Handling apparatus, battery production line, and control method for handling apparatus

Abstract

The present disclosure relates to the technical field of batteries. Disclosed are a handling apparatus, a battery production line, and a control method for a handling apparatus. The handling apparatus can reduce the risk of a target object colliding and thus being damaged in the process of handling the target object. The handling apparatus comprises: a conveying device, a gripping device and a detection device, wherein the conveying device has a first driving mechanism; the gripping device is arranged on the first driving mechanism and is used for gripping a target object; the detection device is arranged on the gripping device and is electrically connected to the first driving mechanism; and when, by means of the detection device, it is detected that the target object gripped by the gripping device is about to collide or has collided, the first driving mechanism can drive the gripping device to move in the direction approaching the conveying device. The handling apparatus provided in the present disclosure is used for handling items.

Description

Handling equipment, battery production line, and control method for handling equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on Chinese patent application number 202410066726.9, application date January 17, 2024, and invention name “Conveying equipment, battery production line and control method of conveying equipment”, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this disclosure as a reference. Technical Field

[0003] The present disclosure relates to the field of battery technology, and in particular to handling equipment, a battery production line, and a control method for the handling equipment. Background Art

[0004] New energy batteries are being used more and more widely in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also being increasingly used in energy storage fields.

[0005] During the battery production process, various components to be assembled need to be handled and transported. For example, during the battery handling process, individual batteries need to be placed in their target locations using handling equipment. During this process, there is a risk of collision between the batteries to be placed and the batteries at the target locations. If the impact force is strong, the colliding batteries will be damaged.

[0006] Summary of the Invention

[0007] The present disclosure provides a handling device, a battery production line, and a control method for the handling device, which can reduce the risk of damage to the target object caused by collision during the handling process.

[0008] A first aspect of the present disclosure provides a handling device, which includes: a conveying device, a gripping device and a detection device; wherein the conveying device has a first drive mechanism; the gripping device is arranged on the first drive mechanism, and is used to grip a target object; the detection device is arranged on the gripping device and is electrically connected to the first drive mechanism; when the detection device detects that the target object gripped by the gripping device is about to collide or has collided, the first drive mechanism drives the gripping device to move in a direction close to the conveying device.

[0009] The handling device provided by the present disclosure has a first drive mechanism provided in the transport device, and a gripping device can be provided on the first drive mechanism, so that the gripping device can be driven by the first drive mechanism to move in at least one direction, thereby completing the handling of the target object grasped by the gripping device. At the same time, a detection device is provided on the gripping device, and the detection device is electrically connected to the first drive mechanism. When the detection device detects that the target object grasped by the gripping device is about to collide or has collided, the first drive mechanism can be promptly controlled to drive the gripping device to move in a direction close to the transport device, thereby reducing the risk of the target object being damaged by collision during the handling process of the target object by the handling device.

[0010] In one possible implementation of the present disclosure, the gripping device includes a buffer assembly and a gripper assembly; one end of the buffer assembly is connected to the first drive mechanism, and the gripper assembly is installed on the end of the buffer assembly away from the first drive mechanism; the buffer assembly is used to keep the gripper assembly at a position away from the first drive mechanism, or during a collision with the target object, the buffer assembly can generate movement along the first direction to stop the gripper assembly from moving along the first direction.

[0011] In the technical solution disclosed herein, a gripper assembly is provided in the gripping device, allowing the gripper assembly to grip the target object. Furthermore, a buffer assembly is provided in the gripping device, and the gripper assembly is connected to the first drive mechanism via the buffer assembly. When the target object gripped by the gripper assembly collides with the target object, the buffer assembly provides a buffer and a certain control feedback time for the first drive mechanism. This not only reduces the impact force on the target object, but also allows the first drive mechanism to have a certain execution time to perform a reverse driving action, thereby promptly driving the gripper assembly and the target object to move in a direction closer to the conveying device.

[0012] In a possible implementation of the present disclosure, the buffer assembly includes a guide member and an elastic member; one end of the guide member is connected to the first drive mechanism, and the other end is movably connected to the gripper assembly and extends along the first direction; the elastic member is sleeved on the guide member to keep the gripper assembly in a position away from the first drive mechanism.

[0013] In the technical solution disclosed herein, since an elastic member is provided in the buffer assembly, the gripper assembly can move relative to the first driving mechanism in a first direction through the elastic member; and a guide member is provided, when the compression spring is deformed along the first direction, the deformation direction of the compression spring can be limited by the guide member, and the compression spring can be placed in a stable position.

[0014] In a possible implementation of the present disclosure, the grasping device also includes a grasping guide assembly, one end of which is connected to the first drive mechanism, and the other end is connected to the grasping assembly, for guiding the grasping assembly to move in a first direction relative to the first drive mechanism.

[0015] In the technical solution disclosed herein, since a grabbing guide assembly is provided in the grabbing device, and the grabbing assembly and the first driving mechanism are connected through the grabbing guide assembly, the movement direction of the grabbing assembly can be limited and guided by the grabbing guide assembly so that the grabbing assembly can move stably along the first direction relative to the first driving mechanism.

[0016] In a possible implementation of the present disclosure, the grasping device also includes a fixing member, which is fixedly connected to the first drive mechanism, one end of the buffer assembly is connected to the side of the fixing member away from the first drive mechanism, and one end of the grasping guide assembly is connected to the side of the fixing member away from the first drive mechanism.

[0017] In the technical solution disclosed in the present invention, since a fixing part is provided in the grasping device, and the fixing part can be set to a structural form that is compatible with the first drive mechanism, the buffer assembly and the grasping guide assembly, the buffer assembly and the grasping guide assembly can be fixedly connected to the fixing part, and then the fixing part is fixedly connected to the first drive mechanism to provide a connection point for the grasping device through the fixing part, which facilitates the connection of the grasping device to the first drive mechanism.

[0018] In a possible implementation of the present disclosure, the grabbing device also includes a grabbing bracket, the end of the buffer assembly away from the fixing member is connected to the grabbing bracket, the grabbing guide assembly is installed on the grabbing bracket, and the grabbing assembly is connected to the end of the grabbing bracket away from the fixing member.

[0019] In the technical solution disclosed herein, since a grabbing bracket is provided in the grabbing device, it is convenient to connect the buffer assembly and the grabbing guide assembly to the grabbing bracket, so as to connect and assemble the buffer assembly and the grabbing guide assembly with other structural parts such as the grabbing assembly in the grabbing device.

[0020] In a possible implementation of the present disclosure, the gripping device also includes a gripping drive assembly, which includes a gripping drive and a clamping guide assembly; the gripping guide assembly is installed on the gripping bracket, the gripping drive is transmission-connected to the clamping guide assembly, and the gripping assembly is fixedly installed on the clamping guide assembly; under the drive of the gripping drive, the clamping guide assembly can drive the gripping assembly to move in a second direction, and the second direction has an angle with the first direction.

[0021] In the technical solution disclosed herein, since the grasping drive assembly is configured to have a structural form including a grasping drive member and a clamping guide assembly, the gripper assembly can be installed on the clamping guide assembly, so that the movement path of the gripper assembly can be guided and restricted by the clamping guide assembly; at the same time, the grasping drive member is transmission-connected to the clamping guide assembly, and the grasping drive member can provide driving force for the gripper assembly, thereby enabling the gripper assembly to grasp or release the target object.

[0022] In a possible implementation of the present disclosure, the gripper assembly includes a first detection assembly and at least two jaws; the jaws are mounted on a jaw guide assembly; the first detection assembly is mounted on the jaws to obtain status information of the target object on the jaws.

[0023] In the technical solution disclosed herein, the gripper assembly is provided with at least two jaws, which are mounted on a jaw guide assembly within a gripping drive assembly. The gripping drive element drives the at least two jaws to move relative to each other, thereby performing a gripping or releasing action. Furthermore, a first detection assembly is provided on the jaws to detect whether an object is located between the two jaws, thereby determining whether the gripper assembly has grasped or released the object.

[0024] In a possible implementation of the present disclosure, the gripping device further includes a second detection component, one end of the second detection component is connected to the gripping bracket, and the other end is connected to the gripping component, and the second detection component is used to obtain position information of the gripping component relative to the gripping bracket along the second direction.

[0025] In the technical solution disclosed in the present invention, since a second detection component for obtaining position information of the gripper component relative to the gripper bracket along the second direction is provided in the gripping device, in the process of the gripper component being driven to move by the gripping drive component, the second detection component can be used to determine whether the gripper component has moved to a position where it can grip the target, or whether it has moved to a position where it can release the target, thereby facilitating accurate control of the movement stroke of the gripper device to reduce the risk of the gripper device accidentally gripping or failing to grip the target.

[0026] In a possible implementation of the present disclosure, the detection device includes a third detection component, which is connected to the gripper component and is used to obtain distance information between the gripper component and the detection object.

[0027] In the technical solution disclosed herein, since a third detection component serving as a detection device is provided on the grasping device, the distance information between the gripper component and the detection object can be obtained through the third detection component, so that the movement of the first driving mechanism can be controlled according to the distance information, thereby reducing the risk of collision between the target object carried by the grasping device and the detection object.

