Grabbing device and cell production line

Abstract

A grabbing device and a cell production line. The grabbing device comprises a frame, a first clamping assembly, a first drive assembly, a second clamping assembly and a second drive assembly; the first clamping assembly comprises a first clamping member and a second clamping member which are oppositely arranged in a first direction; the first drive assembly is installed on the frame and used for driving the first clamping member to move in the first direction; the second clamping assembly comprises a third clamping member and a fourth clamping member which are oppositely arranged in a second direction; and the second drive assembly is installed on the frame and used for driving the third clamping member and the fourth clamping member to move in the second direction. The grabbing device can limit and grab multiple cells having different sizes in first directions and second directions, is thus highly adaptable, such that cell replacement processes do not need disassembling and changing grabbing devices, thus improving the production efficiency.

Description

Grabbing device and battery production line

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on March 5, 2024, with application number 202410251649.4 and application name “Grasping device and battery production line”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of battery production and manufacturing, and more specifically, to a gripping device and a battery production line. Background Art

[0003] With the increasing popularity of new energy vehicles, the production of automotive power batteries is expanding year by year. To meet different usage requirements, batteries are available in a variety of specifications, and the dimensions of different specifications vary. During the battery production process, batteries often need to be transferred and transported, and batteries of different sizes require different gripping devices to grasp and secure them.

[0004] In the related art, the gripping device is not compatible with gripping batteries of different sizes. Therefore, when the battery is replaced, the gripping device needs to be replaced, which is complicated to operate and has relatively low production efficiency.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a gripping device, which aims to solve the problem in the prior art that the gripping device is not compatible with batteries of different sizes.

[0007] To achieve the above objectives, the technical solution adopted in this application is:

[0008] In a first aspect, a gripping device is provided, comprising:

[0009] frame;

[0010] A first clamping assembly includes a first clamping member and a second clamping member arranged opposite to each other in a first direction;

[0011] A first driving assembly is mounted on the frame and is in transmission connection with the first clamping member, and is used to drive the first clamping member to move in a first direction;

[0012] The second clamping assembly includes a third clamping member and a fourth clamping member arranged opposite to each other in a second direction, wherein the first direction is perpendicular to the second direction;

[0013] The second driving assembly is installed on the frame and is respectively connected to the third clamping member and the fourth clamping member for driving the third clamping member and the fourth clamping member to move in the second direction.

[0014] In an embodiment of the present application, a gripping device can be used to grip batteries. The first drive assembly and the second drive assembly are both mounted on a frame. The first drive assembly can drive the first clamp to move in the first direction. The first clamp and the second clamp can limit the battery on both sides of the first direction of the battery. Since the first clamp can move in the first direction under the drive of the first drive assembly, the spacing between the first clamp and the second clamp in the first direction is variable, thereby being suitable for limiting a variety of batteries with different sizes in the first direction. The second drive assembly can drive the third clamp and the fourth clamp to move in the second direction. The third clamp and the fourth clamp can limit the battery on both sides of the second direction of the battery. Since the third clamp and the fourth clamp can move in the second direction under the drive of the second drive assembly, the spacing between the third clamp and the fourth clamp in the second direction is variable, thereby being suitable for limiting a variety of batteries with different sizes in the second direction.

[0015] In summary, the gripping device provided in the embodiment of the present application can limit and grip batteries of various sizes with different sizes in the first direction and the second direction, with high adaptability. There is no need to disassemble and replace the gripping device during the battery replacement process, thereby improving production efficiency.

[0016] In one possible design, the first clamping assembly includes a servo drive assembly and a cylinder drive assembly, the cylinder drive assembly includes a cylinder body and a rod body, the cylinder body is used to drive the rod body to move along the first direction, one of the cylinder body and the rod body is transmission-connected to the servo drive assembly, and the other is connected to the first clamping member, the servo drive assembly is used to drive the cylinder drive assembly to move in the first direction, and the cylinder drive assembly is used to drive the first clamping member to move in the first direction.

[0017] In an embodiment of the present application, the servo drive component drives the cylinder drive component and the first clamping member to move along the first direction, and the cylinder drive component drives the first clamping member to move along the first direction. With such an arrangement, the servo drive component can be used to perform adaptive movement of battery replacement, with a larger movement range and a more precise movement distance; the cylinder drive component drives the first clamping member to move to perform the battery clamping operation in the first direction, and the control process is simple.

[0018] In one possible design, the cylinder body has an air inlet and an exhaust port, the air inlet is connected to the air intake pipe, and the exhaust port is installed with a pilot one-way valve, which is connected to the air intake pipe and is in a conducting state during ventilation.

[0019] In the embodiment of the present application, since a pilot-operated one-way valve is provided, when the air inlet line of the cylinder is cut off, the pilot-operated one-way valve is closed, thereby closing the exhaust port of the cylinder to prevent air leakage from the cylinder.

[0020] In one possible design, the servo drive assembly includes a servo motor and a first ball screw, the servo motor is transmission-connected to the first ball screw, and the first ball screw is transmission-connected to one of the cylinder body and the rod body.

[0021] In the embodiment of the present application, the servo motor and the cylinder drive assembly are connected via a first ball screw transmission, which has higher transmission efficiency and makes the movement of the cylinder drive assembly in the first direction smoother.

[0022] In a possible design, the servo drive assembly further includes a first transmission belt, and the first ball screw and the servo motor are connected via the first transmission belt.

[0023] In an embodiment of the present application, the first ball screw and the servo motor are connected via a first transmission belt, so that the first ball screw can be installed at a relatively long distance from the servo motor, which facilitates adjustment of the installation position of the first ball screw and the servo motor according to the installation position of the servo drive assembly, thereby making the structure of the grasping device more compact.

[0024] In one possible design, the gripping device also includes a first guide rail and a guide rail lock. The first guide rail is installed on the frame along a first direction. The first clamping member is connected to the guide rail lock. The first clamping member is slidably assembled on the first guide rail. The guide rail lock is connected to the air intake pipe. The guide rail lock is slidably assembled on the first guide rail in the ventilation state. The guide rail lock is locked on the first guide rail in the air-off state.

[0025] In an embodiment of the present application, the first clamping member is slidably assembled on the first guide rail. The setting of the first guide rail makes the first clamping member more stable during the movement along the first direction. A guide rail lock is installed on the first guide rail. The setting of the guide rail lock can reduce the risk of the battery falling when the cylinder is abnormally de-aired.

[0026] In one possible design, the grasping device also includes a control mechanism and multiple first position sensors, which are installed on the frame at intervals along the first direction. One of the cylinder body and the rod body connected to the servo drive assembly is provided with a first trigger structure, and the first trigger structure is used to trigger any first position sensor; the control mechanism is respectively connected to the first position sensor and the servo drive assembly signal.

[0027] In an embodiment of the present application, a control mechanism can control a servo drive assembly to drive a cylinder drive assembly to move to multiple different positions. First position sensors are installed at each of the multiple positions. Triggering the corresponding first position sensors provides feedback that the cylinder drive assembly has moved into position. Because the cylinder drive assembly can move to multiple different positions, it can accommodate clamping operations for multiple batteries of different sizes in a first direction.

[0028] In one possible design, the gripping device further includes a plurality of second position sensors, which are installed on the frame at intervals along the second direction, and at least one of the third clamping member and the fourth clamping member is provided with a second trigger structure, which is used to trigger any second position sensor; the control mechanism is respectively connected to the second position sensor and the second drive component signal.

[0029] In an embodiment of the present application, the control mechanism can drive the third clamping member and the fourth clamping member to move to multiple different positions by controlling the second drive assembly. Second position sensors are installed at each of the multiple different positions. The triggering of the corresponding second position sensor can provide feedback that the third clamping member (or the fourth clamping member) has moved into position. Since the third clamping member (or the fourth clamping member) can be moved to multiple different positions, it can be adapted to the position limiting operation of multiple batteries of different sizes in the second direction.

[0030] In one possible design, the second drive assembly includes a second driver, a second ball screw, a second movable seat and a third movable seat, the second ball screw includes a second screw, the second screw is transmission-connected to the second driver, the second screw has a first thread segment and a second thread segment, and the thread directions of the first thread segment and the second thread segment are opposite; the second movable seat is threadedly connected to the first thread segment, and the second movable seat is connected to the third clamping member; the third movable seat is threadedly connected to the second thread segment, and the third movable seat is connected to the fourth clamping member.

