Battery cell handling device

Abstract

The application relates to a battery cell carrying device, a clamping jaw mechanism comprising a driving part, a mounting base arranged at a power output end of the driving part, and a first clamping piece and a second clamping piece arranged on the mounting base, the first clamping piece and the second clamping piece being relatively moved in an X-axis direction to constitute clamping and releasing of the battery cell. Through the technical scheme, the battery cell clamping spacing of the clamping jaw mechanism can be flexibly adjusted to adapt to the grabbing and transferring of battery cells of different specifications, and the technical problem of poor compatibility of the existing battery cell carrying device is solved, so that the production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of battery production equipment, and in particular, to a battery cell handling device. Background Art

[0002] In the production process of battery cells, the handling link has an important impact on production efficiency and product quality. Traditional battery cell handling mechanisms have many technical defects: first, most handling grippers adopt a cylinder design, and their fixed stroke can hardly adapt to the size change of battery cells of different specifications, resulting in poor equipment compatibility; second, when dealing with battery cells of different sizes and specifications, adaptation can only be achieved by replacing gripper plates or adjusting the stroke position of the gripper plates. This mechanical adjustment method is not only cumbersome to operate, but also requires shutdown operation, which seriously affects production efficiency; furthermore, the model change process requires the participation of professional technicians, which not only increases labor costs, but also causes waste of production time.

[0003] In view of the above problems, the prior art is in urgent need of improvement. Utility Model Content

[0004] Embodiments of the present application provide a battery cell handling device, which improves the compatibility of the battery cell handling device for grabbing batteries of different specifications, so as to at least partially solve the above technical problems.

[0005] In order to achieve the above object, a battery cell handling device is provided, comprising: a base; a pitch varying mechanism, which extends along the base in the Y-axis direction; and a plurality of gripper mechanisms, which are arranged along the base in the Y-axis direction and movably arranged on the pitch varying mechanism; wherein the gripper mechanism comprises a driving part, a mounting base arranged at a power output end of the driving part, and a first clamping member and a second clamping member arranged on the mounting base, and the first clamping member and the second clamping member move relatively in the X-axis direction to clamp and release the battery cell.

[0006] In some embodiments, the driving part at least comprises: a power assembly comprising a servo motor and a reduction gear pair arranged at an output end of the servo motor; a double-threaded lead screw, one end of which is connected to the reduction gear pair, and the opposite end is rotatably arranged; at least two sliding blocks, each sliding block is embedded with a lead screw nut, and the sliding blocks are cooperatively arranged at different rotation direction sections of the double-threaded lead screw; a guide rail arranged at at least one side of the double-threaded lead screw, and the two sliding blocks are slidably arranged on the guide rail; the mounting base is arranged in at least two pieces, and is correspondingly connected to the two sliding blocks.

[0007] In some embodiments, the drive unit is disposed inside the housing, and a protective cover is provided at the bottom of the housing. The protective cover is a grid-shaped plate and is retractable in the sliding direction of the slider. The connection between the slider and the mounting base passes through the protective cover or is fixedly connected to the protective cover.

[0008] In some embodiments, the first clamp and the second clamp are detachably connected to the mounting base.

[0009] In some embodiments, anti-slip pads are provided on the opposite sides of the first clamping member and the second clamping member, and the anti-slip pads are detachably connected to the first clamping member and the second clamping member.

[0010] In some embodiments, the surface of the anti-slip mat is provided with grooves, which are arranged at an angle.

[0011] In some embodiments, the cell handling device further includes a lifting cylinder, the gripper mechanism being fixedly connected to the power output end of the lifting cylinder on the side away from the slider, and the lifting cylinder being movably connected to the pitch mechanism via a bracket.

[0012] In some embodiments, the plurality of gripper mechanisms include a first gripper group disposed on one side of the base in the Y-axis direction, and a second gripper group disposed on the opposite side of the base in the Y-axis direction, wherein the number of gripper mechanisms in the first gripper group is the same as that in the second gripper group.

[0013] In some embodiments, the drive unit further includes a stroke control module, the stroke control module comprising: Controller; A multi-turn absolute encoder is electrically connected to the controller and is located on the torque output shaft of the servo motor; A coupling connects the torque output shaft of the servo motor to the reduction gear pair; The brake is electrically connected to the controller and is located at the non-drive end of the servo motor.

