Battery cell gripper and system

Abstract

The invention relates to a battery cell gripper (10) for gripping a battery cell, the battery cell gripper (10) comprising: a main housing (12) which has a longitudinal axis (14), a piston portion (16) and a magnet portion (18), the magnet portion (18) having a magnet cylinder (48) which extends along the longitudinal axis (14); a magnet device (62) which is connected to the piston device (26) and which has a ring magnet (66) disposed concentrically to the longitudinal axis (14) for gripping the battery cell, the magnet device (62) being movable by means of the piston device (26) along a gripping direction (46) running parallel to the longitudinal axis (14) into a gripping position and against the gripping direction (46) into release position; and an electrically insulating separating element (72), the ring magnet (66) being disposed between the separating element (72) and the piston device (26).

Description

[0001] Title: Battery cell gripper and system

[0002] Description

[0003] The invention relates to a battery cell gripper for gripping an at least partially magnetizable and / or magnetic battery cell and to a system with several battery cell grippers.

[0004] Electric vehicles with a battery storage system comprise a multitude of battery cells to provide the electrical energy needed to propel the electric vehicle. The numerous battery cells are often housed in a battery cell housing. The battery cells can have different shapes. For example, cylindrical battery cells, prismatic battery cells, or pouch battery cells are used for an electric vehicle's battery storage system. Even within the individual shapes, the battery cells can vary, for example, in size.

[0005] Manually arranging the individual battery cells of the multitude of battery cells into the battery cell housing is time-consuming and not cost-effective.

[0006] WO2023 / 247791A1 discloses a magnetic gripper with a first holding magnet, which has a north pole facing the workpiece, and a second holding magnet, which has a south pole facing the workpiece. DE102019121030A1 discloses a magnetic gripper with a spacer element. US2022 / 0063036A1 discloses a pressure-loaded magnetic gripper.

[0007] The invention is based on the object of providing a battery cell gripper which enables particularly simple and / or efficient and / or fast and / or safe handling of battery cells.

[0008] The object underlying the invention is achieved by the battery cell gripper with the features of claim 1. The battery cell gripper comprises a base housing, in particular a circular cylindrical one, with a central longitudinal axis, with a piston section and a magnet section. The base housing is preferably formed in two parts with the piston section and the magnet section. The piston section has a piston cylinder extending along the longitudinal axis. The magnet section has a magnet cylinder extending along the longitudinal axis. Furthermore, the battery cell gripper comprises a piston device with a piston arranged in the piston cylinder and displaceable along the longitudinal axis, with a piston extension arranged in the magnet cylinder and with a piston rod extending parallel to the longitudinal axis and connecting the piston and the piston extension.The piston and the piston extension are firmly connected to one another by means of the piston rod such that a displacement of the piston along the longitudinal axis also causes a displacement of the piston extension. The piston and the piston extension are preferably designed as piston disks extending perpendicular to the longitudinal axis. The piston and / or the piston extension and / or the piston rod are preferably designed in one or more parts. In addition, the battery cell gripper comprises a magnetic device firmly connected to the piston device and having a ring magnet arranged concentrically to the longitudinal axis for gripping the workpiece, wherein the magnetic device can be displaced by means of the piston device along a gripping direction running parallel to the longitudinal axis into a gripping position and counter to the gripping direction into a release position.The battery cell gripper further comprises an electrically insulating and / or electrically non-conductive separating element, wherein the ring magnet is arranged between the separating element and the piston device.

[0009] Such a battery cell gripper offers the advantage that a ring magnet can be used to generate a directed magnetic field toward the end of a battery cell to be gripped, which is facing the battery cell gripper. The battery cell has a protruding central pole that is non-magnetic or paramagnetic, so that, for example, a magnetic field from a disc magnet would interfere with the end of the battery cell to be gripped, which is facing the battery cell gripper, and would negatively impact the gripping process. Furthermore, the electrically insulating separating element prevents a short circuit from occurring in the battery cell when the battery cell gripper makes contact with the battery cell.