[0028] In a possible implementation of the present disclosure, the detection device also includes a fourth detection component, one end of the fourth detection component is connected to the first drive mechanism, and the other end is connected to the gripper component, and the fourth detection component is used to obtain position information of the gripper component relative to the first drive mechanism along the first direction.

[0029] In the technical solution disclosed in the present invention, since a fourth detection component is provided between the first driving mechanism and the gripper component, when a collision occurs with a target object grasped by the gripper component and causes the buffer component to deform along the first direction, the fourth detection component can obtain information on the movement of the gripper component relative to the first driving mechanism along the first direction, thereby being able to promptly issue a control instruction to the first driving mechanism to control the first driving mechanism to drive the gripper component and the target object to move along the first direction toward the conveying device, thereby reducing the risk of a more serious collision of the target object.

[0030] In a possible implementation of the present disclosure, the detection device also includes a fifth detection component, which is arranged between the first drive mechanism and the gripper component, and the fifth detection component is used to obtain the pressure exerted on the gripper component in the first direction along the direction close to the first drive mechanism.

[0031] In the technical solution disclosed in the present invention, since a fifth detection component for obtaining the pressure value exerted on the gripper component along the first direction is provided between the first driving mechanism and the gripper component, it is possible to determine whether the target object grasped by the gripper component has collided based on the change in the pressure value exerted on the gripper component along the first direction monitored by the fifth detection component, thereby enabling the first driving mechanism to be controlled in time to separate the target object from the collided object.

[0032] In a possible implementation of the present disclosure, the conveying device includes a conveying bracket; the first driving mechanism includes a first driving member and a first guide assembly, the first guide assembly is installed on the conveying bracket, the first driving member is transmission-connected to the first guide assembly, and the grasping device is installed on the first guide assembly; the first driving member is used to drive the first guide assembly to move along the first direction to drive the grasping device to move along the first direction.

[0033] In the technical solution disclosed herein, a transport bracket is provided within the transport device, providing mounting points for components such as the first drive mechanism, and allowing the transport device to be fixedly mounted on a corresponding workstation. Furthermore, a first guide assembly is provided within the first drive mechanism, limiting and guiding the movement path of the gripping device. Furthermore, a first drive member is transmission-connected to the first guide assembly, providing driving force to the gripping device, enabling the gripping device to move in a first direction.

[0034] In a possible implementation of the present disclosure, the conveying device also includes a moving mechanism; the moving mechanism is installed on the conveying bracket, and the first driving member and the first guide assembly are both installed on the moving mechanism; the moving mechanism is used to drive the first guide assembly to move in a direction perpendicular to the first direction.

[0035] In the technical solution disclosed herein, since a moving mechanism is provided in the conveying device and the first driving mechanism is installed on the moving mechanism, the first driving mechanism can be driven by the moving mechanism to move in at least one direction perpendicular to the first direction, thereby driving the grasping device to move within a larger range, which is conducive to improving the applicability of the handling device.

[0036] The second aspect of the present disclosure provides a battery production line, which includes: battery production equipment, transfer equipment and handling equipment provided by any one of the above-mentioned first aspects; wherein the battery production equipment is used to produce batteries, and the battery includes at least one battery cell; the transfer equipment is used to transfer the carried battery monomer to the target workstation; the handling equipment grabs the battery monomer and places it on the transfer equipment, or takes out the battery monomer carried by the transfer equipment.

[0037] The battery production line provided by the present disclosure includes the handling equipment provided by any one of the first aspects above. Therefore, during the process of transporting batteries by the handling equipment, the risk of battery cells being damaged by collision can be reduced.

[0038] A third aspect of the present disclosure provides a method for controlling a handling device, wherein the handling device includes a conveying device, a gripping device, and a detection device; the method for controlling the handling device includes: controlling the gripping device to grip a target object in response to a handling instruction; controlling the conveying device to transport the gripping device and the target object to a target position; and controlling the conveying device to drive the target object to move toward the conveying device when the detection device detects that the target object is about to collide or has collided.

[0039] The control method of the handling equipment provided by the present disclosure controls the grasping device to grasp the target object according to the handling instruction, so that the grasping device can grasp the target object in a timely and accurate manner; and controls the transporting device to transport the target object to the target position, so that the target object can arrive at the target position in a timely manner; at the same time, by obtaining the distance information between the target object and other objects, or obtaining the information of the collision of the target object through the inspection device, it can be determined whether the target object is about to collide or has collided, so that the transporting device can be controlled in time to drive the grasping device to move in the direction close to the transporting device, and in the process of controlling the handling equipment to transport the target object, the risk of the target object being damaged due to collision can be reduced.

[0040] In a possible implementation of the present disclosure, the conveying device includes a first driving mechanism, the detection device includes a third detection component provided on the grasping device, and the third detection component is electrically connected to the first driving mechanism through a controller; when the detection device detects that the target object is about to collide or has collided, the conveying device is controlled to drive the target object to move in a direction close to the conveying device, including: when the third detection component detects that the distance between the target object and the detection object is less than a preset distance threshold, the controller sends a return instruction to the first driving mechanism; the first driving mechanism drives the grasping device to move in a direction away from the detection object in response to the return instruction.

[0041] In the technical solution disclosed in the present invention, since the distance information between the target object and the detection object can be obtained through the third detection component, it can be determined whether the target object and the detection object are likely to collide based on the distance information and the preset distance threshold. When it is determined that the target object is about to collide, a return instruction can be sent to the first drive mechanism, thereby driving the grasping device to move in a direction away from the detection object, thereby reducing the risk of collision between the target object and the detection object.

[0042] In a possible implementation of the present disclosure, the conveying device includes a first drive mechanism, the gripping device includes a gripper assembly, and the detection device includes a fourth detection assembly, one end of the fourth detection assembly is connected to the first drive mechanism, and the other end is connected to the gripper assembly, and the fourth detection assembly is also electrically connected to the first drive mechanism through a controller; when the detection device detects that the target object is about to collide or has collided, the conveying device is controlled to drive the target object to move in a direction close to the conveying device, including: when the fourth detection assembly detects that the gripper assembly moves in a first direction close to the first drive mechanism, the controller sends a return instruction to the first drive mechanism; the first drive mechanism drives the gripping device to move in a direction close to the conveying device in response to the return instruction.

[0043] In the technical solution disclosed in the present invention, since the fourth detection component can obtain information that the gripper component moves toward the first drive mechanism, that is, the information that the target object has collided can be obtained, a return instruction can be sent to the first drive mechanism based on the information that the target object has collided, thereby driving the gripping device to move in a direction away from the collided object, thereby reducing the risk of a more serious collision between the target object and the collided object.

[0044] In a possible implementation of the present disclosure, the conveying device includes a first drive mechanism, the gripping device includes a gripper assembly, and the detection device includes a fifth detection assembly. The fifth detection assembly is arranged between the first drive mechanism and the gripper assembly, and the fifth detection assembly is also electrically connected to the first drive mechanism through a controller; when the detection device detects that the target object is about to collide or has collided, the conveying device is controlled to drive the target object to move in a direction close to the conveying device, including: when the fifth detection assembly detects that the pressure exerted on the gripper assembly in the first direction close to the first drive mechanism is greater than or equal to a preset pressure threshold, the controller sends a return instruction to the first drive mechanism; the first drive mechanism drives the gripping device to move in a direction close to the conveying device in response to the return instruction.

[0045] In the technical solution disclosed in the present invention, since the fifth detection component can obtain information about the pressure value exerted on the gripper component in the direction approaching the first drive mechanism, that is, information that the target object has collided can be obtained, a return instruction can be sent to the first drive mechanism based on the information that the target object has collided, thereby driving the gripping device to move in the direction away from the collided object, thereby reducing the risk of a more serious collision between the target object and the collided object.

[0046] In a possible implementation of the present disclosure, when the detection device detects that the target object is about to collide or has collided, the control method of the handling equipment further includes: issuing a stop command to the transport device, and the transport device stops driving the target object to the target position in response to the stop command.

[0047] In the technical solution disclosed in the present invention, since a stop command is issued to the transport device based on the information obtained by the inspection device that the target object is about to collide or has collided, the grasping device can immediately stop moving in the direction close to the target position, which means that the target object will not collide, or the collision process will be stopped immediately, thereby reducing the risk of the target object colliding or a more serious collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference numerals are used throughout the drawings to denote the same components. In the drawings:

[0049] FIG1 is a schematic structural diagram of a handling device provided by the present disclosure;

[0050] FIG2 is an exploded schematic diagram of a gripping device and a detection device in the handling equipment provided by the present disclosure;

[0051] FIG3 is a first structural diagram of a gripping device and a detection device in a handling device provided by the present disclosure;

[0052] FIG4 is a second structural diagram of a gripping device and a detection device in the handling equipment provided by the present disclosure;

[0053] FIG5 is an exploded schematic diagram of a gripper assembly in a gripping device provided by the present disclosure;

[0054] FIG6 is a flow chart of a control method for handling equipment provided by the present disclosure;

[0055] FIG7 is a second flow chart of the control method for the handling equipment provided by the present disclosure;

[0056] FIG8 is a third flow chart of the control method for the handling equipment provided by the present disclosure;

[0057] FIG9 is a fourth flow chart of a method for controlling a transport device according to the present disclosure;

[0058] FIG10 is a fifth flow chart of the control method for the transport equipment provided by the present disclosure.

