135] The above steps are provided only to help understand the method, structure, and core idea of ​​this utility model. For those skilled in the art, various improvements and modifications can be made to this utility model without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims of this utility model.

Claims

1. A correction gripper module (100), characterized in that, include: Mounting plate (110), clamping device (120), horizontal drive device (130), and at least one pair of gripper units (140) arranged opposite each other along a first direction; The gripper unit (140) is disposed below the mounting plate (110), and the clamping device (120) is used to drive the at least one pair of gripper units (140) to grip the battery cell; the horizontal driving device (130) is used to drive the mounting plate (110) to move along a first direction and a second direction to correct the deviation of the battery cell; the first direction and the second direction intersect each other and are both parallel to the horizontal plane.

2. The correction gripper module (100) according to claim 1, characterized in that, The gripper unit (140) includes an adjustment device (141), a gripper (142), and a slider (143); the gripper (142) is slidably disposed on the slider (143) along the first direction and includes one or more grippers (1421); the adjustment device (141) is fixedly connected to the slider (143) and can drive the gripper (142) to move relative to the slider (143) along the first direction.

3. The correction gripper module (100) according to claim 2, characterized in that, The adjusting device (141) includes a fixing member (1411) and an adjusting screw (1412); the fixing member (1411) is fixedly connected to the sliding member (143), the adjusting screw (1412) is arranged along the first direction, and the adjusting screw (1412) is used to rotate under the drive of external force to drive the gripper (142) to move along the first direction.

4. The correction gripper module (100) according to claim 2, characterized in that, The gripper (142) includes a plurality of grippers (1421) arranged along the second direction, and a gripper connector (1422) for connecting the plurality of grippers; the slider (143) is provided with two slide grooves (1431) extending along the first direction, the two slide grooves (1431) are arranged opposite to each other along the second direction, and the two ends of the gripper connector (1422) extend into one of the slide grooves (1431).

5. The correction gripper module (100) according to claim 4, characterized in that, The end of the gripper connector (1422) extends out of the groove (1431), and a locking screw (144) is provided on the extended part to limit the displacement of the gripper connector (1422) in the second direction.

6. The correction gripper module (100) according to any one of claims 1-5, characterized in that, The clamping device (120) is also used to place the battery cell on the battery cell carrier plate at the corresponding position on the transmission mechanism (200) after the horizontal drive device (130) corrects the battery cell; the upper surface of the transmission mechanism (200) has a hollow part (211), and the image acquisition device (230) inside the transmission mechanism (200) performs image acquisition through the hollow part (211) to position the battery cell; The maximum spacing between two gripper units (140) in a pair of gripper units is less than the spacing between two adjacent hollowed-out portions (211).

7. The correction gripper module (100) according to claim 1, characterized in that, The clamping device (120) includes a clamping drive (121), a cam (122), and an elastic element (123); The cam (122) is disposed below the mounting plate (110) and between two of the at least one pair of gripper units (140); the elastic element (123) is disposed on the gripper unit (140) and is in a compressed state; The output end of the clamping drive (121) is connected to the cam (122) to drive the cam (122) to rotate, thereby driving the two gripper units (140) in the pair of gripper units (140) to move closer or further away from each other.

8. The correction gripper module (100) according to claim 7, characterized in that, The correction gripper module (100) also includes a base plate (150), which is located above the mounting plate (110); The clamping drive (121) is disposed above the substrate (150), and the horizontal drive device (130) is disposed between the mounting plate (110) and the substrate (150); or, the clamping drive (121) is disposed between the mounting plate (110) and the substrate (150), and the horizontal drive device (130) is disposed above the substrate (150).

9. The correction gripper module (100) according to claim 1, characterized in that, The horizontal drive device (130) is disposed on the mounting plate (110) and includes: a first direction linear drive device (133), a second direction linear drive device (134), a first bidirectional slider (131), and a second bidirectional slider (132); The first linear drive device (133) is connected to the first bidirectional slider (131) and can drive the mounting plate (110) to move along the first direction through the first bidirectional slider (131); the second linear drive device (134) is connected to the second bidirectional slider (132) and can drive the mounting plate (110) to move along the second direction through the second bidirectional slider (132).

10. The correction gripper module (100) according to claim 9, characterized in that, The first direction linear drive device (133) includes: a first direction linear drive member (1331), a first direction base (1332), and a first direction linkage member (1333); the upper end of the first bidirectional sliding member (131) is slidably disposed on the first direction base (1332) along the first direction, and the lower end is disposed on the mounting plate (110); the first direction linkage member (1333) is fixedly connected to the first bidirectional sliding member (131) and threadedly connected to the output end of the first direction linear drive member (1331); the first direction linear drive member (1331) drives the first bidirectional sliding member (131) to move along the first direction on the first direction base (1332) through the first direction linkage member (1333); The second-direction linear drive device (134) includes: a second-direction linear drive member (1341), a second-direction base (1342), and a second-direction linkage member (1343); the upper end of the second bidirectional sliding member (132) is slidably disposed on the second-direction base (1342) along the second direction, and the lower end is disposed on the mounting plate (110); the second-direction linkage member (1343) is fixedly connected to the second bidirectional sliding member (132) and threadedly connected to the output end of the second-direction linear drive member (1341); the second-direction linear drive member (1341) drives the second bidirectional sliding member (132) to move along the second direction on the second-direction base (1342) through the second-direction linkage member (1343).