[0010] Preferably, the ring magnet has, along its circumference extending around the longitudinal axis, alternately at least one first holding magnet with a magnetic north pole facing the battery cell and / or in the gripping direction, and at least one second holding magnet, formed separately from the first holding magnet, with a magnetic south pole facing the battery cell and / or in the gripping direction. Accordingly, the magnetic south pole of the first holding magnet and the magnetic north pole of the second holding magnet are oriented toward the piston device. The opposing orientation of the holding magnets creates a self-contained, axially directed magnetic field, allowing the battery cells to be gripped securely and ensuring that magnetic fields generated by adjacent battery cell grippers do not influence each other or only influence each other insignificantly.Alternatively, the ring magnet has, along its circumference extending around the longitudinal axis, at least one first magnet segment with a magnetic north pole facing the battery cell and / or in the gripping direction, and at least one second magnet segment with a magnetic south pole facing the battery cell and / or in the gripping direction. In this case, the ring magnet is formed as a single piece.

[0011] It is advantageous if the separating element has an outer separating section and an inner separating section, wherein the outer separating section is arranged radially outward relative to the longitudinal axis of the inner separating section. Furthermore, the inner separating section is arranged set back relative to the outer separating section, counter to the gripping direction. In the gripping position of the magnetic device, the inner separating section preferably engages in the ring magnet, in particular in a recess of the ring magnet. The outer separating section preferably has an outer contact surface extending perpendicular to the longitudinal axis for contacting the battery cell. The inner separating section preferably has an inner contact surface extending perpendicular to the longitudinal axis for contacting the protruding pole of the battery cell.When gripped, the pole of the battery cell can be picked up by the separating element and the ring magnet and comes into contact with the inner separating section.

[0012] An advantageous development of the invention provides that the separating element is designed as a wearing part. This ensures that the wear occurring due to contact with the battery cell occurs exclusively or substantially on the separating element. The separating element is preferably made of plastic. The separating element is preferably formed separately from the base housing and / or the magnet section. The separating element is preferably easily detachable from the base housing, in particular by means of a fastening means, preferably in the form of at least one screw.

[0013] It is further advantageous if the base housing, in particular the magnet section, has a stripping ring surrounding the ring magnet and / or the longitudinal axis for stripping the battery cell. When the magnet device moves from the gripping position to the release position opposite to the gripping direction, the ring magnet is moved relative to the stripping ring. Accordingly, the battery cell is released from the battery cell gripper. Preferably, the stripping ring is covered by the separating element so that the separating element is arranged between the stripping ring and the battery cell. The stripping ring is preferably formed integrally with the magnet section. The stripping ring is preferably formed concentrically with the longitudinal axis. Preferably, the base housing, in particular the magnet section, has at least one, preferably two, and more preferably four, guide lugs for radially guiding a battery cell.With respect to the longitudinal axis, the ring magnet is preferably arranged set back from the guide lug along the gripping direction. With respect to the longitudinal axis, the ring magnet is preferably arranged radially between the guide lug and the longitudinal axis. Alternatively or additionally, with respect to the gripping direction, the guide lug is preferably designed to protrude from the separating element. The guide lugs form an axial guide for the gripped battery cell so that, for example, in the event of a difference in the orientation of the magnetic field, which could possibly cause a transverse pull and / or attract the battery cell deviating from the longitudinal axis, the battery cell can be gripped securely. If battery cells are arranged next to one another in several rows, it is advantageous if the battery cell gripper has, for example, two guide lugs on one side, so that no mechanical interference contour occurs for adjacent battery cells.

[0014] A further advantageous development provides that the at least one guide lug has an insertion bevel for centering the battery cell gripper and the battery cell relative to each other. Consequently, the battery cell can be securely threaded and picked up despite an inaccurate alignment of the battery cell gripper and the battery cell relative to each other.

[0015] Furthermore, it is advantageous if the base housing, in particular the magnet section, has at least one, preferably two, and preferably four, guide cams. The guide cams preferably protrude radially relative to the longitudinal axis relative to a lateral surface of the base housing, in particular the magnet section. The guide cams preferably have at least one concave contact surface corresponding to a lateral surface of a battery cell. The guide cams preferably serve for the initial contact and further guidance of the battery cell relative to the battery cell gripper.

[0016] It is advantageous if the battery cell gripper has a sensor device for detecting the status and / or condition, in particular the gripping condition, of the battery cell gripper. The sensor device can preferably have a stroke sensor for detecting the stroke of the piston device. The sensor device can additionally or alternatively preferably have a presence sensor for detecting the presence of a battery cell on the battery cell gripper. Furthermore, it is conceivable for the battery cell gripper to have a control device for controlling and / or regulating the piston device. The control device is preferably configured such that it controls and / or regulates the piston device depending on sensor signals from the sensor device, in particular the stroke sensor and / or the presence sensor. The sensor device, in particular the stroke sensor and / or the presence sensor, are preferably designed as inductively and / or magnetically acting sensors.Preferably, a magnet can be arranged as a signal generator for the stroke sensor in the piston, in particular in a bore in an upper side of the piston facing away from the magnetic device, which magnet interacts with the stroke sensor.