[0031] In an embodiment of the present application, the third clamping member and the fourth clamping member can be driven to move synchronously by a second driver, that is, the second driver can drive the third clamping member and the fourth clamping member to move simultaneously, so as to improve the efficiency of adjusting the distance between the third clamping member and the fourth clamping member.

[0032] In a possible design, the second drive assembly further includes a second transmission belt, and the second driver and the second ball screw are connected via the second transmission belt.

[0033] In an embodiment of the present application, the second drive and the second ball screw are connected by a second transmission belt, so that the second ball screw can be installed at a relatively long distance from the second drive, which facilitates adjustment of the installation position of the second ball screw and the installation position of the second drive.

[0034] In one possible design, a first supporting portion is provided on the side of the third clamping member facing the fourth clamping member, and a second supporting portion is provided on the side of the fourth clamping member facing the third clamping member. The first supporting portion and the second supporting portion are arranged opposite to each other along the second direction.

[0035] In the embodiment of the present application, the first supporting portion and the second supporting portion are respectively located at the bottom of the battery to limit the position of the battery.

[0036] In a possible design, there are multiple first supporting parts, and the multiple first supporting parts are spaced apart in the first direction; there are multiple second supporting parts, and the multiple second supporting parts are spaced apart in the first direction.

[0037] In the embodiment of the present application, there are multiple first supporting portions, and the multiple first supporting portions are arranged at intervals to support the battery, thereby reducing the total contact area between the battery and the multiple first supporting portions. There are also multiple second supporting portions, and the multiple second supporting portions are arranged at intervals to support the battery, thereby reducing the total contact area between the battery and the multiple second supporting portions.

[0038] In a possible design, the gripping device further includes an object detection sensor, which is mounted on the first clamping member and / or the second clamping member. The object detection sensor is used to detect whether an object is clamped between the first clamping member and the second clamping member.

[0039] In the embodiment of the present application, the object detection sensor can detect whether an object is clamped between the first clamping member and the second clamping member, so that it can promptly detect when the object falls, and promptly detect when the object is accidentally picked up after being placed down.

[0040] In a possible design, the gripping device further includes a distance measuring sensor, which is mounted on the frame and has a detection direction facing downward.

[0041] In an embodiment of the present application, a distance measuring sensor can detect the distance between the gripping device and the location where the object is placed, thereby preventing objects from being stacked.

[0042] In a second aspect, a battery production line is provided, comprising a gripping device according to any of the above technical solutions.

[0043] Since the battery production line includes the above-mentioned gripping device, it has at least all the beneficial effects of the above-mentioned gripping device, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] FIG1 is a schematic structural diagram of a gripping device provided by one embodiment of the present application at a first viewing angle;

[0046] FIG2 is a schematic structural diagram of a gripping device provided by one embodiment of the present application at a second viewing angle;

[0047] FIG3 is a schematic structural diagram of a gripping device provided by one embodiment of the present application at a third viewing angle;

[0048] FIG4 is a schematic structural diagram of a gripping device gripping a battery according to an embodiment of the present application;

[0049] FIG5 is a partial enlarged view of point B in FIG2;

[0050] FIG6 is a schematic structural diagram of a gripping device provided by one embodiment of the present application at a fourth viewing angle;

[0051] FIG7 is a schematic structural diagram of a gripping device provided by one embodiment of the present application at a fifth viewing angle;

[0052] FIG8 is a schematic diagram showing the connection between the first clamping assembly and the first driving assembly in the gripping device provided in one embodiment of the present application;

[0053] FIG9 is a partial schematic diagram of an area where a first clamping member is installed in a gripping device provided by one embodiment of the present application;

[0054] FIG10 is a partial enlarged view of point A in FIG1 ;

[0055] FIG11 is a partial enlarged view of point C in FIG6 ;

[0056] FIG12 is a schematic diagram showing the connection between the second clamping assembly and the second driving assembly in the gripping device provided in one embodiment of the present application;

[0057] FIG13 is a schematic structural diagram of a gripping device provided by an embodiment of the present application at a sixth viewing angle.

[0058] The reference numerals used in the above drawings are as follows:

[0059] 100, rack;

[0060] 200, first clamping assembly; 210, first clamping member; 211, spacer structure; 220, second clamping member;

[0061] 300, first drive assembly; 310, servo drive assembly; 311, servo motor; 312, first ball screw; 313, first screw; 314, first movable seat; 315, first transmission belt; 320, cylinder drive assembly; 321, cylinder body; 322, rod body; 323, pilot-operated one-way valve; 324, cylinder body mounting plate;

[0062] 400, second clamping assembly; 410, third clamping member; 411, first supporting portion; 412, first connecting portion; 420, fourth clamping member; 421, second supporting portion; 422, second connecting portion;

[0063] 500, second drive assembly; 510, second driver; 520, second ball screw; 521, second screw; 522, second movable base; 523, third movable base; 524, second transmission belt;

[0064] 610, first guide rail; 620, guide rail lock; 630, second guide rail;

[0065] 711, first position sensor; 712, first trigger structure; 721, second position sensor; 722, second trigger structure; 731, third position sensor; 732, third trigger structure; 741, object detection sensor; 751, distance measuring sensor;

[0066] 800, scale;

[0067] 900. Battery. DETAILED DESCRIPTION

[0068] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0069] In the description of the embodiments of the present application, the term "plurality" refers to more than two (including two).

[0070] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," 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; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0071] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the grasping device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0073] In the prior art, batteries are manufactured through multiple steps in a battery production line. Different steps require different equipment, so multiple devices are installed in the production line to perform different battery processing operations. When a battery is completed in one device and needs to be moved to the next device for the next processing operation, a gripping device is typically used to clamp and secure the battery for easy movement.

[0074] In some cases, the same battery production line can be used to produce batteries of multiple different sizes. Switching the battery production line from producing batteries of one size to producing batteries of another different size is called model change. During the model change process, since the gripping device cannot adapt to batteries of different sizes, the gripping device needs to be removed and a gripping device adapted to the new size of battery needs to be reinstalled. This results in the need to disassemble and install the gripping device during the battery model change process, which is complicated and inefficient.

[0075] Based on the above considerations, and to address the aforementioned issues, an embodiment of the present application provides a gripping device comprising four clamping members and two drive assemblies, wherein two clamping members are spaced apart in a first direction to clamp a battery on either side in the first direction. One of the drive assemblies is configured to drive one of the two clamping members to move in the first direction, thereby accommodating batteries of varying sizes in the first direction. The other two clamping members are disposed opposite each other in a second direction, for retaining the battery in the second direction. Another drive assembly is configured to drive the two clamping members to move in the second direction, thereby accommodating batteries of varying sizes in the second direction. The cooperation of the four clamping members allows the battery to be retained in two different directions, thereby enabling transport. Since the position between two opposing clamping members of the four clamping members can be adjusted, batteries of varying sizes can be accommodated. By using the above gripping device to transport batteries, during battery replacement, simply changing the position of a few clamping members can accommodate new battery sizes, eliminating the need to disassemble and replace the gripping device, resulting in convenient and efficient operation.

[0076] The gripping device and battery production line provided in the embodiments of the present application are explained in detail below.

[0077] As shown in Figures 1 to 4, an embodiment of the present application provides a grasping device, including: a frame 100, a first clamping assembly 200, a first drive assembly 300, a second clamping assembly 400 and a second drive assembly 500, the first clamping assembly 200 includes a first clamping member 210 and a second clamping member 220 arranged opposite to each other in a first direction; the first drive assembly 300 is installed on the frame 100, and the first drive assembly 300 is transmission-connected to the first clamping member 210 for driving the first clamping member 210 to move in the first direction; the second clamping assembly 400 includes a third clamping member 410 and a fourth clamping member 420, and the third clamping member 410 and the fourth clamping member 420 are arranged opposite to each other in the second direction, and the first direction is perpendicular to the second direction; the second drive assembly 500 is installed on the frame 100, and the second drive assembly 500 is transmission-connected to the third clamping member 410 and the fourth clamping member 420 respectively for driving the third clamping member 410 and the fourth clamping member 420 to move in the second direction.