[0014] In some embodiments, a three-axis or six-axis robotic arm is also included, wherein the claw portion of the robotic arm is fixedly connected to the connecting portion of the base.

[0015] The battery cell handling device provided in this application embodiment has a gripper mechanism whose gripping distance can be flexibly adjusted to adapt to the gripping and transfer of battery cells of different specifications, thus solving the technical problem of poor compatibility of existing battery cell handling devices and improving production efficiency.

[0016] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0018] Figure 1 This is a schematic diagram of the structure of the battery cell handling device provided in an exemplary embodiment of this disclosure. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the battery cell handling device provided in an exemplary embodiment of this disclosure. Figure 2 ; Figure 3 , Figure 4 This is an internal cross-sectional view of the drive section of the gripper mechanism provided by this disclosure; Figure 5 A schematic diagram of the clamping state for adapting the gripper mechanism to the first specification battery cell; Figure 6 A schematic diagram showing the clamping state of the gripper mechanism adapted to the second specification of battery cell.

[0019] Explanation of reference numerals in the attached figures: 101. Base; 102. Pitch-changing mechanism; 10. Gripper mechanism; 1041. First gripper; 1042. Second gripper; 106. Battery cell; 20. Robotic arm; 105. Lifting cylinder; 107. Support frame; 103. Drive unit; 1031. Power assembly; 1032. Double-rotating lead screw; 1033. Slider; 1035. Guide rail; 1034. Mounting base; 1036. Housing; 1037. Protective cover. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0021] In existing technologies, battery cell handling devices typically employ a cylinder-driven gripper structure. The stroke range of this gripper is physically limited by the cylinder, making it difficult to adapt to different battery cell sizes. When the production line needs to switch battery cell models, operators must stop the machine to replace the grippers or adjust the cylinder's stroke position, leading to a decrease in production efficiency. Especially in multi-station synchronous handling scenarios, traditional devices cannot dynamically adjust the gripper spacing, further limiting equipment compatibility.

[0022] To address the aforementioned issues, the embodiments provided in this application employ a servo motor instead of a cylinder as the power source for the gripper mechanism. The gripper mechanism of the battery cell handling device has an adjustable clamping distance in the X-axis direction, and simultaneously, combined with a pitch-changing mechanism in the Y-axis direction, it achieves adjustable gripper spacing, forming a multi-dimensional dynamic adjustment capability. By decoupling the gripper spacing adjustment from the clamping action, automatic adaptation to battery cells of different sizes can be achieved, thereby eliminating the need for physical replacement of clamping components.

[0023] Please see Figure 1 and Figure 2 This is a schematic diagram of the battery cell handling device provided in the embodiments of this application.

[0024] The battery cell handling device provided in this application includes a base 101, a pitch-changing mechanism 102 disposed on the base 101, and a gripper mechanism 10 disposed on the pitch-changing mechanism 102. The pitch-changing mechanism 102 extends along the Y-axis direction of the base 101, and a plurality of gripper mechanisms 10 are movably disposed on the pitch-changing mechanism 102. The gripper mechanism 10 includes a drive unit 103, a mounting base, a first clamping member 1041, and a second clamping member 1042. The first clamping member 1041 and the second clamping member 1042 move relative to each other in the X-axis direction to clamp or release the battery cell 106.

[0025] The base 101 is a rigid support platform that supports the pitch-changing mechanism 102 and the gripper mechanism 10. It can be implemented using a welded steel frame to maintain the overall structural stability of the device. The pitch-changing mechanism 102 is a linear motion component extending along the Y-axis, which can be implemented using a combination of a ball screw and a guide rail. The gripper mechanism 10's spacing is adjusted by a servo motor drive. The gripper mechanism 10 is the functional unit that performs the gripping action of the battery cell 106. It combines the gripper with a linear guide rail to ensure the parallelism of the gripper's movement trajectory. The drive unit 103 provides gripping power to the gripper mechanism 10 and is implemented using a combination of a servo motor, reducer, double-rotating screw, and slider. Precise position adjustment is achieved through closed-loop control. The mounting base is a transitional component connecting the drive unit 103 and the gripper. It can be implemented using an aluminum alloy casting to improve connection rigidity. The first clamping member 1041 and the second clamping member 1042 are clamping elements that directly contact the battery cell 106. Specifically, they can be made of polyurethane material with anti-slip texture on the surface. The first clamping member 1041 and the second clamping member 1042 form a variable clamping space through relative movement.