[0017] It is further advantageous if at least one sensor groove extending parallel to the longitudinal axis is provided in or on the base housing, in particular on the piston section, for receiving the sensor device, in particular the stroke sensor and / or the presence sensor. One end of the sensor groove preferably forms a mounting stop for the sensor device. The sensor groove preferably extends into the magnet section, so that the mounting stop is provided in or on the magnet section.

[0018] Preferably, at least one sensor bore extending parallel to the longitudinal axis is provided in or on the base housing, in particular in or on the magnet section, for receiving the sensor device, in particular the stroke sensor and / or the presence sensor. The through-bore preferably extends from an upper side of the magnet section to an underside of the magnet section, in particular through the wiper ring, wherein the through-bore on the underside is concealed and / or closed by the separating element. Consequently, the sensor device can be arranged close to the battery cell. Contact and / or electrical flashover between the sensor device and the battery cell is prevented by the separating element.

[0019] It is also advantageous if at least one fixing bore extending perpendicular to the longitudinal axis is provided in or on the base housing, in particular in or on the magnet section, wherein a fixing element for fixing the sensor device, in particular the stroke sensor and / or the presence sensor, can be provided or is provided in the at least one fixing bore. The fixing bore preferably extends along a first bore axis that intersects the longitudinal axis. The fixing bore preferably extends along a second bore axis that does not intersect the longitudinal axis and is preferably arranged perpendicular to the first bore axis. Accordingly, a battery cell gripper with minimal interference contours can be provided.

[0020] It is advantageous if the sensor device, in particular the presence sensor, has a sensor plunger and a magnet that interacts with the sensor plunger. The sensor plunger is preferably arranged in a central through-bore in the separating element. The sensor plunger is preferably arranged coaxially to the piston. The sensor plunger is preferably arranged so as to be displaceable along the longitudinal axis. The sensor plunger is preferably biased along the longitudinal axis by means of a spring means into a first position protruding from the separating element. In the first position, the sensor plunger preferably protrudes from the separating element. When a battery cell rests against the separating element, the sensor plunger is moved along the longitudinal axis into a second position counter to the spring means. The magnet detects the sensor plunger in the second position. In the second position, the sensor plunger is preferably flush with the separating element.Accordingly, the sensor device, in particular the presence sensor, is arranged at a distance from the ring magnet, so that little or no interference from the magnetic field of the ring magnet is exerted on the sensor device, in particular the presence sensor. Furthermore, the central arrangement allows for greater flexibility in the design of the wiper ring and / or the guide lugs.

[0021] A further advantageous development provides that a cylinder groove extending parallel to the longitudinal axis is provided on an inner circumference of the piston cylinder, and a pin protruding radially relative to the longitudinal axis is provided on the piston. The pin engages in the cylinder groove in such a way that rotation of the piston device about the longitudinal axis is prevented. It is conceivable that the cylinder groove ends serve as a stop to limit the stroke of the piston device and / or the magnetic device.

[0022] Preferably, at least one adapter interface, particularly in the form of an annular groove, is provided in or on an outer circumference of the base housing, particularly the piston section and / or the magnet section, for receiving a mounting adapter. Two half-shells can preferably be arranged at the adapter interface, which serve as adapters for attachment to a handling device, etc. This ensures greater flexibility in connecting the battery cell gripper to higher-level systems.

[0023] It is advantageous if the battery cell gripper has a compensation unit. The compensation unit is preferably designed for height compensation. The compensation unit is preferably designed passively for height compensation. The compensation unit preferably has at least one, in particular three or five, linear bolts arranged in at least one, in particular three or five, linear ball bushings. The compensation unit also preferably has a spring assembly with at least one, in particular three or five, spring means. Passive height compensation can be achieved by means of the compensation unit, wherein a defined pressing force can be realized by means of the spring assemblies.

[0024] It is conceivable to design the balancing unit as an active balancing element with an actively variable balancing stroke, which has a fluid-mechanically driven piston by means of which the balancing unit can be moved from an initial position to a contact position. This allows a height offset between the battery cells to be picked up to be actively compensated, ensuring secure, simultaneous gripping of battery cells arranged at a different height, particularly using multiple battery cell grippers.