[0059] Description of reference numerals:

[0060] 1- transport device; 11- transport bracket; 12- moving mechanism; 13- first driving mechanism; 131- first driving member; 132- first guide assembly; 2- grabbing device; 21- fixing member; 22- buffer assembly; 221- guide member; 222- elastic member; 23- grabbing guide assembly; 24- grabbing bracket; 25- grabbing driving assembly; 251- grabbing driving member; 252- gripping claw guide assembly; 2521- guide rail; 2522- slide Block; 26-gripper assembly; 261-clamping claw; 2611-first fixed block; 2612-second fixed block; 2613-third fixed block; 2614-first clamping block; 2615-second clamping block; 2616-connecting piece; 2617-anti-slip pad; 262-first detection assembly; 27-second detection assembly; 3-detection device; 31-third detection assembly; 32-fourth detection assembly; 4-target; A-first direction; B-second direction. DETAILED DESCRIPTION

[0061] The following embodiments of the technical solution of the present disclosure are described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present disclosure and are therefore only examples and are not intended to limit the scope of protection of the present disclosure.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which the present disclosure belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure; the terms "including" and "having" and any variations thereof in the specification of the present disclosure and the above-mentioned drawings are intended to cover non-exclusive inclusions.

[0063] In the description of the embodiments of the present disclosure, technical terms such as "first," "second," and "third" are used solely to distinguish different objects and should not be understood to indicate or imply relative importance or to implicitly specify the quantity, specific order, or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present disclosure, "plurality" means more than two, unless otherwise specifically defined.

[0064] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0065] In the description of the embodiments of the present disclosure, the term "and / or" is simply a description of an association relationship between associated objects, indicating that three possible relationships exist. For example, X and / or Y can represent the following three situations: X exists alone, X and Y exist simultaneously, and Y exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0066] In the description of the embodiments of the present disclosure, the orientations or positional relationships indicated by technical terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limiting the embodiments of the present disclosure.

[0067] In the description of the embodiments of the present disclosure, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and can refer to internal connectivity between two components or interaction between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present disclosure based on specific circumstances.

[0068] In the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and can be direct contact, contact through an intermediate medium layer, contact with essentially no interaction force between the two contacting parties, or contact with interaction force between the two contacting parties.

[0069] Hereinafter, the present disclosure will be described in detail.

[0070] Currently, new energy batteries are increasingly being used in everyday life and industry. They are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but are also widely used in electric vehicles like electric bicycles, electric motorcycles, and electric cars, as well as in a variety of fields such as aerospace. As the application of power batteries continues to expand, market demand is also growing.

[0071] In the embodiments of the present application, the battery may include one or more battery cells, which are connected in series, parallel, or in parallel via a busbar. The battery cells (hereinafter also referred to as "battery cells") may be secondary batteries, which are batteries that can be recharged to activate the active materials after discharge and continue to be used.

[0072] The battery cells can be lithium-ion batteries, sodium-ion batteries, sodium-lithium-ion batteries, lithium metal batteries, sodium metal batteries, lithium-sulfur batteries, magnesium-ion batteries, nickel-hydrogen batteries, nickel-cadmium batteries, lead-acid batteries, etc., which are not limited in the embodiments of the present application.

[0073] In some embodiments, the battery cell may include an outer shell. The outer shell may be a steel shell, an aluminum shell, a plastic shell (such as polypropylene), a composite metal shell (such as a copper-aluminum composite shell), or an aluminum-plastic film. In some embodiments, the outer shell may be a sealed structure or a non-sealed structure. As an example, when the outer shell is a non-sealed structure, the outer shell serves to protect the electrode assembly, and a sealing bag is further included between the outer shell and the electrode assembly, which is used to encapsulate the electrode assembly and the electrolyte. Specifically, the sealing bag may be a bag-shaped insulating member or an aluminum-plastic film. When the outer shell is a sealed structure, it is used to encapsulate components such as the electrode assembly and the electrolyte.

[0074] As an example, the battery cell can be a cylindrical battery cell, a prismatic battery cell, a soft-pack battery cell or a battery cell of other shapes. The prismatic battery cell includes a square-shell battery cell, a blade-shaped battery cell, and a polygonal battery. The polygonal battery is, for example, a hexagonal battery, etc. There is no special limitation in this application.

[0075] In some embodiments, the housing includes an end cap and a shell, wherein the shell has an opening and the end cap covers the opening. The shell may have one or more openings. One or more end caps may also be provided.

[0076] In some embodiments, the housing is provided with at least one electrode terminal, which is electrically connected to the tab. The electrode terminal may be directly connected to the tab or indirectly connected to the tab via a current collecting member. The electrode terminal may be provided on an end cap or on the housing.

[0077] During the battery production process, various battery components (such as battery cells) need to be handled and transported. For example, when a battery cell is being transported by a robotic arm or handling equipment, there is a risk of collision between the battery cell to be placed and the already placed battery cell when the battery cell is placed at the target location. If two battery cells collide slightly, it may not cause serious damage to the battery cells. However, if the collision between two battery cells happens to short-circuit the two battery cell terminals, the battery cell may suffer irreversible damage, rendering the battery cell scrapped.

[0078] Therefore, when transporting objects such as battery cells, it is necessary to prevent the objects from colliding, or even if the objects collide, to reduce the risk of damage to the objects due to the collision.

[0079] The present disclosure provides a handling device. It should be noted that, to facilitate description and explanation of the handling provided by the present disclosure, the following description uses the handling device used to handle battery cells as an example to illustrate the handling device provided by the present disclosure. However, the handling device provided by the present disclosure is not limited to being used only for handling battery cells. The handling device provided by the present disclosure can also be used to handle any other target objects, such as battery packs and battery modules, and can be used in production lines other than battery production lines.

[0080] Referring to Figures 1 and 2, Figure 1 shows a schematic structural diagram of the handling equipment provided by the present disclosure, and Figure 2 shows a schematic exploded diagram of the gripping device and the detection device in the handling equipment provided by the present disclosure. As shown in Figures 1 and 2, the handling equipment provided by the embodiment of the present disclosure includes: a conveying device 1, a gripping device 2, and a detection device 3; wherein the conveying device 1 has a first drive mechanism 13; the gripping device 2 is arranged on the first drive mechanism 13 for gripping a target object; the detection device 3 is arranged on the gripping device 2 and is electrically connected to the first drive mechanism 13; when the detection device 3 detects that the target object gripped by the gripping device 2 is about to collide or has collided, the first drive mechanism 13 can drive the gripping device 2 to move in a direction close to the conveying device 1.

[0081] In the disclosed embodiment, the conveying device 1 is used to drive the gripping device 2 to move so that the gripping device 2 can reach a predetermined position. For example, the conveying device 1 can be a device having a first drive mechanism 13, wherein the vertical drive structure can generate movement. Alternatively, the conveying device 1 can be a robotic arm capable of generating movement in at least one direction.

[0082] In the disclosed embodiment, the gripping device 2 is used to grasp an object to be transported. Structural components such as gripping claws adapted to the shape of the object can be provided on the gripping device 2 to enable the gripping device 2 to grasp or release the object. The gripping device 2 can be mounted on a first drive mechanism 13, so that the first drive mechanism 13 can drive the gripping device 2 to move in at least one direction.

[0083] In the disclosed embodiment, the detection device 3 can be electrically connected to the first drive mechanism 13. For example, the detection device 3 can be directly electrically connected to the first drive mechanism 13, or the detection device 3 can be electrically connected to a controller, which in turn can be electrically connected to the vertical drive structure. The detection device 3 can also be mounted on the gripping device 2, so that the detection device 3 can move with the gripping device 2 to detect the object being detected; or the detection device 3 can detect the movement of the gripping device 2 to determine whether the gripping device 2's posture has changed due to a collision with the target object.

[0084] In this way, when the first driving mechanism 13 drives the grasping device 2 to move, the position information between the detection object and the target object grasped by the grasping device 2 can be obtained through the detection device 3. For example, the distance information between the detection object and the target object can be obtained, and then it can be determined whether the target object and the detection object are about to collide or whether a collision has already occurred based on the distance information. When it is determined that the target object and the detection object are about to collide or have already collided, a control instruction can be issued to the first driving mechanism 13 to enable the first driving mechanism 13 to perform an avoidance action. For example, the first driving mechanism 13 can drive the grasping device 2 to move in a direction close to the conveying device 1, that is, drive the grasping device 2 and the target object together to move in a direction away from the detection object or the object to be collided.

