Clamp and feeding device

Abstract

The application relates to the technical field of battery assembling equipment, in particular to a clamp and a feeding device. The clamp comprises a main body part, a first clamping part, a second clamping part, a first driving part and a pressure plate part. The first clamping part and the second clamping part are respectively arranged at two ends of the main body part in a second direction. At least one of the first clamping part and the second clamping part is in transmission connection with the main body part. The first driving part drives the first clamping part and the second clamping part to move close to or away from each other along the second direction, so as to clamp or release a to-be-clamped object. The pressure plate part is arranged on the main body part, and the pressure plate part can extend or retract to the side of the first clamping part of the main body part along a first direction, so as to abut against a tray supporting the to-be-clamped object or release the abutment against the tray. According to the clamp and the feeding device, the tray can be prevented from being lifted or the foam plate from being displaced during the process of grabbing the to-be-clamped object.

Description

Technical Field

[0001] This application relates to the field of battery assembly equipment technology, and in particular to a clamp and feeding device. Background Technology

[0002] In the production process of new energy power battery modules, the material handling and loading of square cells plays a crucial role, directly affecting the smoothness and efficiency of the entire production process. With the rapid development of the new energy industry, the demand for power battery modules continues to rise, and manufacturers are constantly pursuing higher production efficiency and quality stability. In this context, any flaws in the material handling and loading process can be magnified, severely impacting overall production.

[0003] Currently, traditional battery cell feeding mechanisms on the market exhibit numerous problems when faced with trays and foam boards arranged in different ways. In actual production, tray arrangement varies due to different production needs, battery cell specifications, and process requirements. Traditional mechanisms lack effective coping mechanisms and cannot flexibly adjust to different tray arrangement methods. At the moment of grabbing a battery cell, the feeding mechanism cannot effectively overcome the friction between the tray and the cell, as well as the tray's own inertia, causing the tray to be accidentally lifted. Once the tray is lifted, it not only affects the grabbing of the current cell but may also trigger a series of chain reactions, such as the displacement of other cells on the tray, or even the tray falling off the conveyor, thus interrupting the production process. Furthermore, lifting the tray can easily cause the foam boards separating adjacent cells on the tray to shift. This displacement removes the original protection of the cells, increasing the risk of damage during subsequent processing. Moreover, the displacement of the foam boards may affect the mechanism's judgment of the cell's position, leading to grabbing failure and further reducing production continuity. Utility Model Content

[0004] The purpose of this application is to provide a clamp and a feeding device to solve, to a certain extent, the technical problem in the prior art that at the moment of grasping the battery cell, the battery cell picking and feeding mechanism cannot effectively overcome the friction between the tray and the battery cell and the inertia of the tray itself, which causes the tray to be accidentally lifted. Once the tray is lifted, it will not only affect the grasping of the battery cell, but also cause the position of other battery cells on the tray and the spacer foam board set between adjacent battery cells on the tray to shift.

[0005] According to a first aspect of this application, a clamp is provided for clamping an object to be clamped, comprising a main body, a first clamping part, a second clamping part, a first driving part, and a pressure plate part. The first clamping part and the second clamping part are disposed on the same side of the main body in a first direction, and the first clamping part and the second clamping part are respectively disposed at both ends of the main body in a second direction. The second direction intersects with the first direction. At least one of the first clamping part and the second clamping part is connected to the main body in a transmission manner. The first driving part drives the first clamping part and the second clamping part to move closer to or further away from each other along the second direction to clamp or release the object to be clamped. The pressure plate is disposed on the main body, and the pressure plate can extend or retract along the first direction toward the side where the first clamping part of the main body is located, so as to abut against the tray supporting the object to be clamped, or release the abutment against the tray.

[0006] Preferably, it further includes an anti-fall component, which includes a support part and a second drive part. The second drive part is fixed to the main body and is throttle-connected to the support part to drive the support part to move between a support position and an avoidance position. When the supporting part is in the supporting position, the supporting part is located on the side of the object to be clamped that is opposite to the main body. When the supporting part is in the avoidance position, the projections of the supporting part and the object to be clamped onto a plane perpendicular to the first direction do not overlap.

[0007] Preferably, the anti-fall component includes two second driving parts, which are respectively disposed at both ends of the main body in the third direction. The supporting part extends along the third direction, and the two ends of the supporting part in the third direction are respectively connected to the two second driving parts in a transmission connection. The third direction intersects the plane determined by the first direction and the second direction. The second driving part includes a lifting member and an opening and closing member. The lifting member is slidably connected to the main body, and the opening and closing member is fixedly connected to the lifting member. The lifting member drives the opening and closing member to move along the first direction. The supporting part is fixed to the opening and closing member, and the opening and closing member drives the supporting part to move along the second direction.