[0025] It is advantageous if the battery cell gripper has a control device for controlling and / or regulating the piston device and / or the magnetic device. The control device is preferably configured to control the piston device and / or the magnetic device, in particular their movement along the longitudinal axis, depending on the sensor signals of the stroke sensor and / or the presence sensor and / or depending on the signals of the compensation unit.

[0026] The object underlying the invention is also achieved by a system having the features of claim 16. The system comprises a receiving device and a plurality of battery cell grippers as described above arranged on the receiving device. The receiving device can preferably be designed as an adapter plate, with the power supply being provided, in particular, by means of tubeless direct connections and / or screw connections. The battery cell grippers can be arranged in a specific pattern, in particular in a "single line," an "offset" (two lines), or a "cluster" (three lines or more).

[0027] The system preferably comprises a gathering device for gathering the battery cells gripped by the battery cell grippers. Accordingly, the battery cells can be gripped in a first pattern and then displaced by the gathering device during gripping, so that these battery cells are deposited in a second pattern that differs from the first pattern. The first pattern and the second pattern can differ, in particular, with regard to the spacing between the battery cells, whereby neighboring battery cells can have different spacings. The gathering device can be pneumatically or servo-electrically driven. The neighboring battery cell grippers can be coupled to one another via scissor kinematics.The battery cell grippers can alternatively be moved via at least one spindle and one spindle nut or sliding blocks and a guide rail, wherein the sliding blocks are preferably arranged in a specific grid along the guide rail.

[0028] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are further described and explained.

[0029] Fig. 1 is an exploded view of a battery cell gripper with four guide lugs;

[0030] Fig. 2 is a partial sectional view of the battery cell gripper according to Fig. 1; Fig. 3 is a sectional view of the battery cell gripper according to Fig. 1;

[0031] Fig. 4 is a bottom view of the battery cell gripper according to Fig. 1;

[0032] Fig. 5 is a bottom view of a battery cell gripper with two guide lugs;

[0033] Fig. 6 a bottom view of a battery cell gripper without guide lugs;

[0034] Fig. 7 is a perspective view of a magnet section with a guide cam;

[0035] Fig. 8 is a bottom view of a battery cell gripper with a guide cam according to Fig. 7;

[0036] Fig. 9 is a perspective view of a magnetic plate of a battery cell gripper;

[0037] Fig. 10 is a perspective view of a ring magnet of a battery cell gripper;

[0038] Fig. 11 is a bottom view of a magnetic device of a battery cell gripper;

[0039] Fig. 12 is a sectional view of a magnetic device of a battery cell gripper;

[0040] Fig. 13 is a perspective view of a system with a receiving device and a

[0041] Gathering device in a normal position;

[0042] Fig. 14 is a perspective view of the system according to Fig. 14 in a gathering position;

[0043] Fig. 15 is a perspective view of a balancing unit; and

[0044] Fig. 16 is a side view of the compensation unit according to Fig. 15.

[0045] Identical objects, functional units, and comparable components are designated by the same reference symbols throughout the figures. These objects, functional units, and comparable components are identical in terms of their technical features, unless explicitly or implicitly stated otherwise in the description.

[0046] The battery cell gripper 10 according to Fig. 1 is used to grip an at least partially magnetizable and / or magnetic battery cell (not shown). The battery cell gripper 10 has a base housing 12 with a longitudinal axis 14. The base housing 12 is formed in two parts and has a piston section 16 and a magnet section 18 adjacent to the piston section 16. The piston section 16 is preferably pot-shaped according to Fig. 3 and has a piston section cover 20 extending in particular perpendicular to the longitudinal axis 14 and a piston section jacket 22 extending in particular parallel to the longitudinal axis 14. The piston section 16 is formed in the shape of a hollow cylinder and has a piston cylinder 24 delimited in particular by the piston section cover 20 and the piston section jacket 22.

[0047] A piston device 26 is movably guided along the longitudinal axis 14 in the piston cylinder 24. The piston device 26 has a piston 28, in particular in the form of a piston disc extending perpendicular to the longitudinal axis 14, and a piston rod 30 extending parallel to the longitudinal axis 14. Preferably, the piston rod 30 is partially enclosed by a piston rod casing 32 extending parallel to the longitudinal axis 14.