[0026] Specifically, the extension of the variable-pitch mechanism 102 in the Y-axis direction provides an adjustable mounting base for the gripper mechanism 10, allowing for adaptation to different arrangements of the battery cells 106 by changing the spacing of the gripper mechanisms 10. The rotational motion output by the drive unit 103 is converted into linear motion by a reduction mechanism, driving the mounting base to move along the X-axis. The first clamping member 1041 and the second clamping member 1042 are respectively fixed on two mounting bases that can move in opposite directions, forming a symmetrical clamping action. When handling battery cells 106 of different sizes, the variable-pitch mechanism 102 synchronously adjusts the spacing of each gripper mechanism 10, while the drive unit 103 controls the opening and closing amplitude of the clamping members. The dual adjustment mechanism works synergistically to achieve size compatibility. This battery cell handling device replaces traditional mechanical adjustment with programmed control of a servo motor, eliminating the need for machine downtime during the battery cell 106 changeover process.

[0027] Specifically, a connecting part is provided on the base 101, and the base 101 is connected to the claw part of the robotic arm 20 through the connecting part. The robotic arm 20 is three-axis or six-axis. The three-axis or six-axis robotic arm 20 refers to an industrial robot with three or six rotary joints. Specifically, it can be realized by adopting a serial multi-joint structure, and realizes multi-dimensional spatial motion trajectory through multi-axis linkage.

[0028] The fixed connection between the claw and the base 101 refers to the rigid connection between the end effector of the robotic arm 20 and the base 101. Specifically, it can be achieved by using a flange and bolts to ensure that the gripper mechanism 10 moves synchronously with the robotic arm 20 during the handling process.

[0029] See also Figure 2According to one embodiment of this application, the gripper mechanism 10 is connected to a lifting cylinder 105. One side of the gripper mechanism 10 is fixedly connected to the power output end of the lifting cylinder 105. The lifting cylinder 105 is movably connected to the pitch mechanism 102 via a bracket 107.

[0030] The lifting cylinder 105 is an actuator that outputs linear motion via pneumatic drive. Specifically, it can be implemented using a double-acting cylinder. Its power output end is connected to the end of the gripper mechanism 10 to provide vertical lifting power. The bracket 107 is a support structure that carries the lifting cylinder 105 and connects to the pitch-changing mechanism 102. Specifically, it can be implemented using a detachable metal frame. Its movable connection with the pitch-changing mechanism 102 allows the bracket 107 to move synchronously with the pitch-changing mechanism 102. The pitch-changing mechanism 102 is a transmission device used to adjust the distance between the grippers 10. Specifically, it can be implemented using a lead screw and guide rail structure. Its movable connection with the bracket 107 ensures that the movements of the gripper mechanism 10 in both horizontal pitch-changing and vertical lifting dimensions do not interfere with each other.

[0031] The power output end of the lifting cylinder 105 is rigidly connected to the end of the gripper mechanism 10. When the lifting cylinder 105 is activated, the extension and retraction of its piston rod directly drives the gripper mechanism 10 to move vertically. The bracket 107 serves as an intermediate connector; one end is fixed to the housing of the lifting cylinder 105, and the other end is connected to the pitch-changing mechanism 102 via a sliding pair or hinge structure, allowing the lifting cylinder 105 to move synchronously with the pitch-changing mechanism 102 in the horizontal direction. When the pitch-changing mechanism 102 adjusts the spacing of the gripper mechanism 10, the movable connection between the bracket 107 and the pitch-changing mechanism 102 allows for the overall lateral displacement of the lifting cylinder 105, while the independent movement of the lifting cylinder 105 ensures that the gripper mechanism 10 can freely rise and fall vertically. Thus, the movement of the gripper mechanism 10 in both the horizontal pitch-changing and vertical lifting dimensions is decoupled, and their coordinated operation can adapt to the gripping needs of battery cells 106 with different heights and spacings.