[0008] Preferably, the anti-fall component includes two support portions, and the two ends of the opening and closing member in the second direction are respectively connected to the two support portions to drive the two support portions to move closer to or further away from each other along the second direction.

[0009] Preferably, the device further includes a pallet gripper disposed at one end of the main body in a third direction for gripping the pallet, the third direction intersecting the plane defined by the first direction and the second direction.

[0010] Preferably, the pallet gripper includes a first gripper arm, a second gripper arm, and a third drive unit. The first gripper arm and the second gripper arm are arranged opposite to each other along the third direction. At least one of the first gripper arm and the second gripper arm is connected to the third drive unit. The third drive unit drives the first gripper arm and the second gripper arm to move closer to each other and further away from each other. The pallet gripper further includes a limiting portion that extends along the first direction and is disposed between the first gripper arm and the second gripper arm. The dimension of the limiting portion in the third direction is smaller than the width of the portion of the pallet held by the pallet gripper.

[0011] Preferably, the first clamping part includes a plurality of first grippers, the plurality of first grippers being spaced apart along a third direction, the third direction intersecting with the plane defined by the first direction and the second direction; The second clamping part includes a plurality of second clamping claws, the number of which is equal to the number of first clamping claws, and the plurality of second clamping claws and the plurality of first clamping claws are arranged opposite to each other along the second direction.

[0012] Preferably, the first clamping part further includes a first connecting plate extending along the third direction, and the plurality of first grippers are disposed on the first connecting plate; The first driving unit includes a first driving member, which is convexly connected to the first connecting plate. The first driving member drives the first connecting plate to move along the second direction, thereby causing the plurality of first grippers to move closer to or away from the second gripper.

[0013] Preferably, the second clamping part further includes a plurality of second connecting plates, and the plurality of second grippers are sequentially divided into a plurality of gripper groups along the third direction, and the plurality of second grippers in the same gripper group are connected by the same second connecting plate; The first driving unit further includes a plurality of second driving components, the number of which is equal to the number of the second connecting plates and is arranged in a one-to-one correspondence, and the second driving components are connected to the corresponding second connecting plates in a transmission connection.

[0014] According to a second aspect of this application, a feeding device is provided, including the clamp described in any of the above technical solutions, and thus has all the beneficial technical effects of the clamp, which will not be repeated here.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: The clamp provided in this application, on the one hand, drives the first clamping part and the second clamping part to move closer and further apart along a second direction via a first driving part, which can flexibly adapt to objects of different sizes to be clamped, whether small battery cells or larger related components, and can achieve precise and stable clamping. This adjustable clamping method, compared with the traditional fixed clamping structure, greatly improves the versatility and applicability of the clamp, reduces the tedious operation of frequently changing the clamp due to changing different specifications of objects to be clamped, and effectively improves production efficiency. On the other hand, the pressure plate part can extend and retract along the first direction toward the side of the main body where the first clamping part is located, to abut against the tray supporting the object to be clamped, or to release the abutment against the tray. When the clamp clamps the object to be clamped, the pressure plate part can extend downward, effectively pressing the tray or foam board below. In the scenario of picking and loading square battery cells, it can prevent the tray from being lifted or the foam board from shifting during the process of grabbing the object to be clamped (e.g., battery cell). The stable pressure applied by the pressure plate ensures the stability of materials during operation, guarantees the continuity of the production process, and reduces the risk of production interruptions and product damage caused by material displacement. Furthermore, the layout of the main body, first clamping unit, second clamping unit, first drive unit, and pressure plate unit is compact and rational. The components cooperate with each other, meeting the clamping and pressing requirements of different materials without occupying excessive space. This is highly advantageous for installation and use on production lines with limited space, and better adapts to various complex production environments.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is an isometric structural diagram of the fixture provided in the embodiments of this application; Figure 2 Another isometric structural schematic diagram of the fixture provided in the embodiments of this application; Figure 3 This is an isometric structural diagram of the first clamping part provided in an embodiment of this application; Figure 4 This is an isometric structural diagram of the second clamping part provided in an embodiment of this application; Figure 5This is an isometric structural diagram of the anti-fall component provided in the embodiments of this application; Figure 6 This is a schematic diagram of the isometric structure of the pressure plate part provided in the embodiment of this application; Figure 7 This is an isometric structural diagram of the pallet gripper provided in an embodiment of this application.