[0048] The magnet section 18 is screwed to the piston section 16 by means of at least one housing screw 34, which extends in particular parallel to the longitudinal axis 14. The magnet section 18 is preferably pot-shaped and / or preferably has a magnet section cover 36, which extends in particular perpendicular to the longitudinal axis 14, and a piston section jacket 38, which extends in particular parallel to the longitudinal axis 14. The magnet section cover 36 closes off the underside of the piston cylinder 24. The magnet section cover 36 preferably has a connecting collar 40 which projects into the piston cylinder 24. The magnet section cover 36 has a rod recess 41 for the passage of the piston rod 30. The connecting collar 40 further has a jacket receptacle 42 for receiving the piston rod jacket 32.

[0049] The piston section 16 and the piston 28 delimit a first pressure chamber 44A on the upper side to which pressurized material can be applied. The piston section 16, the magnet section cover 36, and the piston 28 delimit a second pressure chamber 44B on the lower side to which pressurized material can be applied. The piston 28 can be displaced into a lower gripping position by pressurizing the first pressure chamber 44A in a gripping direction 46 along the longitudinal axis 14, and can be displaced into an upper release position by pressurizing the second pressure chamber 44B against the gripping direction 46 along the longitudinal axis 14. In the release position, the piston 28 in conjunction with the piston section cover 20 preferably serves as the upper end stop. In the gripping position, the piston rod jacket 32 ​​in conjunction with the jacket receptacle 42 preferably serves as the lower end stop.

[0050] For fluidic separation and sealing of the first pressure chamber 44A and / or the second pressure chamber 44B, sealing rings 45 are preferably arranged in the circumference of the piston 28 and / or connecting collar 40. The magnet section 18 is preferably hollow-cylindrical and has a magnet cylinder 48, delimited in particular by the magnet section cover 36 and the magnet section casing 38.

[0051] A piston extension 50 of the piston device 26 is arranged in the magnetic cylinder 48. The piston extension 50 is fixedly connected to the piston 28 by means of the piston rod 30, so that a translational movement of the piston 28 leads to a translational movement of the piston extension 50. The piston extension 50 has a piston extension rod 52, which extends in particular parallel to the longitudinal axis 14, a piston extension shoulder 54, and a piston extension disc 56, which extends in particular perpendicular to the longitudinal axis 14. The piston extension is preferably formed in one piece. The piston extension 50 is connected, in particular screwed, to the piston rod 30 by means of the piston extension rod 52. The piston extension rod 52 preferably also extends through the rod recess 41.The magnet section cover 36 has a cover recess 58 on the magnet section side, into which the piston extension shoulder 54 engages in the release position. Preferably, the piston extension shoulder 54, in conjunction with the cover recess 58, serves as an upper end stop in the release position.

[0052] The piston extension disc 56 is preferably firmly connected to a magnetic device 62 by means of a magnetic screw 60. Accordingly, a translational movement of the piston device 26 also leads to a translational movement of the magnetic device 62. The magnetic device 62 has a magnetic plate 64 and a ring magnet 66.

[0053] The magnetic plate 64 has a radially outer plate portion 68A and a radially inner plate portion 68B with respect to the longitudinal axis 14. The inner plate portion 68B preferably protrudes from the outer plate portion 68A along the gripping direction 46. According to Figs. 9 and 11, plate bores 69, particularly in the form of through-bores, are provided in the magnetic plate 64, particularly in the inner plate portion 68B, for receiving the magnetic screw means 60.

[0054] The ring magnet 66 has, alternating along its circumference, at least one first magnet segment 66A with a north pole facing the battery cell and at least one second magnet segment 66B with a south pole facing the battery cell. The opposing orientation of the magnet segments 66A, 66B creates a self-contained, axially directed magnetic field, whereby the battery cells can be gripped securely and whereby adjacent battery cell grippers 10 and / or battery cells are not influenced or are only slightly influenced. According to Figs. 1 and 10, the ring magnet 66 is formed in one piece. Alternatively, the ring magnet 66 can have, alternating along its circumference, at least one first holding magnet with a north pole facing the battery cell and at least one second holding magnet, formed separately from the first holding magnet, with a south pole facing the battery cell.

[0055] The magnetic plate 64 is designed such that the inner magnetic portion 68B engages in a magnetic recess 70 of the ring magnet 66. Furthermore, the outer magnetic portion 68A is radially outwardly flush with the ring magnet 66. The magnetic plate 64 and the ring magnet 66 are connected to one another by means of a magnetic force of the ring magnet 66, wherein, in particular, adhesive bonding and / or pressing is additionally or alternatively conceivable.