[0078] The frame 100 is used to install and fix the first drive assembly 300 and the second drive assembly 500, and provides an installation position for the first drive assembly 300 and the second drive assembly 500. The frame 100 can be connected by materials such as plates and pipes, or can be cut into one piece.

[0079] The first clamping assembly 200 includes a first clamping member 210 and a second clamping member 220. The first clamping member 210 and the second clamping member 220 are arranged opposite each other in a first direction and are used to clamp the material on both sides. The first clamping member 210 can move relative to the frame 100 in the first direction to move closer to or further away from the second clamping member 220. The second clamping member 220 is fixed relative to the frame 100. In one specific embodiment, the second clamping member 220 is fixedly connected to the frame 100. The first clamping member 210 can be slidably assembled to the frame 100. Because the first clamping member 210 is movable relative to the second clamping member 220, the distance between the first clamping member 210 and the second clamping member 220 is adjustable. This allows for greater compatibility in the size of materials that can be clamped between the first clamping member 210 and the second clamping member 220. Specifically, to clamp a material that is relatively larger in the first direction, the first clamping member 210 can be moved away from the second clamping member 220 to increase the distance between the first clamping member 210 and the second clamping member 220, thereby accommodating the larger material. To clamp a material that is relatively smaller in the first direction, the first clamping member 210 can be moved toward the second clamping member 220 to decrease the distance between the first clamping member 210 and the second clamping member 220, thereby facilitating quick clamping or release operations for smaller materials.

[0080] The first drive assembly 300 is in transmission connection with the first clamping member 210 to drive the first clamping member 210 to move along the first direction, thereby changing the distance between the first clamping member 210 and the second clamping member 220, so as to adapt to clamping a variety of materials with different sizes in the first direction, and changing the distance between the first clamping member 210 and the second clamping member 220, so that the first clamping member 210 and the second clamping member 220 can clamp or release the material.

[0081] The second clamping assembly 400 includes a third clamping member 410 and a fourth clamping member 420. The third clamping member 410 and the fourth clamping member 420 are arranged opposite each other along the second direction. The third clamping member 410 and the fourth clamping member 420 are each movable relative to the frame 100 in the second direction, thereby making the distance between the third clamping member 410 and the fourth clamping member 420 adjustable to accommodate a variety of materials having different sizes in the second direction. The third clamping member 410 and the fourth clamping member 420 are slidably assembled on the frame 100. It is worth noting that the number of the third clamping member 410 and the fourth clamping member 420 can be one or more. When there are multiple third clamping members 410, the multiple third clamping members 410 move synchronously and in the same direction. When there are multiple fourth clamping members 420, the multiple fourth clamping members 420 move synchronously and in the same direction. The third clamping member 410 and the fourth clamping member 420 move in opposite directions. For example, there is one third clamping member 410 and multiple fourth clamping members 420. One third clamping member 410 faces multiple fourth clamping members 420, and each fourth clamping member 420 is spaced equidistant from the third clamping member 410. The third clamping member 410 positions the material on one side, while multiple fourth clamping members 420 position the material on the other side. In another example, there are multiple third clamping members 410 and one fourth clamping member 420, with each third clamping member 410 facing the fourth clamping member 420. In yet another example, there are multiple and equal third clamping members 410 and fourth clamping members 420. The multiple third clamping members 410 and the multiple fourth clamping members 420 are positioned one-to-one, with one third clamping member 410 and one fourth clamping member 420 forming a set of clamping members. The multiple sets of clamping members are spaced apart in the first direction to position the material on both sides of the second direction at different regions in the first direction.

[0082] The first direction is perpendicular to the second direction. For example, if the first direction is east-west, the second direction can be up-down or north-south. Because the first clamping member 210 and the second clamping member 220 clamp and position the material on both sides of the first direction, and the third clamping member 410 and the fourth clamping member 420 position the material on both sides of the second direction, the material is position-restricted in at least four different directions, thereby improving the stability of the material grip and being suitable for materials of various structures and shapes.

[0083] In an embodiment of the present application, a gripping device can be used in a production line, and the gripping device is used to grip materials. For example, the gripping device can be used in a battery production line, and the materials can be batteries 900, which can be semi-finished products or finished products. For ease of description, the following description is based on the example of the material gripped by the gripping device being batteries 900. The first drive assembly 300 and the second drive assembly 500 are both mounted on the frame 100. The first drive assembly 300 can drive the first clamping member 210 to move in the first direction. The first clamping member 210 and the second clamping member 220 can limit the battery 900 on both sides of the first direction of the battery 900. Since the first clamping member 210 can move in the first direction under the drive of the first drive assembly 300, the spacing between the first clamping member 210 and the second clamping member 220 in the first direction is variable, thereby being suitable for limiting a variety of batteries 900 of different sizes in the first direction. The second driving component 500 can drive the third clamping member 410 and the fourth clamping member 420 to move in the second direction. The third clamping member 410 and the fourth clamping member 420 can limit the battery 900 on both sides of the second direction of the battery 900. Since the third clamping member 410 and the fourth clamping member 420 can move in the second direction under the drive of the second driving component 500, the distance between the third clamping member 410 and the fourth clamping member 420 in the second direction is variable, so that it can be adapted to limit a variety of batteries 900 with different sizes in the second direction.

[0084] In summary, the gripping device provided in the embodiment of the present application can limit and grip batteries 900 of various sizes with different sizes in the first direction and the second direction, with high adaptability. There is no need to disassemble and replace the gripping device during the battery 900 replacement process, thereby improving production efficiency.

[0085] Exemplarily, as shown in FIG4 , the material clamped by the gripping device is a battery 900, which is a rectangular structure. The first direction is parallel to the length direction of the battery 900, and the second direction is parallel to the width direction of the battery 900. That is to say, the first clamping member 210 and the second clamping member 220 are respectively clamped on both sides of the length direction of the battery 900, and the third clamping member 410 and the fourth clamping member 420 are respectively located on both sides of the width direction of the battery 900 to limit the width direction of the battery 900.

[0086] In one example, as shown in FIG5 , a spacer structure 211 is provided on the side of the first clamping member 210 facing the second clamping member 220. The spacer structure 211 can be made of a PU material, and the Shore hardness of the spacer structure 211 can be A75-A85. In this way, the spacer structure 211 can play a buffering and shock-absorbing role for the battery 900 while clamping the battery 900, thereby improving the stability of grasping the battery 900 during grasping and transferring the battery 900, and providing high protection for the battery 900. The spacer structure 211 made of PU material has good wear resistance and a longer service life. For example, an anti-slip structure can be provided on the side of the spacer structure 211 facing the second clamping member 220. The anti-slip structure can be an anti-slip protrusion, an anti-slip groove, an anti-slip bump, etc. In some examples, a spacer structure 211 may also be provided on the side of the second clamping member 220 facing the first clamping member 210. The spacer structure 211 is made of the same material as the spacer structure 211 on the first clamping member 210, and an anti-slip structure may be provided on the side of the spacer structure 211 facing the first clamping member 210.

[0087] In some embodiments, as shown in Figures 1 and 2, the first drive assembly 300 includes a servo drive assembly 310 and a cylinder drive assembly 320. The cylinder drive assembly 320 includes a cylinder body 321 and a rod body 322. The cylinder body 321 is used to drive the rod body 322 to move along the first direction. One of the cylinder body 321 and the rod body 322 is connected to the servo drive assembly 310, and the other is connected to the first clamping member 210. The servo drive assembly 310 is used to drive the cylinder drive assembly 320 to move in the first direction, and the cylinder drive assembly 320 is used to drive the first clamping member 210 to move in the first direction.

[0088] The servo drive component 310 is a drive component that uses a servo drive mechanism as a power source. The servo drive component 310 can achieve high-precision control, has a faster response speed, and has relatively higher operating stability.