[0019] Figure label: 1. Main body; 11. Docking flange; 2. First clamping part; 21. First gripper; 22. First connecting plate; 23. First driving component; 24. First sliding component; 3. Second clamping part; 31. Second gripper; 32. Second connecting plate; 33. Second driving component; 34. Second sliding component; 4. Pressure plate part; 41. Third driving component; 42. Mounting plate; 51. Support part; 52. Second driving part; 521. Lifting component; 522. Opening and closing component; 6. Pallet gripper; 61. First clamping arm; 62. Second clamping arm; 63. Limiting part; 64. Third driving part; 7. Vision acquisition device; 8. Object to be clamped.

[0020] F1, first direction; F2, second direction; F3, third direction. Detailed Implementation

[0021] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0022] The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application.

[0023] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," 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 application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] The following reference Figures 1 to 7 This application describes a clamp and a feeding device according to some embodiments.

[0027] See Figures 1 to 7 As shown, an embodiment of the first aspect of this application provides a clamp for clamping an object 8 to be clamped. The clamp includes a main body 1, a first clamping part 2, a second clamping part 3, a first driving part, and a pressure plate part 4. The first clamping part 2 and the second clamping part 3 are disposed on the same side of the main body 1 in a first direction F1, and are respectively disposed at opposite ends of the main body 1 in a second direction F2, which intersects with the first direction F1. At least one of the first clamping part 2 and the second clamping part 3 is connected to the main body 1 via the first driving part, and is driven by the first driving part to move closer to and further away from each other along the second direction F2. The pressure plate part 4 is disposed on the main body 1 and is capable of extending and retracting along the first direction F1 toward the side of the main body 1 where the first clamping part 2 is located. The pressure plate 4 can extend beyond the bottom end of the clamping part along the first direction F1. The bottom end of the clamping part is the end of the first clamping part 2, the second clamping part 3 and the object to be clamped 8 that is furthest from the main body part 1 in the first direction F1.

[0028] According to the above-mentioned technical features, the clamp can drive the first clamping part 2 and the second clamping part 3 to move closer and further away from each other along the second direction F2 through the first driving part, so as to flexibly adapt to different sizes of objects to be clamped 8 and achieve precise and stable clamping. The objects to be clamped 8 can be battery cells of different sizes or related components of larger size. The following description takes the object to be clamped 8 as a battery cell.

[0029] This adjustable clamping method, compared to the traditional fixed clamping structure, greatly improves the versatility and applicability of the clamp, reduces the tedious operation of frequently changing clamps when changing different specifications of the objects to be clamped 8, and effectively improves production efficiency. On the other hand, the pressure plate 4 can extend and retract along the first direction F1 toward the side where the first clamping part 2 of the main body 1 is located, to abut against the tray supporting the object to be clamped 8, or to release the abutment against the tray. When the clamp holds the object to be clamped 8, the pressure plate 4 can extend downward, effectively pressing the tray or foam board below. In the scenario of picking up and loading square battery cells, it can prevent the tray from being lifted or the foam board from shifting during the process of grabbing the object to be clamped 8 (e.g., battery cell). The stable pressure applied by the pressure plate 4 ensures the stability of the material during operation, guarantees the continuity of the production process, and reduces the risk of production interruption and product damage caused by material displacement. Furthermore, the layout of the main body 1, the first clamping part 2, the second clamping part 3, the first drive part, and the pressure plate part 4 is compact and reasonable. The components cooperate with each other, satisfying the clamping and pressing requirements of different materials without occupying excessive space. This is highly advantageous for installation and use on production lines with limited space, and can better adapt to various complex production environments.

[0030] like Figures 1 to 7 As shown in the figure, F1 can be an example of the first direction F1 mentioned above, and F2 can be an example of the second direction F2 mentioned above. Preferably, the first direction F1 can be perpendicular to the second direction F2, so that the clamp can easily adapt to the structure of most square battery packs. For ease of description, the direction intersecting the plane determined by the first direction F1 and the second direction F2 is defined as the third direction F3, and F3 shown in the figure can be an example of the third direction F3 mentioned above. Preferably, the third direction F3 can be perpendicular to the plane determined by the first direction F1 and the second direction F2 (i.e., the first direction F1, the second direction F2, and the third direction F3 form a rectangular coordinate system), so as to further adapt the clamp to the structure of most square battery packs. However, it is not limited to this. As long as the normal material picking action of the clamp can be realized, the coordinate system formed by the first direction F1, the second direction F2, and the third direction F3 is not limited to a rectangular coordinate system, but can also be an oblique coordinate system.