[0056] The magnetic cylinder 48 is closed on the underside by means of an electrically insulating separating element 72. The separating element 72 is preferably made of plastic and serves in particular as a wearing part for contacting the battery cell. The separating element 72 is preferably formed as a thin layer. The separating element 72 has a radially outer separating section 74A and a radially inner separating section 74B. The inner separating section 74B is arranged set back from the outer separating section 74A, opposite the gripping direction 46. In the gripping position of the magnetic device 62, the inner separating section 74B preferably engages the ring magnet 66, in particular in a magnetic recess 70. The outer separating section 74A preferably has a radially outer contact surface 76A extending perpendicular to the longitudinal axis 14 for contacting the battery cell.The inner separating section 74B preferably has a radially inner contact surface 76B extending perpendicular to the longitudinal axis for contacting the protruding terminal of the battery cell. Upon gripping, the terminal of the battery cell can be received by the separating element 72, in particular by the inner separating section 74B, and the ring magnet 66, in particular the magnet recess 70, and comes into contact with the inner separating section 74B.

[0057] The separating element 72 has at least one separating base 78 with at least one enclosed threaded nut 80. The separating base 78 is preferably arranged in a housing receptacle 79. Through-bores 82 are provided in the base housing 12, in particular in the magnet section casing 38, on the casing side, particularly extending perpendicular to the longitudinal axis 14. Separating screw means 84 can be arranged in the through-bores 82 for simple and quick fastening of the separating element 72 to the base housing 14, wherein the separating screw means 84 can be screwed into the threaded nut 80.

[0058] The separating element 72 is preferably designed to correspond to the pole of the battery cell to be gripped. If the pole is smaller or larger, different separating elements 72 can be arranged on the battery cell gripper 10 using the separating screw means 84. This results in a high degree of flexibility of the battery cell gripper 10 when used for different battery cells.

[0059] In the gripping position of the magnetic device 62, the ring magnet 66 exerts an attractive magnetic force on the battery cell, so that it can be gripped by the magnetic device 62. For better guidance of the battery cell during gripping, the battery cell gripper 10, in particular the base housing 12, preferably the magnetic section 18, can have at least one guide lug 86. The guide lug 86 preferably has an inner diameter that corresponds to the outer diameter of the battery cell, so that the battery cell is guided towards the separating element 72 in a defined manner along the longitudinal axis 14 at the start of gripping. Depending on the packing density of the battery cells and thus the admissibility of radially protruding interfering contours, four guide lugs 86 according to Figs. 1 to 4, two guide lugs 86 according to Fig. 5, or no guide lug according to Fig. 6 can be provided.In order to center the battery cells relative to the battery cell gripper 10, the guide lugs 86 can preferably have at least one insertion bevel 88, wherein the insertion bevel 88 is preferably arranged obliquely, in particular at an angle of 30°, to the longitudinal axis 14.

[0060] Alternatively, it is conceivable for the battery cell gripper 10, in particular the base housing 12, preferably the magnet section 18, according to Figs. 7 and 8, to have at least one, preferably two, preferably four, guide cams 90. The guide cams 90 preferably protrude radially relative to the longitudinal axis 14 relative to a lateral surface of the base housing 12, in particular the magnet section casing 38. The guide cams 90 preferably have at least one concave contact surface corresponding to a lateral surface of a battery cell. The guide cams 90 preferably serve to contact and further guide the battery cell relative to the battery cell gripper 10.

[0061] To release a battery cell from the battery cell gripper 10, the piston device 26 and / or the magnet device 62 are moved into the release position, with the magnetic force acting on the battery cell decreasing with increasing distance. A stripper 92, particularly in the form of a stripper ring, is provided to secure the battery cell and enable relative movement between the battery cell and the ring magnet 66. The stripper 92 is preferably formed by the magnet section casing 38.

[0062] The battery cell gripper 10 further preferably has a sensor device 94 with at least one stroke sensor 96 for detecting the stroke of the piston device 26 and / or the magnetic device 62 and / or with at least one presence sensor 98 for detecting the presence of a battery cell on the battery cell gripper 10. The stroke sensor 96 is preferably arranged in the region of the piston 28. The presence sensor 98 is preferably arranged in the region of the separating element 72.