[0085] The handling equipment provided by the embodiment of the present disclosure has a first driving mechanism 13 provided in the conveying device 1, and the grasping device 2 can be provided on the first driving mechanism 13, so that the grasping device 2 can be driven to move in at least one direction by the first driving mechanism 13, thereby completing the handling of the target object grasped by the grasping device 2. At the same time, a detection device 3 is provided on the grasping device 2, and the detection device 3 is electrically connected to the first driving mechanism 13. When the detection device 3 detects that the target object grasped by the grasping device 2 is about to collide or has collided, the first driving mechanism 13 can be promptly controlled to drive the grasping device 2 to move in a direction close to the conveying device 1, thereby reducing the risk of the target object being damaged by collision during the handling of the target object by the handling equipment.

[0086] In some embodiments of the present disclosure, with reference to Figures 3 and 4, Figure 3 shows a schematic diagram of the structure of the gripping device and the detection device in the handling equipment provided by the present disclosure; Figure 4 shows a schematic diagram of the structure of the gripping device and the detection device in the handling equipment provided by the present disclosure. As shown in Figures 2, 3 and 4, the gripping device 2 includes a buffer assembly 22 and a gripper assembly 26; one end of the buffer assembly 22 is connected to the first drive mechanism 13, and the gripper assembly 26 is installed on the end of the buffer assembly 22 away from the first drive mechanism 13; the buffer assembly 22 is used to keep the gripper assembly 26 at a position away from the first drive mechanism 13, or in the process of collision with the target object 4, the buffer assembly 22 can generate movement along the first direction A to stop the gripper assembly 26 from moving along the first direction A.

[0087] In the embodiment of the present disclosure, a gripper assembly 26 may be provided in the gripping device 2. For example, the gripper assembly 26 may be provided as a structure including two clamping claws, or a gripper assembly 26 adapted to the target object 4 may be provided based on the characteristics of the target object 4 to enable the gripper assembly 26 to grip the target object 4 or release the target object 4.

[0088] In the embodiment of the present disclosure, a buffer component 22 can be provided in the gripping device 2. For example, the buffer component 22 can be provided in an elastic structural form. One end of the buffer component 22 can be connected to the first drive mechanism 13, and the gripper component 26 can be provided on the side of the buffer component 22 away from the first drive mechanism 13. In this way, under the action of the buffer component 22, on the one hand, the gripper component 26 can be kept in a fixed position away from the first drive mechanism 13; on the other hand, when the target object 4 gripped by the gripper component 26 collides, the buffer component 22 can be deformed along the first direction A. At this time, even if the first drive mechanism 13 is still performing a driving action along the first direction A, the force applied by the first drive mechanism 13 to the gripper component 26 can be reduced by the buffer component 22, and the gripper component 26 can be stopped from moving along the first direction A.

[0089] In the above embodiment, since the gripping device 2 is provided with a gripper assembly 26, the target object 4 can be gripped by the gripper assembly 26. At the same time, a buffer assembly 22 is provided in the gripping device 2, and the gripper assembly 26 is connected to the first drive mechanism 13 via the buffer assembly 22. When the target object 4 gripped by the gripper assembly 26 collides with the target object 4, the buffer assembly 22 can provide a buffer and a certain control feedback time for the first drive mechanism 13. This not only reduces the impact force on the target object 4, but also allows the first drive mechanism 13 to have a certain execution time to perform the reverse driving action, thereby promptly driving the gripper assembly 26 and the target object 4 to move in a direction close to the conveying device 1.

[0090] In some embodiments of the present disclosure, the buffer assembly 22 includes a guide member 221 and an elastic member 222; one end of the guide member 221 is connected to the first drive mechanism 13, and the other end is movably connected to the gripper assembly 26 and extends along the first direction A; the elastic member 222 is sleeved on the guide member 221, and is used to keep the gripper assembly 26 in a position away from the first drive mechanism 13.

[0091] In the embodiment of the present disclosure, as shown in FIG2 , the buffer assembly 22 may be configured to include a guide member 221 and an elastic member 222. For example, two groups of buffer assemblies 22 may be provided in the gripping device 2.

[0092] Exemplarily, the guide member 221 can be set as a rod-shaped structure, one end of the guide member 221 can be fixedly connected to the first driving mechanism 13, and the other end of the guide member 221 can be movably connected to the gripper assembly 26, for example, the other end of the guide member 221 can be slidably connected or sleeved to the gripper assembly 26 through other structural members, and the guide member 221 can be extended along the first direction A.

[0093] In another example, the elastic member 222 may be a compression spring, which is sleeved on the guide member 221 , with one end of the compression spring connected to the first driving mechanism 13 and the other end connected to the gripper assembly 26 .

[0094] In the above embodiment, since an elastic member 222 is provided in the buffer assembly 22, the gripper assembly 26 can move relative to the first driving mechanism 13 along the first direction A through the elastic member 222; and a guide member 221 is provided, when the compression spring is deformed along the first direction A, the deformation direction of the compression spring can be limited by the guide member 221, and the compression spring can be placed in a stable position.

[0095] In some embodiments of the present disclosure, as shown in Figures 2 and 3, the grasping device 2 also includes a grasping guide assembly 23, one end of which is connected to the first drive mechanism 13, and the other end is connected to the grasping assembly 26, for guiding the grasping assembly 26 to move along the first direction A relative to the first drive mechanism 13.

[0096] In the embodiment of the present disclosure, a gripping guide assembly 23 may be provided in the gripping device 2. For example, the gripping guide assembly 23 may be a guide post and a guide sleeve in a sliding sleeve connection. The guide assembly may also be a guide rail and a slider in a sliding connection.

[0097] For example, one of the guide post and the guide sleeve can be fixedly connected to the first drive mechanism 13, and the other can be connected to the gripper assembly 26. Furthermore, the guide post and the guide sleeve can be arranged to extend along the first direction A, so that the guide post can slide relative to the guide sleeve along the first direction A. Alternatively, two sets of gripping guide assemblies 23 can be provided in the gripping device 2.

[0098] In the above embodiment, since a grabbing guide assembly 23 is provided in the grabbing device 2, and the grabbing assembly 26 and the first driving mechanism 13 are connected through the grabbing guide assembly 23, the movement direction of the grabbing assembly can be limited and guided by the grabbing guide assembly 23, so that the grabbing assembly 26 can move stably along the first direction A relative to the first driving mechanism 13.

[0099] In some embodiments of the present disclosure, as shown in Figures 2 and 3, the grasping device 2 also includes a fixing member 21, which is fixedly connected to the first driving mechanism 13, one end of the buffer assembly 22 is connected to the side of the fixing member 21 away from the first driving mechanism 13, and one end of the grasping guide assembly 23 is connected to the side of the fixing member 21 away from the first driving mechanism 13.

[0100] In the embodiment of the present disclosure, in order to facilitate the connection between the gripping device 2 and the first drive mechanism 13, a fixing member 21 can be provided in the gripping device 2. For example, the fixing member 21 can be provided based on the connection structure on the first drive mechanism 13 and the structural form of the buffer assembly 22 and the gripping guide assembly 23, such as providing the fixing member 21 with a plate-shaped structure.

[0101] For example, a connecting hole can be provided on the plate-shaped fixing member 21, and a fastener is used to fix the fixing member 21 to the first driving mechanism 13, and one end of the guide member 221 in the buffer assembly 22 is fixedly connected to the side of the fixing member 21 away from the first driving mechanism 13, and one of the guide columns or guide sleeves in the grabbing guide assembly 23 is fixedly connected to the side of the fixing member 21 away from the first driving mechanism 13.

[0102] In the above embodiment, since a fixing member 21 is provided in the grasping device 2, and the fixing member 21 can be set to a structural form that is compatible with the first drive mechanism 13, the buffer assembly 22 and the grasping guide assembly 23, the buffer assembly 22 and the grasping guide assembly 23 can be fixedly connected to the fixing member 21, and the fixing member 21 is fixedly connected to the first drive mechanism 13 to provide a connection point for the grasping device 2 through the fixing member 21, so as to facilitate the connection of the grasping device 2 with the first drive mechanism 13.

[0103] In some embodiments of the present disclosure, as shown in Figures 2 and 3, the grasping device 2 also includes a grasping bracket 24, the end of the buffer assembly 22 away from the fixing member 21 is connected to the grasping bracket 24, the grasping guide assembly 23 is installed on the grasping bracket 24, and the gripper assembly 26 is connected to the end of the grasping bracket 24 away from the fixing member 21.

[0104] In the disclosed embodiment, a grabbing bracket 24 may be further provided in the grabbing device 2 to facilitate connection and assembly of other structural components such as the buffer assembly 22 , the grabbing guide assembly 23 and the gripper assembly 26 .

[0105] Exemplarily, the grabbing bracket 24 can be set to a frame structure, such as setting the grabbing bracket 24 to an approximately n-shaped structure, that is, the grabbing bracket 24 can adopt three structural members of a first plate-shaped member, a second plate-shaped member and a third plate-shaped member, and the second plate-shaped member and the third plate-shaped member are respectively connected to the two ends of the first plate-shaped member, and the second plate-shaped member and the third plate-shaped member are both perpendicular to the first plate-shaped member, or nearly perpendicular.