[0031] Preferably, such as Figure 1 and Figure 2 As shown, the main body 1 may include a mounting plate, the large surface of which may be arranged perpendicular to the first direction F1 to facilitate the arrangement of the first clamping part 2, the second clamping part 3, the first driving part and the pressure plate part 4 and other structures.

[0032] Preferably, such as Figure 1 and Figure 2As shown, the main body 1 may also include a docking flange 11, which may be disposed on the side of the mounting plate opposite to both the first clamping part 2 and the second clamping part 3, for docking with the transfer equipment described below.

[0033] Preferably, such as Figure 1 , Figure 2 and Figure 6 As shown, the pressure plate part 4 may include a third drive member 41 and a mounting plate 42. The third drive member 41 can extend and retract along the first direction F1. The third drive member 41 is fixed to the mounting plate 42. The pressure plate part 4 can be fixed to one end of the mounting plate in the third direction F3 via the mounting plate 42.

[0034] Preferably, such as Figure 1 As shown in the figure, the above-mentioned clamp includes an example of two pressure plate parts 4. The two pressure plate parts 4 can be spaced apart along a third direction F3 to improve the stability of the clamp in pressing the pallet of the object to be clamped 8 and further reduce the probability of the pallet being lifted. However, it is not limited to this. The number of pressure plate parts 4 can be adjusted according to the size of the above-mentioned clamp. For example, the number of pressure plate parts 4 can also be 1, 3, 4, 5... or more.

[0035] Optionally, the third driving component 41 can be a linear drive device such as an electric telescopic rod, a pneumatic cylinder, or an electric cylinder.

[0036] In an embodiment, such as Figure 1 , Figure 2 and Figure 5 As shown, the above-mentioned clamp may also include an anti-drop component, which may include a support portion 51 and a second drive portion 52. The second drive portion 52 is fixed to the main body portion 1 and is connected to the support portion 51 in a transmission manner to drive the support portion 51 to move between a support position and a clearance position. Specifically, when the support portion 51 is in the support position, the support portion 51 is located on the side of the object to be clamped 8 that is away from the main body portion 1, so as to prevent the object to be clamped 8 from falling. When the support portion 51 is in the clearance position, the projections of the support portion 51 and the object to be clamped 8 onto a plane perpendicular to the first direction F1 do not overlap. In this way, interference between the support portion 51 and the object to be clamped 8 is effectively avoided during the clamping process.

[0037] Preferably, such as Figure 1 , Figure 2 and Figure 5As shown, the anti-drop component may include two second drive units 52, which are respectively disposed at both ends of the main body 1 in the third direction F3. The support unit 51 extends along the third direction F3, and the two ends of the support unit 51 in the third direction F3 are respectively connected to the two second drive units 52 for transmission. This symmetrical dual drive structure provides stable support for the support unit 51. When supporting a heavy object to be clamped 8 or supporting multiple objects to be clamped at the same time, it can effectively distribute the weight, prevent the support unit 51 from deforming due to uneven force, and ensure the reliability of the support.

[0038] Preferably, such as Figure 1 , Figure 2 and Figure 5 As shown, the second drive unit 52 includes a lifting member 521 and an opening / closing member 522. The opening / closing member 522 is connected to the main body 1 via the lifting member 521. The lifting member 521 can drive the supporting part 51 to move along the first direction F1, and the opening / closing member 522 can drive the supporting part 51 to move along the second direction F2. Thus, on the one hand, the second drive unit 52 can drive the supporting part 51 to move along the first direction F1 (lifting) and the second direction F2 (opening / closing), respectively. This enables the supporting part 51 to achieve precise positioning in three-dimensional space, allowing for more flexible adjustment of its position when handling objects 8 of different heights and widths, greatly improving the adaptability of the clamp to different specifications of battery cells. On the other hand, through the synergistic effect of the lifting member 521 and the opening / closing member 522, the supporting part 51 can quickly switch between a supporting position and an avoidance position. When it is necessary to clamp or release the object 8 to be clamped, the support part 51 can quickly avoid interference with other parts; and when it is necessary to provide support, it can be in place in a timely manner to ensure the efficiency and continuity of operation.

[0039] It should be noted that when the supporting part 51 is in the supporting position, the lifting member 521 drives the opening and closing member 522 to descend until the supporting part 51 exceeds the object to be clamped 8. The opening and closing member 522 drives the two supporting parts 51 to move closer to each other until both supporting parts 51 are directly below the object to be clamped 8. Once the object to be clamped 8 is released, the released object to be clamped 8 can be caught by the supporting part 51. When the supporting part 51 is in the avoidance position, the opening and closing member 522 drives the two supporting parts 51 to move away from each other until the supporting part 51 moves to the outside of the projection of the object to be clamped 8 along the first direction F1 onto the plane perpendicular to the first direction F1. The lifting member 521 drives the opening and closing member 522 to rise so that the two supporting parts 51 rise to the two sides of the object to be clamped 8 in the second direction, so as to avoid interference between the supporting part and the tray or other components during the clamping process of picking up and placing the object to be clamped 8.