[0089] The cylinder drive assembly 320 is a drive assembly that uses a cylinder as a power source. The cylinder includes a cylinder body 321 and a rod body 322. The cylinder body 321 can drive the rod body 322 to move relative to the cylinder body 321. In this embodiment, the direction of movement of the rod body 322 is a first direction, that is, the cylinder body 321 can drive the rod body 322 to move in the first direction. One of the cylinder body 321 and the rod body 322 is in transmission connection with the servo drive assembly 310. That is, the servo drive assembly 310 can drive the cylinder body 321, the rod body 322, and the first clamping member 210 to move together in the first direction. The other of the cylinder body 321 and the rod body 322 moves with the first clamping member 210. That is, when the cylinder body 321 drives the rod body 322 to move in the first direction, it also drives the first clamping member 210 to move in the first direction.

[0090] Since the first drive assembly 300 includes both the servo drive assembly 310 and the cylinder drive assembly 320, it can drive the first clamping member 210 to move a longer distance in the first direction, and the servo drive assembly 310 and the cylinder drive assembly 320 can be used to respectively implement the mold changing and grasping operations. For example, the servo drive assembly 310 is used for the mold changing operation, while the cylinder drive assembly 320 is used for the grasping operation. The servo drive assembly 310 has the advantages of stable operation and high movement accuracy. During the mold changing process, the cylinder drive assembly 320 can be moved to a position that is more suitable for the size of the battery 900 to be grasped after the mold changing. The cylinder body 321 in the cylinder drive assembly 320 can drive the rod body 322 to move in the first direction to drive the first clamping member 210 to move in the first direction, thereby performing the clamping and releasing operations of the battery 900. In order to achieve clamping and releasing operations, the rod body 322 can move back and forth between the first position and the second position. Regardless of whether the sizes of the batteries 900 to be clamped are the same, the rod body 322 can achieve clamping and releasing operations by moving between the first position and the second position. There is no need to change the first position and the second position according to the size of the battery 900. The control process is simple and the operation is convenient.

[0091] As shown in FIG6 , in some embodiments, the cylinder body 321 has an air inlet and an air exhaust port. The air inlet is connected to an air intake line, and the air exhaust port is equipped with a pilot one-way valve 323 . The pilot one-way valve 323 is connected to the air intake line, and the pilot one-way valve 323 is in a conducting state during ventilation.

[0092] Because the air inlet and the pilot-operated one-way valve 323 are both connected to the air inlet line, when the air inlet line is in a ventilated state, the air inlet line supplies air to the air inlet of the cylinder 321 and the pilot-operated one-way valve 323, respectively. The air inlet line supplies air to the air inlet of the cylinder 321, causing the cylinder 321 to extend the rod 322, thereby moving the first clamping member 210 toward the second clamping member 220, thereby clamping the battery 900. The air inlet line supplies air to the pilot-operated one-way valve 323, placing it in a conductive state. This allows the gas within the cylinder 321 to be properly discharged, thereby maintaining the air pressure within the cylinder 321 within a controlled range, allowing the cylinder 321 to drive the rod 322 to extend and retract, thereby clamping or releasing the battery 900. When the air supply to the intake pipe stops, the pilot solenoid valve switches to a closed state after the air is cut off, thereby closing the air outlet of the cylinder 321. This maintains the air pressure in the cylinder 321 at the level before the air supply to the intake pipe stopped, preventing the abnormal air cut in the intake pipe from causing the air pressure in the cylinder 321 to drop, causing the rod 322 to retract and causing the battery 900 to loosen. In other words, the provision of the pilot check valve 323 improves the safety performance of the gripping device and can, to a certain extent, reduce the probability of the battery 900 loosening and falling due to abnormal air cut. It is worth noting that, in addition to the provision of the pilot solenoid valve, a five-position three-way solenoid valve can be provided in the intake pipe to connect the intake pipe to the pilot solenoid valve and the air inlet of the cylinder 321 respectively.

[0093] As shown in Figures 3, 7 and 8, in some embodiments, the servo drive assembly 310 includes a servo motor 311 and a first ball screw 312, the servo motor 311 is transmission-connected to the first ball screw 312, and the first ball screw 312 is transmission-connected to one of the cylinder body 321 and the rod body 322.

[0094] As shown in FIG8 , the first ball screw 312 is a transmission element for converting rotational motion into linear motion. It comprises at least a first movable seat 314, a first screw 313, and a ball structure. The first movable seat 314 is a nut structure having a threaded hole that matches the thread of the first screw 313. The ball structure reduces direct contact between the first screw 313 and the first movable seat 314, thereby reducing friction loss and ensuring smoother movement of the first movable seat 314 relative to the first screw 313. The first screw 313 in the first ball screw 312 is arranged along a first direction. The first movable seat 314 is sleeved onto the first screw 313. The first movable seat 314 is driven by the first screw 313 during rotation. One of the cylinder 321 and the rod 322 is connected to the first movable seat 314, enabling the first movable seat 314 to drive both the cylinder 321 and the rod 322 to move in the first direction. One end of the first screw 313 is connected to the drive shaft of the servo motor 311 . When the servo motor 311 is in operation, the drive shaft rotates, thereby driving the first screw 313 to rotate, thereby driving the first movable seat 314 to move along the first screw 313 .

[0095] In the embodiment of the present application, the servo motor 311 and the cylinder drive assembly 320 are connected via the first ball screw 312 , which has higher transmission efficiency and makes the movement of the cylinder drive assembly 320 in the first direction smoother.

[0096] As shown in FIG8 , in one possible configuration, the cylinder drive assembly 320 further includes a cylinder mounting plate 324 that is slidably mounted on the frame 100. The cylinder 321 is fixedly mounted on the cylinder mounting plate 324, and the cylinder 321 is connected to the first movable seat 314 in the first ball screw 312. As the first movable seat 314 moves in the first direction, it drives the cylinder 321, the cylinder mounting plate 324, and the rod 322 to move in the first direction. Because the cylinder 321 is generally heavier than the rod 322, slidably mounting the cylinder 321 to the frame 100 via the cylinder mounting plate 324 can reduce the impact of the gravity of the cylinder 321 on the first movable seat 314 and improve the stability of the cylinder 321 during movement.

[0097] The first ball screw 312 and the servo motor 311 may be coaxially arranged. For example, the first screw 313 of the first ball screw 312 is coaxially arranged with the drive shaft of the servo motor 311 , and the first screw 313 and the drive shaft are directly connected or connected through a coupling.

[0098] In other possible configurations, the first ball screw 312 and the servo motor 311 may be arranged non-coaxially. For example, the axis of the first screw 313 of the first ball screw 312 and the axis of the drive shaft of the servo motor 311 are parallel and spaced apart. In this configuration, the first ball screw 312 and the servo motor 311 are connected by a transmission structure, which may be a transmission belt structure. For example, as shown in Figures 7 and 8, in some embodiments, the servo drive assembly 310 further includes a first transmission belt 315, and the first ball screw 312 and the servo motor 311 are connected by the first transmission belt 315.

[0099] The first transmission belt 315 is used to transmit power. It can be a friction belt, a synchronous belt, or other structure. For example, the first transmission belt 315 includes an annular belt body and two transmission wheels. One transmission wheel is mounted on the drive shaft of the servo motor 311, and the other transmission wheel is mounted on the first screw 313 of the first ball screw 312. The belt body is mounted on both transmission wheels. The drive shaft drives one transmission wheel to rotate, which in turn drives the other transmission wheel through the belt body, which in turn drives the first screw 313 through the other transmission wheel.

[0100] The first ball screw 312 and the servo motor 311 are connected via a first transmission belt 315, so that the first ball screw 312 can be installed at a relatively long distance from the servo motor 311, which facilitates adjustment of the installation position of the first ball screw 312 and the servo motor 311 according to the installation position of the servo drive assembly 310, thereby making the structure of the grasping device more compact.

[0101] In some embodiments, as shown in Figure 9, the grasping device also includes a first guide rail 610 and a guide rail lock 620. The first guide rail 610 is installed on the frame 100 along a first direction. The first clamping member 210 is connected to the guide rail lock 620. The first clamping member 210 is slidably assembled on the first guide rail 610. The guide rail lock 620 is connected to the air intake pipeline. The guide rail lock 620 is slidably assembled on the first guide rail 610 in the ventilation state. The guide rail lock 620 is locked on the first guide rail 610 in the air-off state.