[0106] In another example, a first through-hole can be provided on the first plate-shaped member in the grabbing bracket 24. The diameter of the first through-hole is larger than the outer diameter of the guide member 221 in the buffer assembly 22, but smaller than the outer diameter of the elastic member 222. The guide member 221 can then be inserted into the first through-hole, while the end of the elastic member 222 away from the fixing member 21 abuts against the edge of the first through-hole. A second through-hole can also be provided on the first plate-shaped member. The size of the second through-hole is compatible with the guide post or guide sleeve in the grabbing guide assembly 23. The guide post or guide sleeve can then be fixed in the second through-hole.

[0107] In the above embodiment, since a grabbing bracket 24 is provided in the grabbing device 2, it is convenient to connect the buffer assembly 22 and the grabbing guide assembly 23 with the grabbing bracket 24, so as to connect and assemble the buffer assembly 22 and the grabbing guide assembly 23 with other structural parts such as the grabbing assembly 26 in the grabbing device 2.

[0108] In some embodiments of the present disclosure, as shown in Figures 2 and 3, the grasping device 2 also includes a grasping drive assembly 25, which includes a grasping drive member 251 and a clamping guide assembly 252; the grasping guide assembly 23 is installed on the grasping bracket 24, the grasping drive member 251 is transmission-connected to the clamping guide assembly 252, and the gripper assembly 26 is fixedly installed on the clamping guide assembly 252; under the drive of the grasping drive member 251, the clamping guide assembly 252 can drive the gripper assembly 26 to move along the second direction B, and the second direction B has an angle with the first direction A.

[0109] In the embodiment of the present disclosure, a gripping drive assembly 25 may be provided in the gripping device 2 to drive the gripping assembly 26 to move, thereby achieving gripping or releasing of the target object 4 .

[0110] Exemplarily, the grab drive assembly 25 can be configured to include a grab drive 251 and a gripper guide assembly 252 , wherein the grab drive 251 is used to provide driving force, and the gripper guide assembly 252 is used to guide and limit the movement path of the gripper assembly 26 .

[0111] In another example, the jaw guide assembly 252 can be configured to include a matching guide rail 2521 and a slider 2522, wherein the guide rail 2521 extends along a second direction B, and the slider 2522 can slide along the second direction B. The second direction B and the first direction A can be two directions perpendicular to each other, or can be two directions with any angle between 0 and 90 degrees. The second direction B and the first direction A are not specifically limited in the present embodiment.

[0112] As another example, the grabbing drive assembly 25 can be a component capable of generating a driving motion, such as a pneumatic cylinder, an electric cylinder, an oil cylinder, a stepper motor, or a servo motor. The guide rail 2521 can be fixedly connected to the grabbing bracket 24, the grabbing drive assembly 25 mounted on the guide rail 2521, and the grabbing drive assembly 25 is in a transmission connection with the slider 2522. The gripper assembly 26 can be fixedly mounted on the slider 2522. The gripper drive assembly 25 can then drive the slider 2522 to move in the second direction B, thereby driving the gripper assembly 26 to move in the second direction B.

[0113] In the above embodiment, since the grasping drive assembly 25 is set to a structural form including a grasping drive member 251 and a clamping guide assembly 252, the gripper assembly 26 can be installed on the clamping guide assembly 252, so that the movement path of the gripper assembly 26 can be guided and restricted by the clamping guide assembly 252; at the same time, the grasping drive member 251 is connected to the clamping guide assembly 252 by transmission, and the grasping drive member 251 can provide driving force for the gripper assembly 26, so that the gripper assembly 26 can grasp or release the target object 4.

[0114] In some embodiments of the present disclosure, referring to FIG5 , which is an exploded schematic diagram of a gripper assembly in a gripping device provided herein, as shown in FIG2 , FIG3 , FIG4 , and FIG5 , the gripper assembly 26 includes a first detection assembly 262 and at least two clamping jaws 261 ; the clamping jaws 261 are mounted on the clamping jaw guide assembly 252 ; the first detection assembly 262 is mounted on the clamping jaws 261 to obtain information about the state of the target object 4 on the clamping jaws 261 .

[0115] In the embodiment of the present disclosure, the gripper assembly 26 can be configured to have a structure including at least two clamping jaws 261, and the two clamping jaws 261 are respectively fixedly mounted on the two sliders 2522 in the gripping drive assembly 25, so that the two clamping jaws 261 can approach or move away from each other to achieve the gripping and releasing actions.

[0116] For example, the clamping jaw 261 can be configured to include a first fixing block 2611, a second fixing block 2612, a third fixing block 2613, a first clamping block 2614, and a second clamping block 2615. The first fixing block 2611 is fixedly connected to the slider 2522 in the gripping drive assembly 25. The second fixing block 2612 is connected to the first fixing block 2611, and a mounting cavity can be formed between the second fixing block 2612 and the first fixing block 2611. The third fixing block 2613 is connected to one side of the first fixing block 2611 and is perpendicular to the first fixing block 2611. The first clamping block 2614 and the second clamping block 2615 are respectively fixed to either side of the third fixing block 2613, and a gripping cavity can be formed by enclosing the second fixing hole, the third fixing block 2613, the first clamping block 2614, and the second clamping block 2615.

[0117] As another example, a first detection assembly 262 may be provided on at least one of the gripping jaws 261. The first detection assembly 262 may be mounted within a mounting cavity formed between the second fixing block 2612 and the first fixing block 2611, and may extend from the second fixing block 2612 to the gripping cavity. The first detection assembly 262 may be a position sensor, such as a contact switch or a proximity switch.

[0118] As another example, a connector 2616 and an anti-slip pad 2617 can be provided in the clamping jaw 261. The connector 2616 can be provided on the side of the third fixing block 2613 facing the gripping cavity. The anti-slip pad 2617 can be fixed to the third fixing block 2613 via the connector 2616 so that the anti-slip pad 2617 is located within the gripping cavity. For example, the anti-slip pad 2617 can be made of EPDM rubber and can be provided with anti-slip grooves. This can improve the reliability and stability of the clamping jaw 261 in gripping the target object 4.

[0119] In the above embodiment, since the gripper assembly 26 is provided with at least two clamping jaws 261, and the clamping jaws 261 are mounted on the clamping jaw guide assembly 252 of the gripping drive assembly 25, the gripping drive 251 can drive the at least two clamping jaws 261 to move relative to each other to perform a gripping or releasing action. Furthermore, a first detection assembly 262 is provided on the clamping jaws 261. The first detection assembly 262 can detect whether the target object 4 is located between the two clamping jaws 261, thereby determining whether the gripper assembly 26 has gripped the target object 4 or released the target object 4.

[0120] In some embodiments of the present disclosure, as shown in Figures 2 and 3, the grasping device 2 also includes a second detection component 27, one end of the second detection component 27 is connected to the grasping bracket 24, and the other end is connected to the gripper component 26, and the second detection component 27 is used to obtain the position information of the gripper component 26 relative to the grasping bracket 24 along the second direction B.

[0121] In the embodiment of the present disclosure, a second detection component 27 may be further provided in the gripping device 2 to obtain position information of the clamping claw 261 in the gripper component 26 through the second detection component 27 .

[0122] For example, the second detection assembly 27 can be a position sensor or a displacement sensor, such as a travel switch, an electromagnetic sensor, a photoelectric sensor, or a Hall effect sensor. A portion of the second detection assembly 27 can be mounted on the gripping bracket 24, and the other portion can be mounted on the slider 2522 in the gripping drive assembly 25. As the slider 2522 drives the gripping jaw 261 to move, the second detection assembly 27 can detect the position of the gripping jaw 261 relative to the gripping bracket 24 along the second direction B.

[0123] In the above embodiment, since a second detection component 27 for obtaining position information of the gripping component 26 relative to the gripping bracket 24 along the second direction B is provided in the gripping device 2, in the process of the gripping drive component 25 driving the gripping component 26 to move, the second detection component 27 can be used to determine whether the gripping component 26 moves to a position where it can grip the target, or whether it moves to a position where it can release the target object 4, so as to facilitate accurate control of the movement stroke of the gripping device 2, so as to reduce the risk of the gripping device 2 accidentally gripping or failing to grip the target object 4.

[0124] In some embodiments of the present disclosure, as shown in Figures 2 and 3, the detection device 3 can be set to a structure including a third detection component 31; wherein the third detection component 31 is set on the gripper component 26, and is used to obtain the distance information between the gripper component 26 and the detection object.

[0125] In the embodiment of the present disclosure, a third detection component 31 may be provided in the detection device 3 , and the third detection component 31 may be mounted on the gripping bracket 24 in the gripping device 2 to connect the third detection component 31 to the gripping component 26 .