[0032] See Figure 3 and Figure 4 This is a schematic diagram of the drive unit structure of the gripper mechanism.

[0033] According to one embodiment of this application, the drive unit 103 includes at least a power assembly 1031, a dual-direction lead screw 1032, at least two sliders 1033, a guide rail 1035, and a mounting base 1034. The power assembly 1031 includes a servo motor and a reduction gear pair disposed at the output end of the servo motor; one end of the dual-direction lead screw 1032 is connected to the reduction gear pair, and the other end is rotatably disposed; the sliders 1033 have lead screw nuts embedded in them and are disposed in different direction sections of the dual-direction lead screw 1032; the guide rail 1035 is disposed on at least one side of the dual-direction lead screw 1032, and the two sliders 1033 are slidably disposed on the guide rail 1035; two mounting bases 1034 are provided and are respectively connected to the two sliders 1033.

[0034] The dual-direction lead screw 1032 refers to a transmission component with a forward and reverse thread structure, specifically implemented using a trapezoidal lead screw with alternating left and right directions of rotation. Its forward and reverse thread structure allows the two sliders 1033 to generate synchronous reverse displacements when the lead screw rotates. The lead screw nut embedded in the slider 1033 is a moving component that engages with the lead screw thread, converting rotational motion into linear motion to adjust the clamping distance. The guide rail 1035 is a guiding structure that constrains the movement trajectory of the slider 1033. In this embodiment, the guide rail 1035 is a raised rib provided on the inner wall of the housing where the drive unit 103 is located. Four raised ribs are provided, and the outer periphery of the slider 1033 has a notch adapted to the raised ribs. The raised ribs are frictionally connected to the slider 1033; the raised ribs are arranged parallel to the lead screw axis to maintain the linearity of the slider 1033's movement. The reduction gear pair refers to a power transmission device, specifically implemented using a planetary gear reducer, used to reduce the output speed of the servo motor and increase the torque output.

[0035] Specifically, the servo motor transmits power to the dual-direction lead screw 1032 via a reduction gear pair. When the lead screw rotates, it drives two sliders 1033 to move synchronously in opposite directions or in a straight line along the guide rail 1035. Since the lead screw nuts embedded in the sliders 1033 engage with the positive and negative thread sections of the lead screw, the two sliders 1033 undergo symmetrical displacement along the guide rail 1035 when the lead screw rotates. After the mounting base 1034 is fixedly connected to the sliders 1033, it drives the first clamping member 1041 and the second clamping member 1042 to form a symmetrical opening and closing action in the X-axis direction. The guiding effect of the guide rail 1035 ensures the straightness of the slider 1033's movement trajectory, preventing deviation due to uneven force. The reduction gear pair reduces the rotational speed while transmitting power, enabling the servo motor to output the torque required for high-load clamping. The entire drive unit 103 achieves precise adjustment of the clamping stroke through closed-loop control of the servo motor, allowing it to adapt to different specifications of battery cells 106 without mechanical modification.

[0036] Furthermore, the drive unit 103 is disposed inside the housing 1036, and a protective cover 1037 is provided at the bottom of the housing 1036. The protective cover 1037 is a grid plate and is retractable in the sliding direction of the slider 1033. The connecting part of the slider 1033 and the mounting base 1034 passes through the protective cover 1037 or is fixedly connected to the protective cover 1037.

[0037] The protective cover 1037 includes a plurality of grid plates that are continuously and separately arranged along the sliding direction. Adjacent grid plates are connected by a connector of variable length. During the sliding process, the distance between the grid plates changes synchronously, but the protective cover 1037 always maintains its integrity.