[0102] The guide rail lock 620 is a pneumatically controlled, normally open type. It has an air inlet, which controls the locking and unlocking of the guide rail lock 620 via air. When the air is in the on-state, the guide rail lock 620 is in the unlocked state, meaning that the guide rail lock 620 can move relative to the first guide rail 610. When the air is in the off-state, the guide rail lock 620 is in the locked state, locked to the first guide rail 610. The guide rail lock 620 can be locked to the first guide rail 610 by clamping the first guide rail 610. Because the guide rail lock 620 is connected to the air intake line of the air cylinder, when the air intake line is in the on-state, the guide rail lock 620 is also in the on-state. When the air cylinder drives the first clamping member 210 to move along the first guide rail 610, the guide rail lock 620 also moves along the first guide rail 610 with the first clamping member 210. When the air intake line of the cylinder is in a cut-off state, the cylinder stops driving the first clamping member 210, and the guide rail lock 620 is locked on the first guide rail 610, so that the first clamping member 210 and the first guide rail 610 are relatively fixed, which can prevent the first clamping member 210 from moving relative to the first guide rail 610 to cause the material clamped between the first clamping member 210 and the second clamping member 220 to loosen and fall. That is, the setting of the guide rail lock 620 plays a better protective role for the material grasped by the grasping device and has higher safety performance.

[0103] In one possible implementation, the guide rail lock 620 may include a main body, with a first part and a second part at both ends respectively, the first part and the second part are respectively located on both sides of the first guide rail 610, the first part has an air pressure chamber, and the first part is equipped with a locking block and an elastic return member, one end of the locking block is located in the air pressure chamber, and the other end is located outside the air pressure chamber, the two ends of the elastic return member are respectively connected to the first part and the locking block, the air pressure chamber is connected to the air intake pipe, when the air intake pipe is in a cut-off state, that is, when the air intake pipe is not ventilated to the air pressure chamber, the locking block moves toward the outside of the air pressure chamber under the push of the elastic return member, so that the locking block abuts against the first guide rail 610, and the locking block and the second part clamp the first guide rail 610 from both sides of the first guide rail 610, so that the guide rail lock 620 is locked on the first guide rail 610. When the air intake line is ventilated into the air pressure chamber, the gas in the air pressure chamber causes the locking block to move into the air pressure chamber to the unlocked position, i.e., moves the locking block away from the first guide rail 610, thereby reducing or eliminating the abutting force of the locking block on the first guide rail 610, and allowing the guide rail lock 620 to move relative to the first guide rail 610. When the locking block is in the unlocked position, a gap may exist between the locking block and the first guide rail 610.

[0104] In an embodiment of the present application, the first clamping member 210 is slidably assembled on the first guide rail 610. The setting of the first guide rail 610 makes the first clamping member 210 more stable during the movement along the first direction. A guide rail lock 620 is installed on the first guide rail 610. The setting of the guide rail lock 620 can reduce the risk of the battery 900 falling when the cylinder is abnormally de-aired.

[0105] In some embodiments, the cylinder driving assembly 320 may be slidably mounted on the first guide rail 610 . When the cylinder driving assembly 320 includes a cylinder mounting plate, the cylinder mounting plate may be slidably mounted on the first guide rail 610 .

[0106] In some embodiments, as shown in Figure 10, the grasping device also includes a control mechanism and multiple first position sensors 711, and the multiple first position sensors 711 are installed on the frame 100 at intervals along the first direction. One of the cylinder body 321 and the rod body 322 connected to the servo drive assembly 310 is provided with a first trigger structure 712, and the first trigger structure 712 is used to trigger any first position sensor 711; the control mechanism is respectively connected to the first position sensor 711 and the servo drive assembly 310 signal.

[0107] The control mechanism is used to control the servo drive assembly 310 according to the input information. The input information can be transmitted to the control mechanism by the input mechanism. The input mechanism may include buttons, mice, keyboards, touch screens, voice input mechanisms or detection mechanisms, etc. The buttons, mice, keyboards, touch screens, voice input mechanisms, etc. can directly input information so that the control mechanism controls the servo drive assembly 310 to drive the cylinder drive assembly 320 to move to the corresponding position. The detection mechanism is used to detect the size of the battery 900 so that the control mechanism controls the servo drive assembly 310 to drive the cylinder drive assembly 320 to move to the corresponding position according to the size of the battery 900 in the first direction. Exemplarily, there are multiple ways for the detection mechanism to detect the size of the battery 900. For example, the model or size of the battery 900 can be determined by scanning the identification code on the battery 900, and the model of the battery 900 can be matched with the size of the battery 900 in the first direction; or, an RFID (Radio Frequency Identification) tag can be affixed to the battery 900, and the detection mechanism obtains the model or size of the battery 900 by reading the information on the RFID tag; or, the detection mechanism includes a CCD (Charge coupled Device) camera, and the size of the battery 900 can be photographed and identified by the CCD camera.

[0108] The first position sensor 711 can be a proximity sensor. For example, the first position sensor 711 is a photoelectric sensor, which includes a transmitter and a receiver arranged opposite each other. The first trigger structure 712 can be moved between the transmitter and the receiver, so that the receiver cannot receive the light emitted by the transmitter, causing the first position sensor 711 to be triggered. When the control mechanism receives the information that the first position sensor 711 is triggered, it can determine that the servo drive mechanism drives the cylinder drive assembly 320 to move to the position corresponding to the triggered first position sensor 711 to adapt to the corresponding size of the battery 900, thereby improving the control response speed of the change. Since there are multiple first position sensors 711, the control mechanism can control the grasping mechanism to quickly change to a position that adapts to multiple batteries 900 of different sizes.

[0109] When the first position sensor 711 is a photoelectric sensor, the first trigger structure 712 can be in the shape of a plate, block, column, etc. The second trigger structure 722 is used to block the light emitted from the transmitting end of the photoelectric sensor to the receiving end when it moves to the position of the photoelectric sensor.

[0110] In the embodiment of the present application, the control mechanism can drive the cylinder drive assembly 320 to move to multiple different positions by controlling the servo drive assembly 310. First position sensors 711 are installed at each of the multiple positions. The triggering of the corresponding first position sensor 711 can provide feedback on the movement of the cylinder drive assembly 320 into position. Since the drive cylinder assembly can move to multiple different positions, it can be adapted to the clamping operation of multiple batteries 900 of different sizes in the first direction.

[0111] In some embodiments, as shown in Figure 11, the gripping device also includes a plurality of second position sensors 721, and the plurality of second position sensors 721 are installed on the frame 100 at intervals along the second direction. At least one of the third clamping member 410 and the fourth clamping member 420 is provided with a second trigger structure 722, and the second trigger structure 722 is used to trigger any second position sensor 721; the control mechanism is respectively connected to the second position sensor 721 and the second drive assembly 500 signal.

[0112] The second position sensor 721 may have the same or different structure as the first position sensor 711. The second position sensor 721 may also be a proximity sensor, such as a photoelectric sensor. In one possible configuration, multiple second position sensors 721 may be provided for the third clamping member 410, and multiple second position sensors 721 may be provided for the fourth clamping member 420. The corresponding second position sensors 721 are used to detect whether the third clamping member 410 and the fourth clamping member 420 have moved into position. In the case where the third clamping member 410 and the fourth clamping member 420 perform synchronous reverse motion, multiple second position sensors 721 may be provided for only one of the third clamping member 410 and the fourth clamping member 420. By detecting whether one of the third clamping member 410 and the fourth clamping member 420 has moved into position, it can be determined whether the other has moved into position. This configuration reduces the total number of second sensors required, saving costs.

[0113] When the second position sensor 721 is a photoelectric sensor, the second trigger structure 722 may be in the shape of a plate, block, column, or the like. The second trigger structure 722 is used to block the light emitted from the transmitting end of the photoelectric sensor when it moves to the position of the photoelectric sensor.

[0114] In the embodiment of the present application, the control mechanism can drive the third clamping member 410 and the fourth clamping member 420 to move to multiple different positions by controlling the second drive assembly 500. Second position sensors 721 are respectively installed at the multiple different positions. The triggering of the corresponding second position sensor 721 can provide feedback that the third clamping member 410 (or the fourth clamping member 420) has moved into position. Since the third clamping member 410 (or the fourth clamping member 420) can be moved to multiple different positions, it can be adapted to the limiting operation of multiple batteries 900 of different sizes in the second direction.