[0126] Exemplarily, the third detection component 31 can adopt a photoelectric proximity sensor, an ultrasonic proximity sensor, a capacitive proximity sensor, etc. For example, the third detection component 31 can adopt a laser sensor, and the laser sensor can be used to obtain the distance between the grasping device 2 and the detection object in the process of the grasping device 2 driving the target object 4 to move, and then the distance between the target object 4 and the detection object can be obtained. The laser sensor can also be electrically connected to the controller, and the controller can be electrically connected to the vertical drive component. The controller can determine whether the target object 4 will collide with the detection object based on the distance information obtained by the laser sensor. A preset distance threshold for the collision between the target object 4 and the detection object can be set. When it is detected that the actual distance between the target object 4 and the detection object is less than or equal to the preset distance threshold, a control instruction can be sent to the first drive mechanism 13 through the controller, so that the first drive mechanism 13 drives the grasping device 2 to move in a direction away from the detection object.

[0127] In the above embodiment, since the third detection component 31 serving as the detection device 3 is provided on the grasping device 2, the distance information between the gripper component 26 and the detection object can be obtained through the third detection component 31, so that the movement of the first driving mechanism 13 can be controlled according to the distance information, thereby reducing the risk of collision between the target object 4 transported by the grasping device 2 and the detection object.

[0128] In some embodiments of the present disclosure, as shown in Figures 2 and 3, the detection device 3 also includes a fourth detection component 32, one end of the fourth detection component 32 is connected to the first drive mechanism 13, and the other end is connected to the gripper component 26, and the fourth detection component 32 is used to obtain the position information of the gripper component 26 relative to the first drive mechanism 13 along the first direction A.

[0129] In the embodiment of the present disclosure, a fourth detection component 32 may be provided in the detection device 3, and the fourth detection component 32 may be electrically connected to the controller, which in turn may be electrically connected to the first drive mechanism 13. The fourth detection component 32 is configured to obtain position information of the gripper component 26 relative to the first drive mechanism 13 along the first direction A, that is, to obtain information on whether the target object 4 grasped by the gripper component 26 has collided with another object.

[0130] For example, the fourth detection assembly 32 can be a position sensor, such as a travel switch or other sensor, such as a Hall effect sensor. A portion of the fourth detection assembly 32 can be mounted on the fixing member 21 of the gripping device 2, and another portion can be mounted on the gripping bracket 24 of the gripping device 2, thereby connecting the fourth detection assembly 32 to the first drive mechanism 13 and the gripper assembly 26, respectively. In this way, if the target object 4 grasped by the gripper assembly 26 collides, causing the buffer assembly 22 to be compressed, that is, if the gripper assembly 26 moves relative to the first drive mechanism 13 in the first direction A, the fourth detection assembly 32 can promptly obtain this information.

[0131] In the above embodiment, since the fourth detection component 32 is provided between the first driving mechanism 13 and the gripper component 26, when the target object 4 grasped by the gripper component 26 collides and causes the buffer component 22 to deform along the first direction A, the fourth detection component 32 can obtain information that the gripper component 26 moves along the first direction A relative to the first driving mechanism 13, so that a control instruction can be issued to the first driving mechanism 13 in time to control the first driving mechanism 13 to drive the gripper component 26 and the target object 4 to move along the first direction A toward the direction close to the conveying device 1, thereby reducing the risk of a more serious collision of the target object 4.

[0132] In some embodiments of the present disclosure, the detection device 3 also includes a fifth detection component, which is arranged between the first driving mechanism 13 and the gripper assembly 26, and the fifth detection component is used to obtain the pressure exerted on the gripper assembly 26 in the first direction A along the direction close to the first driving mechanism 13.

[0133] In the embodiment of the present disclosure, a fifth detection component may also be provided in the detection device 3, and the fifth detection component may be electrically connected to the controller, which in turn is electrically connected to the first drive mechanism 13. The fifth detection component is configured to be capable of detecting the magnitude of the pressure applied to the gripper assembly 26 in the direction in which the gripper assembly 26 approaches the first drive mechanism 13.

[0134] For example, the fifth detection component can be a pressure sensor. For example, the pressure sensor can be set at the position where the elastic member 222 of the buffer assembly 22 abuts the fixing member 21, or the pressure sensor can be set at a position on the gripper assembly 26 that can abut the target object 4. In this way, by setting the threshold of the pressure sensor, when the target object 4 collides, the pressure sensor can detect that the target object 4 has collided.

[0135] In the above embodiment, since a fifth detection component for obtaining the pressure value exerted on the gripper component 26 along the first direction A is provided between the first driving mechanism 13 and the gripper component 26, it is possible to determine whether the target object 4 grasped by the gripper component 26 has collided based on the change in the pressure value exerted on the gripper component 26 along the first direction A monitored by the fifth detection component, thereby enabling the first driving mechanism 13 to be controlled in time to separate the target object 4 from the collided object.

[0136] In some embodiments of the present disclosure, as shown in Figure 1, the conveying device 1 also includes a conveying bracket 11; the first driving mechanism 13 includes a first driving member 131 and a first guide assembly 132, the first guide assembly 132 is installed on the conveying bracket 11, the first driving member 131 is transmission-connected to the first guide assembly 132, and the grasping device 2 is installed on the first guide assembly 132; the first driving member 131 is used to drive the first guide assembly 132 to move along the first direction A to drive the grasping device 2 to move along the first direction A.

[0137] In the embodiment of the present disclosure, a transport bracket 11 may be provided in the transport device 1 to provide installation points for other components in the transport device 1. For example, the transport bracket 11 may be provided in the form of a frame structure.

[0138] In the disclosed embodiment, the first drive mechanism 13 can be configured as a structure including a first drive member 131 and a first guide assembly 132. For example, the first drive member 131 can be a servo motor, a stepper motor, a pneumatic cylinder, an oil cylinder, or an electric cylinder. The first guide assembly 132 can be a guide rail and a slider connected in a sliding manner. The guide rail is fixedly mounted on the transport bracket 11, the gripping device 2 is mounted on the slider, and the first drive member 131 is transmission-connected to the slider so that the first drive member 131 can drive the slider to move in the first direction A.

[0139] In the above embodiment, the transport bracket 11 is provided within the transport device 1, providing mounting points for components such as the first drive mechanism 13, and allowing the transport device 1 to be fixedly mounted at the corresponding workstation. Furthermore, a first guide assembly 132 is provided within the first drive mechanism 13, which limits and guides the motion path of the gripping device 2. Furthermore, the first drive member 131 is transmission-connected to the first guide assembly 132, providing driving force to the gripping device 2, enabling the gripping device 2 to move in the first direction A.

[0140] In some embodiments of the present disclosure, as shown in Figure 1, the conveying device 1 also includes a moving mechanism 12; the moving mechanism 12 is installed on the conveying bracket 11, and the first driving member 131 and the first guide assembly 132 are both installed on the moving mechanism 12; the moving mechanism 12 is used to drive the first guide assembly 132 to move in a direction perpendicular to the first direction A.

[0141] In the disclosed embodiment, a moving mechanism 12 can also be provided in the transport device 1. The moving mechanism 12 can be configured according to the application scenario of the transport device. The moving mechanism 12 is mounted on the transport bracket 11, and the first guide assembly 132 and the first drive member 131 are both mounted on the moving mechanism 12. The moving mechanism 12 can drive the first drive mechanism 13 to move in a direction perpendicular to the first direction A.

[0142] For example, the moving mechanism 12 can be configured to include a second drive member and a second guide assembly. The second guide assembly is mounted on the transport bracket 11, and the movement direction of the second guide assembly is perpendicular to, or nearly perpendicular to, the first direction A. The second drive member is mounted on the transport bracket 11 and is in transmission connection with the second guide assembly. A vertical drive structure can be mounted on the second guide assembly, and the second drive member can then drive the first drive mechanism 13 to move in a direction perpendicular to the first direction A.

[0143] As another example, a third drive member and a third guide assembly can be provided in the moving mechanism 12, and the third guide assembly can be mounted on the second guide assembly, so that the third guide assembly moves in a direction perpendicular to the first direction A and perpendicular to the movement of the second guide assembly. The third drive member can be mounted on the second guide assembly and be in transmission connection with the third guide assembly. In this case, the first drive mechanism 13 can be mounted on the third guide assembly, and the third drive member can drive the first drive mechanism 13 to move in a direction perpendicular to the first direction A.

[0144] In the above embodiment, since a moving mechanism 12 is provided in the conveying device 1 and the first driving mechanism 13 is installed on the moving mechanism 12, the first driving mechanism 13 can be driven by the moving mechanism 12 to move in at least one direction perpendicular to the first direction A, thereby driving the grasping device 2 to move within a larger range, which is beneficial to improving the applicability of the handling device.

[0145] At the same time, an embodiment of the present disclosure also provides a battery production line, which includes: battery production equipment, transfer equipment and handling equipment provided by any one of the above embodiments; wherein the battery production equipment is used to produce batteries, and the battery includes at least one battery cell; the transfer equipment is used to transfer the carried battery monomer to the target workstation; the handling equipment grabs the battery monomer and places it on the transfer equipment, or takes out the battery monomer carried by the transfer equipment.