11. The correction gripper module (100) according to claim 9, characterized in that, The correction gripper module (100) also includes a base plate (150), which is located above the mounting plate (110); the first bidirectional sliding member (131) and the second bidirectional sliding member (132) both include a main body (1301), a first movable part (1302), and a second movable part (1303); Each of the first movable parts (1302) is connected to the base plate (150), and each of the second movable parts (1303) is connected to the mounting plate (110); The first movable part (1302) and the second movable part (1303) of the first bidirectional slider (131) slide in engagement with the main body of the first bidirectional slider (131) along the first direction and the second direction, respectively; the first movable part (1302) and the second movable part (1303) of the second bidirectional slider (132) slide in engagement with the main body of the second bidirectional slider (132) along the first direction and the second direction, respectively.

12. The correction gripper module (100) according to any one of claims 9-11, characterized in that, The horizontal drive device (130) further includes: a rotary connector (135) and a connection platform (136) fixedly connected to the rotary connector (135); The rotating connector (135) is provided on one end of the first bidirectional sliding member (131) and the second bidirectional sliding member (132) so as to rotate with the mounting plate (110) or the base plate (150) through the rotating connector (135) and the connecting platform (136).

13. The correction gripper module (100) according to any one of claims 9-11, characterized in that, There are two first-direction linear drive devices (133), which are respectively connected to two first bidirectional sliders (131); there is one second-direction linear drive device (134), which is connected to one second bidirectional slider (132).

14. A battery cell alignment and positioning device, characterized in that, include: Correction gripper module (100) and transmission mechanism (200); The correction gripper module (100) includes: a mounting plate (110), a clamping device (120), a horizontal drive device (130), and at least one pair of gripper units (140) arranged opposite each other along a first direction; The gripper unit (140) is disposed below the mounting plate (110). The clamping device (120) is used to drive the at least one pair of gripper units (140) to grip the battery cell and to place the battery cell on the battery cell carrier plate at the corresponding position on the transmission mechanism (200) after the horizontal drive device (130) corrects the deviation of the battery cell. The horizontal drive device (130) is used to drive the mounting plate (110) to move along a first direction and a second direction to correct the deviation of the battery cell. The first direction and the second direction intersect each other and are both parallel to the horizontal plane.

15. The battery cell alignment and positioning device according to claim 14, characterized in that, The battery cell alignment and positioning device further includes a lifting drive module (300) for driving the alignment gripper module (100) to move along a third direction, which is perpendicular to the horizontal plane.

16. The battery cell alignment and positioning device according to claim 15, characterized in that, The battery cell alignment and positioning device includes multiple alignment gripper modules (100), and the battery cell alignment and positioning device also includes module connectors (400) for interconnecting the multiple alignment gripper modules (100). The lifting drive module (300) drives the module connector (400) to move along the third direction, thereby causing the correction gripper module (100) to move along the third direction.

17. The battery cell alignment and positioning device according to claim 16, characterized in that, The lifting drive module (300) includes a lifting drive (310), a lifting drive support plate (320), a lifting screw (330), and a top seat (340); The lifting drive support plate (320) is disposed on the module connector (400), the lifting drive (310) is fixed above the lifting drive support plate (320), the upper end of the lifting screw (330) is connected to the lower end of the lifting drive (310), and the lower end is connected to the upper end of the top seat (340), the lower end of the top seat (340) is connected to the module connector (400); the lifting drive (310) drives the lifting screw (330) to move, thereby causing the top seat (340) to drive the module connector (400) to move along the third direction.

18. The battery cell alignment and positioning device according to claim 14, characterized in that, The transmission mechanism (200) includes a support body (210), a transmission device (220), and an image acquisition device (230); the upper surface of the support body (210) has a hollow part (211), the transmission device (220) is disposed on the support body (210) and is used to transport the carrier plate of the battery cell; the image acquisition device (230) is disposed inside the support body (210) and is used to acquire images through the hollow part (211) to position the battery cell.

19. The battery cell alignment and positioning device according to claim 18, characterized in that, The transmission mechanism (200) also includes an adjustment seat (240), which corresponds one-to-one with the image acquisition device (230); the image acquisition device (230) is mounted on the adjustment seat (240), and the adjustment seat (240) is used to adjust the acquisition position and / or acquisition angle of the image acquisition device (230) mounted thereon.

20. The battery cell alignment and positioning device according to claim 18, characterized in that, The hollowed-out part (211) is rectangular.

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