[0115] As shown in FIG10 , in some embodiments, the gripping device further includes a third position sensor 731 and a third trigger structure 732. Two or three third position sensors 731 form a group. Multiple groups of third position sensors 731 are arranged along the first direction on the frame 100. The number of groups of third position sensors 731 is the same as the number of first position sensors 711. Each third position sensor 731 is individually connected to a control mechanism. The first clamping member 210 is connected to a third trigger structure 732, which is used to trigger any of the third position sensors 731. The multiple first trigger structures 712 are arranged in a one-to-one correspondence with the multiple groups of third position sensors 731. When the first trigger structure 712 moves to one of the first position sensors 711, the third trigger structure 732 moves to one of the groups of third position sensors 731. Within a group of third position sensors 731, one of the third position sensors 731 triggers to indicate that the first clamping member 210 has moved to the clamped position, while another of the third position sensors 731 triggers to indicate that the first clamping member 210 has moved to the released position. Due to the setting of the first position sensor 711, the servo drive component 310 can drive the cylinder drive component 320 to move to the changing position. By setting a group of third position sensors 731 arranged opposite to the first position sensor 711, the cylinder drive component 320 can drive the first clamping member 210 to move between the clamping position and the release position, thereby improving the control convenience.

[0116] In some embodiments, as shown in Figure 12, the second drive assembly 500 includes a second driver 510 and a second ball screw 520, the second ball screw 520 includes a second screw 521, a second movable seat 522 and a third movable seat 523, the second screw 521 is transmission-connected to the second driver 510, the second screw 521 has a first thread segment and a second thread segment, and the rotation direction of the thread of the first thread segment is opposite to the rotation direction of the thread of the second thread segment; the second movable seat 522 is threadedly connected to the first thread segment, and the second movable seat 522 is connected to the third clamping member 410; the third movable seat 523 is threadedly connected to the second thread segment, and the third movable seat 523 is connected to the fourth clamping member 420.

[0117] The second driver 510 is a rotary driver, such as a motor or a rotary cylinder. The motor may be a servo motor 311 .

[0118] The second ball screw 520 is used to convert rotational motion into linear motion. The second ball screw 520 is used to simultaneously drive the third clamping member 410 and the fourth clamping member 420. The second ball screw 520 includes a second screw 521, and the second screw 521 has a first thread segment and a second thread segment. In one possible implementation, the first thread segment is a screw with an external thread, and the second thread segment is another screw with an external thread. The two screws are coaxially connected to form the second screw 521, and the thread direction of the first thread segment is opposite to that of the second thread segment. Alternatively, in another possible implementation, the first thread segment and the second thread segment are integrated into a first screw 313, and the first screw 313 is provided with two sections of thread along the axial direction. The two sections of thread rotate in opposite directions, thereby forming the first thread segment and the second thread segment.

[0119] The second movable seat 522 and the third movable seat 523 are both nut structures, that is, each is provided with a threaded hole, and is mounted on the second screw rod 521 through the threaded hole. The second movable seat 522 is threadedly mounted on the first threaded segment, and the third movable seat 523 is threadedly mounted on the second threaded segment. The second movable seat 522 is threadedly connected to the first threaded segment. That is, the second movable seat 522 is provided with a first threaded hole, and the threads of the first threaded hole match the threads of the first threaded segment. The third movable seat 523 is threadedly connected to the second threaded segment. That is, the third movable seat 523 is provided with a second threaded hole, and the threads of the second threaded hole match the threads of the second threaded segment. Because the threads of the first and second threaded segments have opposite rotation directions, when the second screw rod 521 is driven by the second driver 510, the second movable seat 522 and the third movable seat 523 move in opposite directions, thereby causing the third clamping member 410 and the fourth clamping member 420 to move in opposite directions. Such an arrangement allows the distance between the third moving member and the fourth moving member to change faster, and the changeover speed is faster. In one possible arrangement, the pitch of the first thread segment is the same as the pitch of the second thread segment. This allows the second movable base 522 and the third movable base 523 to move the same distance within the same time, and the center point of the distance between the second movable base 522 and the third movable base 523 in the second direction remains unchanged, facilitating alignment when grabbing the battery 900.

[0120] In addition, in this embodiment, the third clamping member 410 and the fourth clamping member 420 can be driven to move synchronously by a second driver 510. Compared with installing multiple second drivers 510 to drive the third clamping member 410 and the fourth clamping member 420 to move respectively, the installation space of the second driver 510 is saved, making the structure of the grasping device more compact.

[0121] In some embodiments, the second driver 510 may be coaxially connected to the second screw 521 . For example, when the second driver 510 is a motor, the drive shaft of the motor is directly connected to the second screw 521 or connected through a coupling.

[0122] In other embodiments, please continue to refer to FIG. 12 , the second driving assembly 500 further includes a second transmission belt 524 , and the second driver 510 and the second screw rod 521 are connected to each other through the second transmission belt 524 .

[0123] The second transmission belt 524 is used to transmit power between the second driver 510 and the second screw 521. The second transmission belt 524 can be a friction-type transmission belt, a synchronous transmission belt, or other structures. For example, the second transmission belt 524 includes an annular belt body and two transmission wheels, one of which is mounted on the driving end of the second driver 510, and the other is mounted on the second screw 521 of the second ball screw 520. The belt body is mounted on both transmission wheels. The second driver 510 drives one transmission wheel to rotate, which in turn drives the other transmission wheel to rotate through the belt body, which in turn drives the second screw 521 through the other transmission wheel.

[0124] Since the second transmission belt 524 transmits power between the second driver 510 and the second ball screw 520, the second ball screw 520 does not need to be arranged coaxially with the second driver 510, so that the installation position options of the second driver 510 and the second ball screw 520 have a wider range, making the structure of the grasping device more compact.

[0125] In some embodiments, as shown in Figure 2, a first bottom supporting portion 411 is provided on the side of the third clamping member 410 facing the fourth clamping member 420, and a second bottom supporting portion 421 is provided on the side of the fourth clamping member 420 facing the third clamping member 410. The first bottom supporting portion 411 and the second bottom supporting portion 421 are arranged opposite to each other along the second direction.

[0126] When the third clamping member 410 and the fourth clamping member 420 are respectively located on both sides of the second direction of the battery 900, the battery 900 is located between the third clamping member 410 and the fourth clamping member 420. Since the first bottom supporting portion 411 is located on the side of the third clamping member 410 facing the fourth clamping member 420, and the second bottom supporting portion 421 is located on the side of the fourth clamping member 420 facing the third clamping member 410, the first bottom supporting portion 411 and the second bottom supporting portion 421 are respectively located at the two side edges of the bottom of the battery 900 in the second direction, so as to support the battery 900 and reduce the risk of the battery 900 falling.

[0127] In one possible configuration, the area of ​​the third clamping member 410 excluding the first supporting portion 411 is referred to as the first connecting portion 412, and the area of ​​the fourth clamping member 420 excluding the second supporting portion 421 is referred to as the second connecting portion 422. The first connecting portion 412 and the second connecting portion 422 both extend longitudinally and are spaced apart in the second direction. The first supporting portion 411 and the second supporting portion 421 both extend horizontally and are located between the first connecting portion 412 and the second connecting portion 422, with a gap always remaining between the first supporting portion 411 and the second supporting portion 421. The first supporting portion 411 can be connected to or integral with the first connecting portion 412, and the second supporting portion 421 can be connected to or integral with the second connecting portion 422. The first supporting portion 411 can be connected to the bottom of the first connecting portion 412, and the second supporting portion 421 can be connected to the bottom of the second connecting portion 422.

[0128] In this arrangement, the first connecting portion 412 and the second connecting portion 422 are respectively located on either side of the second direction of the battery 900, thereby limiting the battery 900 within a certain range in the second direction. The first bottom supporting portion 411 and the second bottom supporting portion 421 are respectively located at the bottom of the battery 900, providing support for the battery 900, thereby preventing the battery 900 from falling during the process of the gripping device transferring the battery 900. Due to the provision of the first bottom supporting portion 411 and the second bottom supporting portion 421, the first connecting portion 412 and the second connecting portion 422 do not need to clamp the battery 900, and do not even need to contact the battery 900. In this way, only the first clamping member 210 and the second clamping member 220 can be used to clamp the two ends of the battery 900 that are more stressed, while limiting the weaker parts of the battery 900, thereby providing a stronger protective effect for the battery 900.