[0040] Preferably, such as Figure 1 , Figure 2 and Figure 5As shown, the anti-drop component may also include two support portions 51. The two ends of the opening and closing member 522 in the second direction F2 are respectively connected to the two support portions 51 to drive the two support portions 51 to move closer and further apart from each other along the second direction F2. In this way, on the one hand, the two support portions 51 can provide support for the object to be clamped 8 from both sides simultaneously. For rectangular objects such as square battery cells, it can better balance the weight of the object and prevent it from tilting or falling during transportation, further improving the stability of clamping. Moreover, the two support portions 51 support the object to be clamped 8 from both sides simultaneously, forming a more reliable anti-drop mechanism. Even if the first clamping part 2 or the second clamping part 3 becomes loose unexpectedly, the support portion 51 can still prevent the object to be clamped 8 from falling, effectively protecting the safety of the battery cell and production equipment, and reducing production accidents and losses caused by material falling. On the other hand, the distance between the two support portions 51 can be adjusted by the opening and closing member 522, so that the clamp can adapt to objects to be clamped 8 of different widths. Whether it is a narrower, smaller battery cell or a wider, larger module, stable support can be achieved by adjusting the spacing of the support parts 51, which enhances the versatility and flexibility of the fixture.

[0041] Preferably, such as Figure 1 , Figure 2 and Figure 5 As shown, the support portion 51 can be in the shape of a "U" to allow the support portion 51 to surround the object to be clamped 8 from three directions, thereby further improving the support stability of the support portion 51.

[0042] Optionally, the lifting component 521 and the opening / closing component 522 can be linear drive devices such as electric telescopic rods, cylinders, and electric cylinders.

[0043] In an embodiment, such as Figure 1 , Figure 2 and Figure 7 As shown, the above-mentioned clamp may also include a pallet gripper 6, which is disposed at one end of the main body 1 in the third direction F3 for clamping the pallet containing the object to be clamped 8. Thus, after the object to be clamped 8 in the current pallet is empty, the empty pallet can be clamped by the pallet gripper 6 and transferred by the following transfer device so that the clamp can continue to clamp the object to be clamped 8 in the lower pallet.

[0044] Preferably, such as Figure 7As shown, the pallet gripper 6 may include a first gripping arm 61, a second gripping arm 62, and a third drive unit 64. The first gripping arm 61 and the second gripping arm 62 are arranged opposite each other along a third direction F3. At least one of the first gripping arm 61 and the second gripping arm 62 is throttle-connected to the third drive unit 64 to drive the first gripping arm 61 and the second gripping arm 62 to move closer and further apart. In this way, the pallet gripper 6 can clamp pallets of different sizes. This enhances the versatility of the fixture, enabling it to handle pallets of various sizes, meeting different production needs, and reducing the cost for enterprises to replace equipment when changing pallet sizes.

[0045] Preferably, such as Figure 7 As shown, the pallet gripper 6 may further include a limiting part 63, which extends along the first direction F1 and is disposed on both the first clamping arm 61 and the second clamping arm 62. The size of the limiting part 63 in the third direction F3 is smaller than the width of the portion of the pallet to be gripped by the pallet gripper 6. In this way, on the one hand, the pallet can be precisely limited when the gripper is closed, ensuring that the pallet is stably gripped in a predetermined position and preventing it from sliding or shifting during transportation, thereby further improving the stability of pallet transportation; on the other hand, making the size of the limiting part 63 in the third direction F3 smaller than the width of the portion of the pallet to be gripped by the pallet gripper 6 effectively avoids interference between the limiting part 63 and the first clamping arm 61 and the second clamping arm 62, ensuring the gripping stability of the portion of the pallet gripper 6 by the first clamping arm 61 and the second clamping arm 62.

[0046] Preferably, such as Figure 1 As shown in the figure, an example of the above-mentioned clamping device with three pallet grippers 6 is illustrated. It should be noted that the pallet supporting the object to be clamped 8 may be equipped with a crossbeam or lifting beam structure. The clamping device can be rotated so that the pallet grippers 6 and the pallet face each other via the transfer device described above. Correspondingly, the pallet grippers 6 can be directly opposite the crossbeam or lifting beam structure, so that the pallet grippers 6 can grasp the crossbeam or lifting beam structure to achieve the clamping action on the pallet. However, this is not the only limitation; the number and position of the pallet grippers 6 can be adaptively adjusted according to the number and position of the crossbeam or lifting beam structure.