[0063] To accommodate the stroke sensor 96, the base housing 12, in particular the piston section casing 22 and / or the magnet section casing 38, according to Fig. 1, has a sensor groove 100 extending preferably parallel to the longitudinal axis 14. The stroke sensor 96 is preferably designed as a magnetic field sensor. Preferably, a sensor recess 104 is provided in the piston 28, in particular in a piston top side 102 facing away from the magnet device 62, in which a sensor magnet 106 is arranged, preferably flush, as a signal transmitter for the stroke sensor 96. To ensure reliable detection of the stroke of the piston device 26, a centering pin (not shown) is provided in a casing side 108 of the piston 28, extending perpendicular to the longitudinal axis 14 and engaging in a cylinder groove (not shown) extending parallel to the longitudinal axis 14.This prevents the piston device 26 from rotating about the longitudinal axis 14 and the sensor magnet 106 from moving out of the detection range of the stroke sensor 96.

[0064] To accommodate the presence sensor 98, the base housing 12, in particular the magnet section casing 38, has a sensor bore 110, preferably extending parallel to the longitudinal axis 14. The sensor bore 110 is preferably designed as a through-bore and / or preferably extends between a magnet section top side 112 and a magnet section bottom side 114 of the magnet section 18. The separating element 72 is preferably arranged between the gripped battery cell and the presence sensor 98. To fix the presence sensor 98 in the sensor bore 110, a fixing element 116, in particular in the form of a grub screw, is provided. To accommodate the fixing element 116, the base housing 12, in particular the piston section 16, has a fixing bore 118. According to Fig. 1, the fixing bore 118 is arranged perpendicular to the longitudinal axis 14 such that it intersects the longitudinal axis 14.Alternatively, the fixing bore 118 is arranged perpendicular to the longitudinal axis 14 according to the section in Fig. 2 such that it runs tangentially to the longitudinal axis 14. According to Fig. 2, a battery cell gripper 10 free of interference contours can therefore be provided.

[0065] The battery cell gripper 10 can be attached to a handling device (not shown) by means of screws (not shown). To increase the flexibility when attaching the battery cell gripper 10 to the handling device, the base housing 12, in particular the piston section 16, has an adapter interface 120, in particular in the form of a radially accessible annular groove from the outside, wherein the annular groove preferably encloses the base housing 12 by 360°. Half shells (not shown) can preferably be attached to the adapter interface 120, so that the

[0066] Cross-section or the connection of the battery cell gripper 10 can be individually adjusted.

[0067] 13 and 14 show a system 122 with twelve battery cell grippers 10, which can be arranged on a handling device. To fasten the battery cell grippers 10 to the system 122, a receiving device 124 is used, which has a gathering device 126. By means of the gathering device 126, the battery cell grippers 10 can be gathered or displaced between a normal position and a gathering position along a gathering axis 128 running perpendicular to the longitudinal axis 14. Two adjacent battery cell grippers 10 are preferably coupled to one another by means of a scissors mechanism 130. The scissors mechanism 130 can be configured such that the battery cell grippers 10 are each at the same distance from one another or at a different distance, such as 2 cm, 3 cm, 4 cm, 2 cm.

[0068] According to Figs. 13 and 14, six of the twelve battery cell grippers 10 are arranged on the receiving device 124 with a compensation unit 132, wherein in particular the compensation unit 132 is arranged along the longitudinal axis 14 between the battery cell gripper 10 and the receiving device 124. The compensation unit 132 is preferably designed for height compensation.

[0069] The compensation unit 132 has a cuboid head part 134 and a cuboid foot part 136 formed separately from the head part 134. The head part 134 and the foot part 136 are coupled to one another by means of a spring assembly 138, in particular by means of three, four, or five spring means. Furthermore, the compensation unit 132 has three, four, or five linear bolts 140, which are guided in linear ball bushings 142 parallel to the linear axis 14. The linear bolts 140 are arranged on the head part 134, and the linear ball bushings 142 are arranged on the foot part 136, or vice versa. Height compensation can be achieved by means of the compensation unit 132, wherein a defined pressing force can be realized, in particular, by means of the spring assemblies 138.

Claims

Patent claims 1. Battery cell gripper (10) for gripping an at least partially magnetizable and / or magnetic battery cell, wherein the battery cell gripper (10) comprises: - a base housing (12) with a longitudinal axis (14), with a piston section (16) and with a magnet section (18), wherein the piston section (16) has a piston cylinder (24) extending along the longitudinal axis (14), and wherein the magnet section (18) has a magnet cylinder (48) extending along the longitudinal axis (14), - a piston device (26) with a piston (28) arranged in the piston cylinder (24) and displaceable along the longitudinal axis (14), with a piston extension (50) arranged in the magnetic cylinder (48) and with a piston rod (30) extending parallel to the longitudinal axis (14) and connecting the piston (28) and the piston extension (50), - a magnetic device (62) connected to the piston device (26) with a ring magnet (66) arranged concentrically to the longitudinal axis (14) for gripping the battery cell, wherein the magnetic device (62) can be displaced by means of the piston device (26) along a gripping direction (46) running parallel to the longitudinal axis (14) into a gripping position and counter to the gripping direction (46) into a release position, and - an electrically insulating separating element (72), wherein the ring magnet (66) is arranged between the separating element (72) and the piston device (26).