[0129] In some embodiments, there are multiple first supporting parts 411 , which are spaced apart in the first direction; there are multiple second supporting parts 421 , which are spaced apart in the first direction.

[0130] It is worth noting that when the third clamping member 410 includes a first connecting portion 412 and the fourth clamping member 420 includes a second connecting portion 422, the number of the first connecting portion 412 and the second connecting portion 422 can be one, and the multiple first supporting portions 411 are all arranged on the same first connecting portion 412, and the multiple second supporting portions 421 are all arranged on the same second connecting portion 422. In this arrangement, the third clamping member 410 can be connected to the second movable seat 522 via the first connecting portion 412, and when the second movable seat 522 drives the first connecting portion 412 to move, the multiple first supporting portions 411 can be driven to move synchronously. The fourth clamping member 420 can be connected to the third movable seat 523 via the second connecting portion 422, and when the third movable seat 523 drives the second connecting portion 422 to move, the multiple second supporting portions 421 can be driven to move synchronously.

[0131] In the embodiment of the present application, there are multiple first supporting portions 411. The multiple first supporting portions 411 arranged at intervals support the battery 900, thereby reducing the total contact area between the battery 900 and the multiple first supporting portions 411. There are multiple second supporting portions 421. The multiple second supporting portions 421 arranged at intervals support the battery 900, thereby reducing the total contact area between the battery 900 and the multiple second supporting portions 421.

[0132] The first bottom supporting portion 411 and the second bottom supporting portion 421 may be made of nylon or POM (Polyformaldehyde) to reduce scratches on the blue film at the bottom of the battery 900 and improve protection for the battery 900 .

[0133] In some embodiments, as shown in FIG4 , the gripping device further includes a second guide rail 630 mounted on the frame 100, with the length of the second guide rail 630 being the second direction. The third clamping member 410 and the fourth clamping member 420 are both slidably mounted on the second guide rail 630. For example, the first connecting portion 412 and the second connecting portion 422 are both slidably mounted on the second guide rail 630. There may be multiple second guide rails 630, each spaced apart in the first direction. The third clamping member 410 is slidably mounted on each of the second guide rails 630 at different locations in the first direction, and the fourth clamping member 420 is slidably mounted on each of the second guide rails 630 at different locations in the first direction. On each second guide rail 630, the third clamping member 410 is slidably mounted at one end of the second guide rail 630 in the second direction, and the fourth clamping member 420 is slidably mounted at the other end of the second guide rail 630 in the second direction. In this configuration, the second guide rail 630 can improve the movement stability of the third clamping member 410 and the movement stability of the fourth clamping member 420 .

[0134] In some embodiments, as shown in Figures 4, 6 and 7, the grasping device also includes an object detection sensor 741, which is installed on the first clamping member 210 and / or the second clamping member 220. The object detection sensor 741 is used to detect whether an object is clamped between the first clamping member 210 and the second clamping member 220.

[0135] The object detection sensor 741 may be a photoelectric sensor, an infrared sensor, a contact sensor, or the like.

[0136] When the object detection sensor 741 is a contact sensor, the contact sensor may be installed on only one of the first clamping member 210 and the second clamping member 220. When the first clamping member 210 and the second clamping member 220 clamp an object, the object contacts the contact sensor, thereby triggering the contact sensor, indicating that an object is clamped between the first clamping member 210 and the second clamping member 220. When the contact sensor is not triggered, it indicates that no object is clamped between the first clamping member 210 and the second clamping member 220.

[0137] When the object detection sensor 741 is an infrared sensor, the infrared sensor can be installed in the area where one of the first clamping member 210 and the second clamping member 220 faces the other. The infrared sensor can measure distance by emitting infrared rays. When there is no object between the first clamping member 210 and the second clamping member 220, the distance measured by the infrared sensor is equal to or close to the distance between the first clamping member 210 and the second clamping member 220. When an object is clamped between the first clamping member 210 and the second clamping member 220, the object is located between the first clamping member 210 and the second clamping member 220, thereby blocking the infrared rays, causing the distance measured by the infrared sensor to decrease, indicating that there is an object clamped between the first clamping member 210 and the second clamping member 220.

[0138] When the object detection sensor 741 is a photoelectric sensor, one of the first clamping member 210 and the second clamping member 220 is provided with a transmitting end of the photoelectric sensor, and the other is provided with a receiving end of the photoelectric sensor. In this configuration, when the receiving end can receive the light emitted by the transmitting end, it indicates that there is no object between the first clamping member 210 and the second clamping member 220. When the receiving end cannot receive the light emitted by the transmitting end, it indicates that there is an object between the first clamping member 210 and the second clamping member 220.

[0139] In an embodiment of the present application, the object detection sensor 741 can detect whether an object is clamped between the first clamping member 210 and the second clamping member 220, so that it can promptly detect when the object falls, and promptly detect when the object is accidentally picked up after being placed down.

[0140] In some examples, the gripping device can be connected to the control system signal in the production line, and the object detection sensor 741 can be connected to the control system signal in the production line through a control mechanism, or can be directly connected to the control system signal. In a specific implementation, after the gripping device transports the battery 900 to its position, releases the battery 900 and moves a distance, if it detects that there is still an object between the first clamping member 210 and the second clamping member 220, there is a possibility that the gripping device will accidentally pick up the battery 900. The control system can control the gripping device to stop moving, or the control system can issue an alarm to remind the staff to check. The alarm can be implemented through an alarm structure, which can include a buzzer, a warning light, a display screen, etc. The alarm method can be to control the buzzer to sound, control the warning light to flash, control the display screen to display text or patterns including the warning content, etc.

[0141] In some embodiments, as shown in FIG. 2 , FIG. 4 , FIG. 10 and FIG. 13 , the grasping device further includes a distance measuring sensor 751 . The distance measuring sensor 751 is mounted on the frame 100 , and the detection direction of the distance measuring sensor 751 is downward.

[0142] The distance measuring sensor 751 can be an infrared sensor, and the distance measuring sensor 751 can detect the distance between the gripping device and the object placement, thereby preventing objects from being stacked. For example, in the process of grabbing the battery 900 by the gripping device and placing the battery 900 on the target placement position, the gripping device can be first moved to a set position above the target placement position, and then the distance is detected by the distance measuring sensor 751. If the detected distance is in a set distance interval (the set distance interval is related to the distance between the set position and the target placement position), it means that no other objects are placed on the target placement position, and the operation of placing the battery 900 on the target placement position can be continued. If the detected distance is less than the set distance interval, it means that there is an object (such as foreign matter or other battery 900) on the target placement position, then the battery 900 placement operation needs to be suspended, and the operation needs to be continued after the foreign matter is cleared. The gripping device can be connected to the control system signal in the production line, and the distance measuring sensor 751 can be connected to the control system signal through a control mechanism, or it can be directly connected to the control system signal. When the distance measuring sensor 751 detects that there is an object on the target placement position, the control system controls the grasping device to stop moving, and the control system can issue an alarm to remind the staff to check.

[0143] It is worth noting that the distance measuring sensor 751 can be installed on the front side of the rack 100 in the direction of movement, that is, on the side of the rack 100 in the direction of movement when the grasping device grasps the battery 900 and moves to the position where the battery 900 is placed. This arrangement allows the area of ​​the rack 100 where the distance measuring sensor 751 is installed to be detected before the battery 900 reaches the position opposite to the battery 900, and the detection can be completed before the battery 900 is moved into place.

[0144] In some embodiments, a scale 800 is provided along the first direction on the frame 100. The scale 800 allows the operator to more clearly see the position of the first clamping member 210, thereby determining whether the position of the first clamping member 210 needs to be further adjusted.