[0047] In an embodiment, such as Figures 1 to 4As shown, the first clamping part 2 may include a plurality of first grippers 21, which are spaced apart along a third direction F3. Correspondingly, the second clamping part 3 may include a plurality of second grippers 31, the number of which is equal to the number of first grippers 21. The plurality of second grippers 31 and the plurality of first grippers 21 are arranged one-to-one opposite each other along a second direction F2. In this way, each pair of corresponding first grippers 21 and second grippers 31 can clamp one battery cell, thereby enabling the first clamping part 2 and the second clamping part 3 to simultaneously clamp a row of battery cells spaced apart along a third direction F3. This not only improves the clamping efficiency of the fixture but also enhances its compatibility and adaptability. By clamping battery cells row by row, the fixture can be adapted to various battery cell arrangement methods.

[0048] Preferably, such as Figure 2 and Figure 3 As shown, the first clamping part 2 may further include a first connecting plate 22 extending along the third direction F3, and the multiple first grippers 21 included in the first clamping part 2 are all disposed on the first connecting plate 22. The aforementioned first driving part may include a first driving member 23, which is connected to the first connecting plate 22 in a transmission manner. In this way, the multiple first grippers 21 are integrated together by the first connecting plate 22 and driven uniformly by the first driving member 23, realizing the synchronous movement of multiple grippers, effectively simplifying the driving system, reducing the number of driving components, and reducing the structural complexity and manufacturing cost of the fixture. The setting of the first connecting plate 22 ensures that the multiple first grippers 21 can maintain synchronous movement during the clamping process, applying a uniform clamping force to the object 8 to be clamped. This is particularly important for the stable clamping of long and narrow objects such as square battery cells, effectively preventing the deformation or falling of the battery cells due to inconsistent gripper movements, and improving the reliability of clamping.

[0049] Optionally, such as Figure 2 and Figure 3 As shown in the figure, an example of two first driving members 23 is illustrated. The two first driving members are spaced apart along the third direction to ensure the uniform distribution of the clamping force of the first clamping part 2 in the third direction F3. It should be noted that the number of the first driving members 23 can be adaptively adjusted according to the length of the first connecting plate 22. For example, the number of the first driving members 23 can also be one, three, four or more.

[0050] Preferably, such as Figure 3 As shown, the first clamping part 2 may further include a first sliding member 24, which may include a first slider and a first slide rail extending along the second direction F2. The first connecting plate 22 may be connected to the first slider, and the first slide rail may be fixedly connected to the mounting plate to ensure the accuracy and smoothness of the movement of the first clamping part 2 along the second direction F2.

[0051] Optionally, as not shown in the figure, the first connecting plate can be connected to the first slide rail, and the first slider can be fixedly connected to the mounting plate.

[0052] Preferably, such as Figure 1 and Figure 4 As shown, the second clamping part 3 may further include multiple second connecting plates 32. The multiple second grippers 31 included in the second clamping part 3 are sequentially divided into multiple gripper groups along the third direction F3. Multiple second grippers 31 in the same gripper group are connected by the same second connecting plate 32. The first driving part also includes multiple second driving members 33. The number of second driving members 33 is equal to the number of second connecting plates 32 and they are set one-to-one. The second driving members 33 are connected to the corresponding second connecting plates 32 in a transmission manner. In this way, each gripper group can operate independently. According to the shape, size and weight distribution of the object to be clamped 8, the clamping force and position of each gripper group can be flexibly adjusted to achieve more precise clamping control. For objects to be clamped that are irregular in shape or have uneven surfaces, or for objects to be clamped that have size differences due to size errors, the independently driven second grippers 31 in groups can better adapt to their shape characteristics and individual size errors between objects to be clamped 8. Each gripper assembly can be adjusted according to the actual situation of the contact area to ensure that all grippers can fully contact the object to be clamped 8, providing stable support and clamping force, and improving the adaptability of the fixture to objects of different shapes.

[0053] like Figure 1 and Figure 4 As shown in the figure, an example of the above-mentioned gripper group including two second grippers 31 is illustrated. However, it is not limited to this. The number of second grippers 31 included in each of the above-mentioned gripper groups can also be one, three or more.