[0146] In the embodiments of the present disclosure, the battery production equipment may be equipment for generating various components (including battery cells) that constitute a battery, or equipment for assembling various components (including battery cells) in a battery.

[0147] In the embodiment of the present disclosure, the transfer equipment can be a device for transporting one or more battery cells it carries. For example, the transfer equipment can be a transport cart, a transport platform, a conveyor line, etc. The battery cells can be transported to various target workstations through the transfer equipment.

[0148] In the disclosed embodiments, one or more battery cells can be grabbed from a workstation and placed on a transfer device using the handling device provided in the above embodiments. Alternatively, when the transfer device reaches a target workstation, the handling device can grab the battery cells from the transfer device and place them on the target workstation.

[0149] Since the battery production line provided by the embodiment of the present disclosure includes the handling equipment provided by any one of the above embodiments, the risk of battery cells being damaged by collision can be reduced during the process of handling battery cells by the handling equipment.

[0150] In addition, an embodiment of the present disclosure also provides a control method for handling equipment, which includes a transport device, a gripping device and a detection device; referring to Figure 6, Figure 6 shows a flow chart of the control method for the handling equipment provided by the present disclosure. As shown in Figure 6, the control method for the handling equipment includes the following steps S101 to S103.

[0151] S101 , in response to a transport instruction, controlling a gripping device to grip a target object.

[0152] In some embodiments, a transport instruction may be generated in response to a user operating a transport device, in response to a transfer device arriving at a target station, or in response to an object arriving at a target location. The disclosed embodiments do not limit the scenario in which the transport instruction is generated.

[0153] In some embodiments, during the process of transporting an object, it is necessary to first grasp the object. After the transport device receives a transport instruction, it can control a grasping device to grasp the object. For example, a grasping drive element in the grasping device can be controlled to execute a grasping drive action to drive the gripping jaws of the gripper assembly toward each other, thereby clamping the object between the two gripping jaws and completing the grasping of the object.

[0154] S102: Control the transport device to transport the grabbing device and the target object to the target location.

[0155] In some embodiments, after the grasping device completes grasping the target object, the target object can be transported to the target position. At this time, the first driving mechanism in the transporting device can be controlled to drive the grasping device to move along the first direction toward the transporting device so that there is a sufficient safety distance between the target object and other objects. Then, the moving mechanism in the transporting device can be controlled to drive the grasping device to move in a direction perpendicular to the first direction to transport the target object to a position aligned with the target position, for example, the target object can be transported above the target position. Then, the first driving mechanism can be controlled to drive the grasping device to move along the first direction toward the target position until the target object is transported to the target position. Finally, the gripper assembly in the grasping device can be controlled to release the target object to place the target object at the target position.

[0156] S103 : When the detection device detects that the target object is about to collide or has collided, the transport device is controlled to drive the target object to move in a direction close to the transport device.

[0157] In some embodiments, while a transport device is transporting an object to a target location, the inspection device can determine, based on information obtained by the inspection device, whether the object is too close to another object and is about to collide, or whether the object has already collided. In this case, a control instruction can be issued to the transport device to cause the transport device to drive the gripping device, that is, to drive the object toward the transport device, thereby separating the object from the object being collided with, or moving the object away from the object it is about to collide with.

[0158] In the above embodiment, since the grasping device is controlled to grasp the target object according to the handling instruction, the grasping device can grasp the target object in a timely and accurate manner; and the transporting device is controlled to transport the target object to the target position, the target object can arrive at the target position in a timely manner; at the same time, the distance information between the target object and other objects is obtained by the inspection device, or the information of the collision of the target object is obtained, so that it can be determined whether the target object is about to collide or has collided, so that the transporting device can be controlled in time to drive the grasping device to move in the direction close to the transporting device, and in the process of controlling the transporting equipment to transport the target object, the risk of the target object being damaged by collision can be reduced.

[0159] Referring to Figure 7 , FIG7 illustrates a second flow diagram of the control method for the handling equipment provided by the present disclosure. The transport device in the handling equipment includes a first drive mechanism, and the detection device includes a third detection assembly disposed on a gripping device, which is electrically coupled to the first drive mechanism via a controller. Based on FIG6 , step S103 in FIG6 can be implemented via the following steps S1031 to S1032.

[0160] S1031: When the third detection component obtains that the distance between the target object and the detection object is less than a preset distance threshold, the controller sends a return instruction to the first driving mechanism.

[0161] In some embodiments, the third detection component can be configured as a device capable of obtaining the distance between the target object and the detection object. Thus, as the first drive mechanism in the transport device drives the grasping device toward a target position near the target object, the third detection component can promptly obtain information on the distance between the target object and the detection object.

[0162] In some embodiments, when the third detection component detects that the distance between the target object and the detection object is less than a preset distance threshold, the surface target object and the detection object are about to collide. At this time, the controller can send a return instruction to the first drive mechanism.

[0163] S1032: The first driving mechanism drives the grasping device to move away from the detection object in response to the return instruction.

[0164] In some embodiments, after the first driving mechanism receives the return instruction, the first driving mechanism immediately performs a return driving action, that is, drives the grasping device to move in a direction away from the detection object, so that the target object is separated from the detection object.

[0165] In the above embodiment, since the distance information between the target object and the detection object can be obtained through the third detection component, it can be determined whether the target object and the detection object are likely to collide based on the distance information and the preset distance threshold. When it is determined that the target object is about to collide, a return instruction can be sent to the first drive mechanism, thereby driving the grasping device to move in a direction away from the detection object, thereby reducing the risk of collision between the target object and the detection object.

[0166] Referring to Figure 8 , Figure 8 illustrates a third flow diagram of the control method for the handling equipment provided by the present disclosure. The transport device in the handling equipment includes a first drive mechanism, a gripping device includes a gripper assembly, and a detection device includes a fourth detection assembly. One end of the fourth detection assembly is connected to the first drive mechanism, and the other end is connected to the gripper assembly. The fourth detection assembly is also electrically connected to the first drive mechanism via a controller. Based on Figure 6 , step S103 in Figure 6 can also be implemented via the following steps S1033 to S1034.

[0167] S1033: When the fourth detection component detects that the gripper component moves in the first direction close to the first driving mechanism, the controller sends a return instruction to the first driving mechanism.

[0168] In some embodiments, the fourth detection component can be configured to detect movement of the gripper assembly in a first direction toward the first drive mechanism. Thus, as the first drive mechanism in the transport device drives the gripper assembly toward a target location near where the object is placed, if the fourth detection component detects movement of the gripper assembly toward the first drive mechanism, this indicates that the object may have collided.

[0169] In some embodiments, when the fourth detection component detects that a collision has occurred with the target object, the controller may send a return instruction to the first driving mechanism.

[0170] S1034. The first driving mechanism drives the grabbing device to move toward the conveying device in response to the return instruction.

[0171] In some embodiments, after the first driving mechanism receives the return instruction, the first driving mechanism immediately performs a return driving action, that is, drives the grasping device to move in a direction close to the conveying device, so that the target object is separated from the collided object and moves away.

[0172] In the above embodiment, since the fourth detection component can obtain information that the gripper component moves toward the first drive mechanism, that is, information that the target object has collided can be obtained, a return instruction can be sent to the first drive mechanism based on the information that the target object has collided, thereby driving the gripping device to move in a direction away from the collided object, thereby reducing the risk of a more serious collision between the target object and the collided object.

[0173] Referring to Figure 9 , Figure 9 illustrates a fourth flow chart of a control method for a transport device provided by the present disclosure. The transport device in the transport device includes a first drive mechanism, a gripping device includes a gripper assembly, and a detection device includes a fifth detection assembly, which is disposed between the first drive mechanism and the gripper assembly and is electrically coupled to the first drive mechanism via a controller. Based on Figure 6 , step S103 in Figure 6 can also be implemented via the following steps S1035 to S1036 .

[0174] S1035. When the fifth detection component obtains that the pressure exerted on the gripper component along the first direction and the direction close to the first driving mechanism is greater than or equal to a preset pressure threshold, the controller sends a return instruction to the first driving mechanism.

[0175] In some embodiments, the fifth detection component can be configured to detect the pressure applied to the gripper component along the first direction as it approaches the first drive mechanism. If the target object collides with the gripper component while the first drive mechanism in the transport device drives the gripper component toward the target position, the pressure detected by the fifth detection component will change. If the pressure detected by the fifth detection component exceeds a preset pressure threshold, it indicates that the target object may have collided.

[0176] In some embodiments, when the fifth detection component detects that a collision has occurred with the target object, the controller may send a return instruction to the first driving mechanism.

[0177] S1036. The first driving mechanism drives the grabbing device to move toward the conveying device in response to the return instruction.

[0178] In some embodiments, after the first driving mechanism receives the return instruction, the first driving mechanism immediately performs a return driving action, that is, drives the grasping device to move in a direction close to the conveying device, so that the target object is separated from the collided object and moves away.