2. Battery cell gripper (10) according to claim 1, wherein the ring magnet (66) has, along its circumference, alternately at least one first magnet segment (66A) with a north pole facing the battery cell and at least one second magnet segment (66B) with a south pole facing the battery cell.

3. Battery cell gripper (10) according to claim 1, wherein the ring magnet (66) has, alternately along its circumference, at least one first holding magnet with a north pole facing the battery cell and at least one second holding magnet with a south pole facing the battery cell.

4. Battery cell gripper (10) according to claim 1, 2 or 3, wherein the separating element (72) has an outer separating section (74A) and an inner separating section (74B), wherein the inner separating section (74B) is arranged set back from the outer separating section (74A) opposite to the gripping direction (46).

5. Battery cell gripper (10) according to one of the preceding claims, wherein the separating element (72) is designed as a wearing part.

6. Battery cell gripper (10) according to one of the preceding claims, wherein the base housing (12) has a stripping ring (92) surrounding the ring magnet (66) for stripping the battery cell.

7. Battery cell gripper (10) according to one of the preceding claims, wherein the base housing (12) has at least one guide lug (86) for radially guiding a battery cell, wherein with respect to the gripping direction (46) the ring magnet (66) is arranged set back from the guide lug (86) and / or with respect to the gripping direction (46) the guide lug (86) protrudes from the separating element (72).

8. Battery cell gripper (10) according to claim 7, wherein the at least one guide nose (86) has at least one insertion bevel (88) for centering the battery cell gripper (10) and the battery cell relative to one another.

9. Battery cell gripper (10) according to one of the preceding claims, wherein a stroke sensor (96) is provided for detecting the stroke of the piston device (26) and / or the magnetic device (62) and / or wherein a presence sensor (98) is provided for detecting the presence of a battery cell on the battery cell gripper (10).

10. Battery cell gripper (10) according to claim 9, wherein in or on the base housing (12) at least one sensor groove (100) extending parallel to the longitudinal axis (14) is provided for receiving the stroke sensor (96) and / or the presence sensor (98).

11. Battery cell gripper (10) according to claim 9 or 10, wherein in or on the base housing (12) at least one sensor bore (110) extending parallel to the longitudinal axis (14) is provided for receiving the stroke sensor (96) and / or the presence sensor (98).

12. Battery cell gripper (10) according to claim 11, wherein at least one fixing bore (118) extending perpendicular to the longitudinal axis (14) is provided in the magnet section (18), wherein a fixing element (116) for fixing the stroke sensor (96) and / or the presence sensor (98) is or can be provided in the at least one fixing bore (118).

13. Battery cell gripper (10) according to one of the preceding claims, wherein a cylinder groove extending parallel to the longitudinal axis (14) is provided on an inner circumference of the piston cylinder, and wherein a cylindrical pin which projects radially with respect to the longitudinal axis (14) is provided on the piston (28), which engages in the cylinder groove so that rotation of the piston device (26) about the longitudinal axis (14) is prevented.

14. Battery cell gripper (10) according to one of the preceding claims, wherein an adapter interface (120), in particular in the form of an annular groove, is provided in or on an outer circumference of the base housing (12) for receiving a fastening adapter.

15. Battery cell gripper (10) according to one of the preceding claims, wherein a compensation unit (132) is provided for height compensation and / or radial compensation.

16. Battery cell gripper (10) according to one of claims 9 to 15, wherein it has a control device for controlling and / or regulating the piston device (26) and / or the magnetic device (62), wherein the control device is in particular set up such that it controls the piston device (26) and / or the magnetic device (62) as a function of the sensor signals of the stroke sensor (96) and / or the presence sensor (98) and / or as a function of the signals of the compensation unit (132).

17. System (122) with a receiving device (124) and with a plurality of battery cell grippers (10) according to one of the preceding claims arranged on the receiving device (124).

18. System (122) according to claim 16, wherein a gathering device (126) for gathering the battery cells gripped by means of the battery cell grippers (10) is provided in or on the receiving device (124).

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