[0038] The housing 1036 refers to the enclosed structure that surrounds the drive unit 103. Specifically, it can be implemented using a metal frame or an engineering plastic housing 1036, used to isolate external dust and foreign objects from contaminating the internal transmission components. The protective cover 1037 refers to the protective component that covers the bottom opening of the housing 1036. The grid of the protective cover 1037 can be implemented using an elastic rubber sheet or a segmented metal grid structure. Its grid-shaped hollow design allows connecting components to penetrate and move while ensuring structural strength. "Extensible" means that the protective cover 1037 has the ability to deform in the direction of movement of the slider 1033. This can be achieved through a corrugated folding structure or the stretching properties of elastic materials to adapt to spatial changes caused by the displacement of the slider 1033. The connection part passing through the protective cover 1037 means that the connecting rod between the slider 1033 and the mounting base 1034 passes through the grid gap of the protective cover 1037. Specifically, a clearance fit can be used to maintain the degree of freedom of movement. The fixed connection with the protective cover 1037 means that the protective cover 1037 is fixed to the slider 1033 in sections. Specifically, it can be achieved by bolt connection or snap-fit ​​structure, so that the protective cover 1037 moves synchronously with the slider 1033.

[0039] Understandably, the drive unit 103 is physically isolated within the housing 1036, and the protective cover 1037 at the bottom of the housing 1036 covers the moving area of ​​the component through a retractable structure. When the slider 1033 moves along the guide rail 1035, the grid gaps of the protective cover 1037 allow the connecting components to directly penetrate the cover for motion transmission, or the protective cover 1037 can be extended and retracted synchronously with the slider 1033 through a segmented fixing method. This dynamic sealing structure maintains the closed state of the bottom opening while avoiding mechanical interference of the traditional rigid cover plate on the stroke of the slider 1033, ensuring that the internal transmission system of the drive unit 103 is protected from the intrusion of external foreign objects.

[0040] See Figure 5 and Figure 6 , Figure 5 A schematic diagram illustrating the clamping state of the gripper mechanism adapted to the first specification battery cell. Figure 6A schematic diagram showing the clamping state of the gripper mechanism adapted to the second specification of battery cell.

[0041] According to one embodiment of this application, the first clamping member 1041 and the second clamping member 1042 of the gripper mechanism 10 are detachably connected to the mounting base 1034.

[0042] The detachable connection refers to the separable fixing method between the first clamping member 1041 and the second clamping member 1042 and the mounting base 1034. Specifically, this can be achieved through threaded connections, snap-fit ​​structures, or quick-change interfaces, allowing the clamping members to be replaced individually without disassembling the drive unit 103. This connection method decouples the clamping members from the drive unit 103 through modular design, so that the replacement operation of the clamping members is only performed on local components, avoiding the disassembly and assembly of the entire structure.

[0043] Understandably, the mounting base 1034, serving as the power output receiving component, has standardized connection interfaces on its surface. The first clamping member 1041 and the second clamping member 1042 are detachably fixed to the mounting base 1034 through these interfaces. When it is necessary to adapt to battery cells 106 of different sizes, it is only necessary to disconnect the clamping member from the base and replace it with a clamping member of the corresponding specification. The power of the drive unit 103 is transmitted to the newly replaced clamping member through the mounting base 1034, without the need to readjust the stroke or position parameters of the drive mechanism. This design allows the replacement of the clamping member to be completed quickly during the equipment's idle period without interrupting equipment operation.

[0044] According to one embodiment of this application, anti-slip pads are provided on the opposite sides of the first clamping member 1041 and the second clamping member 1042, and the anti-slip pads are detachably connected to the first clamping member 1041 and the second clamping member 1042.

[0045] Specifically, the anti-slip pad is a clamping component that directly contacts the battery cell 106. It can be fixed with bolts or connected with clips, and the anti-slip pad can be quickly replaced through a detachable structure. Detachable connection means that the anti-slip pad and the clamping component adopt a non-fixed assembly method, which can be achieved by the cooperation of positioning pins and slots. Standardized interfaces are set on the surface of the clamping component to accommodate anti-slip pads of different shapes.

[0046] Specifically, the anti-slip pad surface is provided with grooves, which are angled. These grooves refer to the recesses or protrusions formed on the contact surface between the anti-slip pad and the battery cell 106. They can be achieved through machining or stamping processes to increase the coefficient of friction of the contact surface. The angled arrangement means that the extension direction of the grooves forms a non-right angle with the clamping movement direction, specifically a 30°~60° tilt angle layout. This changes the direction of the grooves to guide the distribution of the clamping force.