[0054] Similarly, such as Figure 4 As shown, the second clamping part 3 may also include a second sliding member 34, which may include a second slider and a second slide rail extending along the second direction F2. The first connecting plate 22 may be connected to the second slider, and the second slide rail may be fixedly connected to the mounting plate to ensure the accuracy and smoothness of the movement of the second clamping part 3 along the second direction F2.

[0055] Optionally, as not shown in the figure, the second connecting plate 32 can be connected to the second slide rail, and the second slider can be fixedly connected to the mounting plate.

[0056] The second aspect of this application also provides a feeding device, which includes the clamp described in any of the above embodiments, and thus has all the beneficial technical effects of the clamp, which will not be repeated here.

[0057] Preferably, the above-mentioned feeding device may further include a transfer device and a vision acquisition device. The main body 1 is disposed on the transfer device, and the vision acquisition device 7 is disposed on the main body 1. The vision acquisition device 7 is communicatively connected to the transfer device to adjust the posture and position of the transfer device according to the position information acquired by the vision acquisition device 7.

[0058] Optionally, the aforementioned transfer equipment can be a multi-axis driven device such as a robotic arm, robotic robot, or robot.

[0059] Optionally, the aforementioned visual acquisition device 7 may include a CCD (Charge-Coupled Device) camera and a fourth driving unit. The fourth driving unit can extend and retract along a first direction F1. The CCD camera may be disposed at one end of the fourth driving unit to drive the CCD camera to move along the first direction F1, thereby achieving automatic focusing of the CCD camera.

[0060] Preferably, such as Figure 1 and Figure 2 As shown, the visual acquisition device 7 can be installed on the side of the mounting plate opposite to the pressure plate 4 on the third-direction F3.

[0061] Based on the features described above, Figures 1 to 7 The following description uses the clamping device for picking up battery cells as an example. The working principle of the feeding device will be described in detail below.

[0062] Initialization: Once the transfer equipment reaches the standby safe position, program initialization begins; Acquiring initial position information: The transfer equipment moves the fixture to the first tray photo point, and the CCD camera takes the first picture to obtain the initial position information of the tray; then it moves to the second tray photo point and takes another picture to further calibrate the tray position data; after that, the transfer equipment moves to the cell photo point, and the CCD camera takes pictures of the cells and measures the distance, and transmits the obtained cell position, size and other information to the transfer equipment control system. Position compensation: The transfer equipment performs position compensation based on the initial position information fed back by the CCD camera, and descends to the battery cell grabbing position after accurately adjusting its posture.

[0063] Cell Grabbing: The first drive unit 23 actuates, pressing the first clamping part 2 against the first side of the row of cells in the third direction F3. Multiple second drive units 33 extend simultaneously, causing multiple second grippers 31 to apply pressure to the cells along the third direction F3, symmetrically cooperating with the first clamping part 2 to clamp the cells and stably hold a row of cells. Simultaneously, the third drive unit 41 of the pressure plate part 4 extends to press down on the tray, preventing the tray from being lifted by friction when the transfer equipment removes the cells. The transfer equipment then rises to remove the cells from the tray. During the robot's ascent, the anti-drop component activates, and its two lifting parts 521 lower the supporting part 51, bringing it to a suitable position at the bottom of the cells. Immediately afterwards, the opening and closing part 522 retracts, causing the two supporting parts 51 to converge towards the center, forming two parallel straight rods that hold the entire row of cells, preventing them from falling to the ground during transport. At the same time, the pressure plate part 4 rises, thus completing the robot's material handling operation. When the CCD camera detects that all the cells on the tray have been removed, it sends a signal to the transfer equipment. The transfer equipment drives the clamp to rotate so that the tray gripper 6 faces the tray and is aligned with the predetermined position. The transfer equipment then moves closer to the tray and drives the third drive unit 64 to clamp the tray. The transfer equipment then transfers the empty tray to the empty tray storage station and repeats the above initial steps.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A clamp, characterized in that, It is used to clamp the object to be clamped (8), and includes a main body (1), a first clamping part (2), a second clamping part (3), a first driving part and a pressure plate part (4). The first clamping part (2) and the second clamping part (3) are disposed on the same side of the main body part (1) in the first direction (F1), and the first clamping part (2) and the second clamping part (3) are respectively disposed at both ends of the main body part (1) in the second direction (F2). The second direction (F2) intersects with the first direction (F1). At least one of the first clamping part (2) and the second clamping part (3) is connected to the main body part (1) in a transmission manner. The first driving part drives the first clamping part (2) and the second clamping part (3) to move closer to or further away from each other along the second direction (F2) to clamp or release the object to be clamped (8). The pressure plate part (4) is disposed on the main body part (1), and the pressure plate part (4) can extend or retract along the first direction (F1) toward the side where the first clamping part (2) of the main body part (1) is located, so as to abut against the tray supporting the object to be clamped (8), or release the abutment against the tray.