[0179] In the above embodiment, since the fifth detection component can obtain information about the pressure value exerted on the gripper component in the direction approaching the first drive mechanism, that is, information that the target object has collided can be obtained, a return instruction can be sent to the first drive mechanism based on the information that the target object has collided, thereby driving the gripping device to move in the direction away from the collided object, thereby reducing the risk of a more serious collision between the target object and the collided object.

[0180] Referring to Figure 10, Figure 10 shows a fifth flow chart of the method for controlling a transport device provided by the present disclosure. Based on Figure 6, the method for controlling a transport device further includes step S201.

[0181] S201. When a detection device detects that a target object is about to collide or has collided, a stop command is issued to a transport device. The transport device stops driving the target object toward a target position in response to the stop command.

[0182] In some embodiments, when the detection device detects that a target object being grasped by the grasping device is about to collide or has already collided, the controller can issue a stop command to the conveying device. Upon receiving the stop command, the conveying device can immediately stop driving, thereby stopping the grasping device from moving toward the target position, thereby stopping the target object from moving toward the target position.

[0183] In the above embodiment, since a stop instruction is sent to the transport device based on the information obtained by the inspection device that the target object is about to collide or has collided, the grasping device can immediately stop moving in the direction close to the target position, which means that the target object will not collide, or the collision process will be stopped immediately, thereby reducing the risk of the target object colliding or a more serious collision.

[0184] The above embodiments are intended only to illustrate the technical solutions of the present disclosure, and are not intended to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. Such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the various embodiments of the present disclosure, and are intended to be encompassed by the specification of the present disclosure. In particular, the various technical features described in the various embodiments may be combined in any manner, as long as there are no structural conflicts.

Claims

1. A handling device, comprising: A conveying device, wherein the conveying device has a first driving mechanism; A gripping device, the gripping device comprising a buffer assembly and a gripper assembly; one end of the buffer assembly is connected to the first driving mechanism, the gripper assembly is mounted on an end of the buffer assembly away from the first driving mechanism, and during a collision of the target object, the buffer assembly can generate movement in a first direction to stop the gripper assembly from moving in the first direction; A detection device, the detection device is arranged on the grasping device and is electrically connected to the first driving mechanism; Wherein, when the detection device detects that the target object grasped by the grasping device is about to collide or has collided, the first driving mechanism drives the grasping device to move in a direction close to the conveying device.

2. The handling device according to claim 1, wherein, The buffer assembly is also used to keep the gripper assembly at a position away from the first driving mechanism.

3. The handling device according to claim 2, wherein, The buffer assembly includes a guide member and an elastic member; one end of the guide member is connected to the first driving mechanism, and the other end is movably connected to the gripper assembly and extends along the first direction; the elastic member is sleeved on the guide member to keep the gripper assembly at a position away from the first driving mechanism.

4. The handling device according to claim 2 or 3, wherein, The grasping device also includes a grasping guide assembly, one end of which is connected to the first driving mechanism, and the other end of which is connected to the grasping hand assembly, for guiding the grasping hand assembly to move along the first direction relative to the first driving mechanism.

5. The handling device according to claim 4, wherein, The grabbing device also includes a fixing member, which is fixedly connected to the first driving mechanism, one end of the buffer assembly is connected to a side of the fixing member away from the first driving mechanism, and one end of the grabbing guide assembly is connected to a side of the fixing member away from the first driving mechanism.

6. The handling device according to claim 5, wherein, The grabbing device also includes a grabbing bracket, one end of the buffer assembly away from the fixing member is connected to the grabbing bracket, the grabbing guide assembly is installed on the grabbing bracket, and the gripper assembly is connected to the end of the grabbing bracket away from the fixing member.

7. The handling device according to claim 6, wherein, The grasping device also includes a grasping drive assembly, which includes a grasping drive and a clamping guide assembly; the grasping guide assembly is installed on the grasping bracket, the grasping drive is in transmission connection with the clamping guide assembly, and the gripper assembly is fixedly installed on the clamping guide assembly; under the drive of the grasping drive, the clamping guide assembly can drive the gripper assembly to move along a second direction, and the second direction has an angle with the first direction.

8. The handling device according to claim 7, wherein, The gripper assembly includes a first detection assembly and at least two clamping jaws; the clamping jaws are mounted on the clamping jaw guide assembly; the first detection assembly is mounted on the clamping jaws to obtain status information of the target object on the clamping jaws.

9. The handling device according to claim 7 or 8, wherein, The gripping device also includes a second detection component, one end of which is connected to the gripping bracket, and the other end is connected to the gripping assembly, and the second detection component is used to obtain position information of the gripping assembly relative to the gripping bracket along the second direction.

10. The handling device according to any one of claims 2 to 9, wherein, The detection device includes a third detection component, which is connected to the gripper component and used to obtain the distance information between the gripper component and the detected object.

11. The handling device according to any one of claims 2 to 10, wherein, The detection device further includes a fourth detection component. One end of the fourth detection component is connected to the first driving mechanism, and the other end is connected to the gripper component. The fourth detection component is used to obtain the position information of the gripper component relative to the first driving mechanism in the first direction.

12. The handling device according to any one of claims 2 to 11, wherein, The detection device further includes a fifth detection component, which is arranged between the first driving mechanism and the gripper component. The fifth detection component is used to obtain the pressure received by the gripper component in the direction of approaching the first driving mechanism along the first direction.

13. The handling device according to any one of claims 1 to 12, wherein, The conveying device includes a conveying bracket; the first driving mechanism includes a first driving member and a first guiding component. The first guiding component is installed on the conveying bracket, and the first driving member is in transmission connection with the first guiding component. The grasping device is installed on the first guiding component; the first driving member is used to drive the first guiding component to move in the first direction, so as to drive the grasping device to move in the first direction.

14. The handling device according to claim 13, wherein, The conveying device further includes a moving mechanism; the moving mechanism is installed on the conveying bracket, and both the first driving member and the first guiding component are installed on the moving mechanism; the moving mechanism is used to drive the first guiding component to move in a direction perpendicular to the first direction.

15. A battery production line, comprising: Battery production equipment, which is used to produce batteries, and the batteries include at least one battery cell; Transfer equipment, which is used to transfer the carried battery cells to the target station; The handling equipment according to any one of claims 1 to 14, which grabs and places the battery cells on the transfer equipment, or takes out the battery cells carried by the transfer equipment.

16. A control method for a handling equipment, the handling equipment includes a conveying device, a grasping device and a detection device, and the grasping device includes a buffer component and a gripper component; the method includes: In response to a handling instruction, controlling the gripper component in the grasping device to grasp the target object; Controlling the conveying device to convey the grasping device and the target object to the target position; When it is detected by the detection device that the target object is about to collide or has collided, controlling the conveying device to drive the target object to move in the direction close to the conveying device; Wherein, during the collision of the target object, the buffer component generates a movement in the first direction, so that the gripper component stops moving in the first direction.

17. The control method of the handling device according to claim 16, wherein, The conveying device includes a first driving mechanism, the detecting device includes a third detecting component disposed on the grasping device, and the third detecting component is electrically connected to the first driving mechanism through a controller; when it is detected by the detecting device that the target object is about to collide or has collided, controlling the conveying device to drive the target object to move in a direction close to the conveying device includes: When the third detecting component detects that the distance between the target object and the detecting object is less than a preset distance threshold, the controller issues a return instruction to the first driving mechanism; The first driving mechanism responds to the return instruction and drives the grasping device to move away from the detecting object.

18. The control method of the handling device according to claim 16 or 17, wherein, The conveying device includes a first driving mechanism, the detecting device includes a fourth detecting component, one end of the fourth detecting component is connected to the first driving mechanism, and the other end is connected to the gripper assembly. The fourth detecting component is also electrically connected to the first driving mechanism through a controller; when it is detected by the detecting device that the target object is about to collide or has collided, controlling the conveying device to drive the target object to move in a direction close to the conveying device includes: When the fourth detecting component detects that the gripper assembly moves in a first direction in a direction close to the first driving mechanism, the controller issues a return instruction to the first driving mechanism; The first driving mechanism responds to the return instruction and drives the grasping device to move in a direction close to the conveying device.

19. The control method of the handling device according to any one of claims 16 to 18, wherein, The conveying device includes a first driving mechanism, the detecting device includes a fifth detecting component, the fifth detecting component is disposed between the first driving mechanism and the gripper assembly, and the fifth detecting component is also electrically connected to the first driving mechanism through a controller; when it is detected by the detecting device that the target object is about to collide or has collided, controlling the conveying device to drive the target object to move in a direction close to the conveying device includes: When the fifth detecting component detects that the pressure received by the gripper assembly in a first direction in a direction close to the first driving mechanism is greater than or equal to a preset pressure threshold, the controller issues a return instruction to the first driving mechanism; The first driving mechanism responds to the return instruction and drives the grasping device to move in a direction close to the conveying device.

20. The control method of the handling device according to any one of claims 16 to 19, wherein, When it is detected by the detecting device that the target object is about to collide or has collided, the control method of the handling device further includes: Issuing a stop instruction to the conveying device, and the conveying device responds to the stop instruction and stops driving the target object to move towards the target position.

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