[0047] When clamping the battery cell 106, the oblique grooves create multi-directional frictional resistance between the clamping plates and the surface of the battery cell 106, preventing slippage of the battery cell 106 during clamping. The oblique layout of the grooves decomposes the clamping force into lateral and longitudinal components along the extension direction of the grooves. The lateral component enhances clamping stability, while the longitudinal component prevents indentations on the surface of the battery cell 106. For battery cells 106 of different sizes, the oblique grooves form staggered contact areas during clamping contact, dispersing local pressure through multi-point contact and preventing clamping force concentration due to differences in the size of the battery cell 106.

[0048] According to one embodiment of this application, a plurality of gripper mechanisms 10 include a first gripper group disposed on one side of the base 101 in the Y-axis direction, and a second gripper group disposed on the opposite side of the base 101 in the Y-axis direction, wherein the number of gripper mechanisms 10 in the first gripper group is the same as that in the second gripper group.

[0049] The first gripper group refers to a set of gripper mechanisms 10 arranged linearly along the side of the Y-axis of the base 101. Specifically, it can be implemented by eight gripper mechanisms 10 distributed at equal intervals. Its installation position is determined by the positioning hole on the guide rail 1035 of the base 101 by the variable pitch mechanism 102.

[0050] The second gripper group refers to a set of gripper mechanisms 10 arranged linearly along the other side of the Y-axis direction of the base 101. Specifically, it can be implemented by using eight gripper mechanisms 10 that are mirror-symmetrical to the first gripper group. The installation spacing is kept completely consistent with the first gripper group by the synchronous belt drive system of the variable pitch mechanism 102.

[0051] The consistent quantity means that the number of physical units of the two sets of gripper mechanisms 10 is equal. Specifically, this can be achieved by symmetrically arranging the same number of slider 1033 connection positions on both sides of the base 101. Each connection position corresponds to the installation of a complete gripper mechanism 10 including the drive unit 103 and the clamping member.

[0052] Specifically, when the battery cells 106 are arranged in a double row along the Y-axis of the base 101, the first and second gripper groups move synchronously towards each other via the pitch-changing mechanism 102. The two gripper mechanisms 10 form a symmetrical clamping area along the Y-axis, and the driving unit 103 controls the clamping components to clamp the battery cells 106 bidirectionally. Because the two gripper groups have the same number of grippers and are symmetrically positioned, the clamping force is evenly distributed on both sides of the battery cells 106, preventing displacement or tilting of the battery cells 106 due to unilateral force. During transport, the lifting cylinder 105 drives the two gripper groups to lift synchronously, keeping the battery cells 106 horizontal when detached from the carrier. When the arrangement of the battery cells 106 changes, the pitch-changing mechanism 102 can adjust the distance between the two gripper groups, but always maintains an equal number of grippers, ensuring that the clamping coverage is symmetrically distributed on both sides of the Y-axis of the base 101.

[0053] According to one embodiment of this application, the drive unit further includes a stroke control module, which includes a controller, a multi-turn absolute encoder, a shaft coupling, and a brake; the multi-turn absolute encoder is electrically connected to the controller and is disposed on the torque output shaft of the servo motor; the shaft coupling connects the torque output shaft of the servo motor to the reduction gear pair; the brake is electrically connected to the controller and is disposed on the non-drive end of the servo motor.

[0054] Among them, a multi-turn absolute encoder is a position detection device that records the number of rotations of the servo motor's output shaft. It can be implemented using photoelectric or magnetoelectric encoders, providing a position reference for closed-loop control by feeding back the motor's rotation angle data in real time. A shaft coupling is a mechanical transmission component used to rigidly connect the servo motor and the reduction gear pair. It can be implemented using diaphragm or lamellar couplings, eliminating mechanical backlash during power transmission and ensuring synchronization between the motor output and the reduction mechanism. A brake is an electromagnetic device that applies braking torque. It can be implemented using a power-off brake or a permanent magnet brake, dynamically locking the motor shaft at the non-drive end to suppress positioning misalignment caused by inertial motion.