2. The clamp according to claim 1, characterized in that, It also includes an anti-fall component, which includes a support part (51) and a second drive part (52). The second drive part (52) is fixed to the main body part (1) and is connected to the support part (51) in a transmission manner to drive the support part (51) to move between a support position and a avoidance position. When the supporting part (51) is in the supporting position, the supporting part (51) is located on the side of the object to be clamped (8) that is opposite to the main body (1). When the support (51) is in the avoidance position, the projections of the support (51) and the object to be clamped (8) onto a plane perpendicular to the first direction (F1) do not overlap.

3. The clamp according to claim 2, characterized in that, The anti-fall component includes two second drive units (52), which are respectively disposed at both ends of the main body (1) in the third direction (F3). The supporting part (51) extends along the third direction (F3), and the two ends of the supporting part (51) in the third direction (F3) are respectively connected to the two second drive units (52). The third direction (F3) intersects the plane defined by the first direction (F1) and the second direction (F2). The second driving part (52) includes a lifting member (521) and an opening and closing member (522). The lifting member (521) is slidably connected to the main body part (1), and the opening and closing member (522) is fixedly connected to the lifting member (521). The lifting member (521) drives the opening and closing member (522) to move along the first direction (F1). The supporting part (51) is fixed to the opening and closing member (522), and the opening and closing member (522) drives the supporting part (51) to move along the second direction (F2).

4. The clamp according to claim 3, characterized in that, The anti-fall component includes two support portions (51), and the two ends of the opening and closing member (522) in the second direction (F2) are respectively connected to the two support portions (51) to drive the two support portions (51) to move closer or further away from each other along the second direction (F2).

5. The clamp according to claim 1, characterized in that, It also includes a tray gripper (6), which is disposed at one end of the main body (1) in a third direction (F3) for gripping the tray. The third direction (F3) intersects the plane defined by the first direction (F1) and the second direction (F2).

6. The clamp according to claim 5, characterized in that, The pallet gripper (6) includes a first gripper arm (61), a second gripper arm (62), and a third drive unit (64). The first gripper arm (61) and the second gripper arm (62) are arranged opposite to each other along the third direction (F3). At least one of the first gripper arm (61) and the second gripper arm (62) is connected to the third drive unit (64) in a transmission manner. The third drive unit (64) drives the first gripper arm (61) and the second gripper arm (62) to move closer to or further away from each other. The pallet gripper (6) further includes a limiting part (63), which extends along the first direction (F1) and is disposed between the first clamping arm (61) and the second clamping arm (62). The size of the limiting part (63) in the third direction (F3) is smaller than the width of the portion of the pallet held by the pallet gripper (6).

7. The clamp according to claim 1, characterized in that, The first clamping part (2) includes a plurality of first clamps (21), which are spaced apart along a third direction (F3), and the third direction (F3) intersects the plane defined by the first direction (F1) and the second direction (F2); The second clamping part (3) includes a plurality of second clamps (31), the number of the second clamps (31) is equal to the number of the first clamps (21), and the plurality of second clamps (31) and the plurality of first clamps (21) are arranged opposite to each other along the second direction (F2).

8. The clamp according to claim 7, characterized in that, The first clamping part (2) further includes a first connecting plate (22) extending along the third direction (F3), and a plurality of the first grippers (21) are disposed on the first connecting plate (22); The first driving unit includes a first driving member (23), which is connected to the first connecting plate (22) in a transmission manner. The first driving member (23) drives the first connecting plate (22) to move along the second direction (F2) so as to drive the plurality of first grippers (21) to move closer to or away from the second gripper (31).

9. The clamp according to claim 8, characterized in that, The second clamping part (3) further includes a plurality of second connecting plates (32), and the plurality of second jaws (31) are sequentially divided into a plurality of jaw groups along the third direction (F3), and the plurality of second jaws (31) in the same jaw group are connected by the same second connecting plate (32); The first driving unit also includes a plurality of second driving components (33), the number of the second driving components (33) is equal to the number of the second connecting plates (32) and they are arranged in a one-to-one correspondence, and the second driving components (33) are connected to the corresponding second connecting plates (32) in a transmission connection.

10. A feeding device, characterized in that, Includes a transfer device, a visual acquisition device (7), and a clamp as described in any one of claims 1 to 9; The main body (1) is disposed on the transfer device, the visual acquisition device (7) is disposed on the main body (1), and the visual acquisition device (7) is communicatively connected to the transfer device.

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