[0055] Specifically, the controller receives feedback from a multi-turn absolute encoder regarding the number of motor rotations and angle information. It then calculates the displacement of the gripper mechanism in real time, compares it with a preset target value, and generates pulse signals to adjust the servo motor's speed and direction. The coupling seamlessly transmits the motor's rotational power to the reduction gear pair, avoiding the transmission lag caused by deformation in traditional flexible couplings. In case of emergency stop or power failure, the brake immediately applies braking force to the non-drive end of the motor, ensuring the gripper maintains its current positional accuracy due to inertia. Through the encoder's multi-turn measurement capability, the gripper's stroke control range is extended to full stroke coverage, eliminating the need for fixed stroke limitations imposed by cylinders.

[0056] The battery cell handling device of this application achieves precise positioning of the gripper mechanism at any position within a 220 mm stroke range, compatible with the clamping requirements of battery cells of different sizes; through closed-loop control, it automatically compensates for mechanical transmission errors, keeping the clamping repeatability within ±0.05 mm; during model changeover, there is no need to stop the machine to adjust equipment parameters, increasing the continuous operation time of the production line to over 95%; the rapid response characteristics of the brake reduce the position offset in emergency stop state to 10% of that of traditional cylinder grippers, ensuring the safety and stability of the battery cell handling process.

[0057] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0058] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0059] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0060] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A battery cell handling device, characterized in that, include: abutment; A pitch-changing mechanism is provided extending along the base in the Y-axis direction; as well as Multiple gripper mechanisms are provided along the Y-axis direction of the base and are movably mounted on the pitch-changing mechanism; The gripper mechanism includes a drive unit, a mounting base disposed at the power output end of the drive unit, and a first clamping member and a second clamping member disposed on the mounting base. The first clamping member and the second clamping member move relative to each other in the X-axis direction to clamp and release the battery cell.

2. The cell handling device according to claim 1, characterized in that, The drive unit includes at least: The power assembly includes a servo motor and a reduction gear pair disposed at the output end of the servo motor; A double-rotating lead screw, one end of which is connected to the reduction gear pair, and is rotatably disposed relative to the other end; At least two sliders, each slider having a lead screw nut embedded within it, the sliders being configured to cooperate with different helical sections of the dual-helical lead screw; A guide rail is disposed on at least one side of the double-rotating lead screw, and the two sliders are slidably disposed on the guide rail; At least two mounting bases are provided, and each base is connected to one of the two sliders.

3. The cell handling device according to claim 2, characterized in that, The drive unit is disposed inside the housing, and a protective cover is provided at the bottom of the housing. The protective cover is a grid-shaped plate and is retractable in the sliding direction of the slider. The connection between the slider and the mounting base passes through the protective cover or is fixedly connected to the protective cover.

4. The cell handling device according to claim 1, characterized in that, The first clamping member and the second clamping member are detachably connected to the mounting base.

5. The cell handling device according to claim 4, characterized in that, Anti-slip pads are provided on the opposite side of the first clamping member and the second clamping member, and the anti-slip pads are detachably connected to the first clamping member and the second clamping member.

6. The cell handling device according to claim 5, characterized in that, The surface of the anti-slip mat is provided with grooves, which are arranged at an angle.

7. The cell handling device according to claim 2, characterized in that, It also includes a lifting cylinder, wherein the gripper mechanism is fixedly connected to the power output end of the lifting cylinder on the side away from the slider, and the lifting cylinder is movably connected to the pitch mechanism via a bracket.

8. The cell handling device according to claim 1, characterized in that, The plurality of gripper mechanisms include a first gripper group disposed on one side of the base in the Y-axis direction, and a second gripper group disposed on the opposite side of the base in the Y-axis direction, wherein the number of gripper mechanisms in the first gripper group is the same as that in the second gripper group.

9. The cell handling device according to claim 2, characterized in that, The drive unit further includes a stroke control module, which includes: Controller; A multi-turn absolute encoder is electrically connected to the controller and is located on the torque output shaft of the servo motor; A coupling connects the torque output shaft of the servo motor to the reduction gear pair; The brake is electrically connected to the controller and is located at the non-drive end of the servo motor.

10. The cell handling device according to claim 1, characterized in that, It also includes a three-axis or six-axis robotic arm, wherein the claw of the robotic arm is fixedly connected to the connecting part of the base.

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