[0145] In a specific embodiment of the present application, the gripping device includes: a frame 100, a first clamping assembly 200, a second clamping assembly 400, a first drive assembly 300, a second drive assembly 500, and a control mechanism. A first guide rail 610 is disposed on the frame 100 along a first direction, a second guide rail 630 is disposed on the frame 100 along a second direction, and a distance measuring sensor 751 is mounted on the frame 100. Multiple second guide rails 630 are provided, and the plurality of second guide rails 630 are spaced apart along the first direction.

[0146] The first clamping assembly 200 includes a first clamping member 210 and a second clamping member 220. The first clamping member 210 and the second clamping member 220 are arranged opposite to each other. The second clamping member 220 is fixedly installed on the frame 100. The first clamping member 210 is slidably assembled on the first guide rail 610. A third trigger structure 732 is provided on the first clamping member 210.

[0147] The first drive assembly 300 includes a servo drive assembly 310 and a cylinder drive assembly 320. The servo drive assembly 310 includes a servo motor 311, a first ball screw 312, and a first transmission belt 315. The first ball screw 312 includes a first screw 313 and a first movable seat 314. The first movable seat 314 is threadedly connected to the first screw 313. The first screw 313 and the servo motor 311 are connected via the first transmission belt 315. The cylinder drive assembly 320 includes a cylinder body 321, a rod body 322, and a cylinder mounting plate 324. The cylinder body 321 is mounted on the cylinder mounting plate 324. The cylinder mounting plate 324 is slidably mounted on the first guide rail 610 and is connected to the first movable seat 314. The cylinder mounting plate 324 is provided with a first trigger structure 712. The cylinder body 321 has an air inlet and an air outlet. The air inlet is connected to the air intake line, and the air outlet is equipped with a pilot-operated one-way valve 323. The pilot-operated one-way valve 323 is in communication with the air intake line. When the air intake line is ventilated, the pilot-operated one-way valve 323 is in an open state. When the air intake line is shut off, the pilot-operated one-way valve 323 is in a closed state. The first clamping member 210 is connected to a guide rail lock 620. The guide rail lock 620 is in communication with the air intake line. The guide rail lock 620 is in an unlocked state when the air intake line is ventilated, and in a locked state when the air intake line is shut off. The guide rail lock 620 can move along the first guide rail 610 in the unlocked state, and is locked to the first guide rail 610 in the locked state. The rack 100 is provided with multiple first position sensors 711, spaced apart in a first direction. A first triggering structure 712 can trigger any one of the first position sensors 711. Each of the multiple first position sensors 711 is signal-connected to a control mechanism. The rack 100 is also provided with multiple sets of third position sensors 731, each set comprising at least two third position sensors 731. The third triggering structure 732 can trigger any one of the third position sensors 731.

[0148] The second clamping assembly 400 includes a third clamping member 410 and a fourth clamping member 420. The third clamping member 410 is slidably mounted on one end of the plurality of second guide rails 630 in the second direction, and the fourth clamping member 420 is slidably mounted on the other end of the plurality of second guide rails 630 in the second direction. The third clamping member 410 includes a first connecting portion 412 and a first supporting portion 411. The top of the first connecting portion 412 is slidably engaged with the plurality of second guide rails 630, and the bottom of the first connecting portion 412 is connected to the first supporting portion 411. The first supporting portion 411 is located on the side of the first connecting portion 412 facing the fourth clamping member 420. The fourth clamping member 420 includes a second connecting portion 422 and a second supporting portion 421. The top of the second connecting portion 422 is slidably engaged with the plurality of second guide rails 630, and the bottom of the second connecting portion 422 is connected to the second supporting portion 421. The second supporting portion 421 is located on the side of the second connecting portion 422 facing the third clamping member 410. The rack 100 is provided with a plurality of first position sensors 711 , and a plurality of second position sensors 721 are spaced apart in the second direction. The first connecting portion 412 is provided with a second trigger structure 722 , and the second trigger structure 722 is used to trigger any one of the second position sensors 721 .

[0149] The second drive assembly 500 includes a second driver 510, a second ball screw 520 and a second transmission belt 524. The second driver 510 includes a motor. The second ball screw 520 includes a second screw 521, a second movable seat 522 and a third movable seat 523. The second screw 521 is connected to the motor through a second transmission belt 524. The second movable seat 522 and the third movable seat 523 are both mounted on the second screw 521. The second movable seat 522 and the third movable seat 523 can move synchronously in opposite directions under the drive of the second screw 521.

[0150] This embodiment also provides a battery production line, including the gripping device provided by any of the above embodiments.

[0151] Since the battery production line includes the above-mentioned gripping device, it has at least all the beneficial effects of the above-mentioned gripping device, which will not be described in detail here.

[0152] The battery production line is used to produce and manufacture batteries 900. The battery production line includes multiple devices, and different devices can perform different operating processes. The battery production line also includes a conveying mechanism, which can be used to transport materials in one device to the next device for the next operating process. The conveying mechanism includes a conveying device and a gripping device provided in the above embodiment. The gripping device is used to grip fixed materials, and the conveying device is used to drive the gripping device to move. The material can be a finished product or semi-finished product in the production process of battery 900, or it can be a component in battery 900. The conveying device can include a manipulator, which drives the gripping device to move; it can also include structures such as guide rails, sliders, and drivers. The slider is installed on the guide rails, and the driver drives the slider to move along the guide rails, and the slider drives the gripping device to move; it can also include conveying structures such as transmission belts or conveyor chains, and the conveying structure drives the gripping device to move.

[0153] The battery 900 produced by the battery production line includes a battery cell. The battery 900 can be a battery module. When there are multiple battery cells 900, the multiple battery cells are arranged and fixed to form a battery 900 module. The battery 900 can also be a battery pack, which includes a case and battery cells, and the battery cells or battery modules are accommodated in the case. The case is used to provide a storage space for the battery cells or battery modules. The case can be independent of other structures of the electrical device, or the case can be part of other structures in the electrical device. For example, when the electrical device is a vehicle, the case can be part of the chassis of the vehicle. For example, part of the case can become at least part of the floor of the vehicle, or part of the case can become at least part of the crossbeam and longitudinal beam of the vehicle.

[0154] Battery 900 is used in an electrical device to provide electrical energy. The electrical device may include, but is not limited to, a mobile phone, a tablet, a laptop computer, an electric toy, an electric tool, a battery-powered vehicle, an electric car, a ship, a spacecraft, and the like. The electric toy may include fixed or mobile electric toys, such as game consoles, electric car toys, electric ship toys, and electric airplane toys. The spacecraft may include airplanes, rockets, space shuttles, and spacecraft.

[0155] Taking the electrical device as an example, the vehicle can be a fuel vehicle, a gas vehicle or a new energy vehicle. The new energy vehicle can be a pure electric vehicle, a hybrid vehicle or an augmented-program vehicle, etc. A driving mechanism, a control mechanism and a battery 900 can be set inside the vehicle. The driving mechanism can be a motor, etc., and the control mechanism is used to control the battery 900 to supply power to the driving mechanism. For example, a battery 900 can be set at the bottom, front or rear of the vehicle. The battery 900 can be used to power other devices in the vehicle. For example, the battery 900 can be used as the operating power source of the vehicle and for the circuit system of the vehicle, for example, for the working power requirements during the start-up, navigation and operation of the vehicle. In another example, the battery 900 can not only be used as the operating power source of the vehicle, but also as the driving power source of the vehicle, replacing or partially replacing fuel or natural gas to provide driving power for the vehicle.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A gripping device, wherein: include: frame; A first clamping assembly includes a first clamping member and a second clamping member arranged opposite to each other in a first direction; a first driving assembly, mounted on the frame and in transmission connection with the first clamping member, for driving the first clamping member to move in the first direction; a second clamping assembly comprising a third clamping member and a fourth clamping member disposed opposite to each other in a second direction, wherein the first direction is perpendicular to the second direction; The second driving assembly is installed on the frame and is respectively connected to the third clamping member and the fourth clamping member for driving the third clamping member and the fourth clamping member to move in the second direction.

2. The gripping device according to claim 1, wherein: The first drive assembly includes a servo drive assembly and a cylinder drive assembly. The cylinder drive assembly includes a cylinder body and a rod body. The cylinder body is used to drive the rod body to move along the first direction. One of the cylinder body and the rod body is transmission-connected to the servo drive assembly, and the other is connected to the first clamping member. The servo drive assembly is used to drive the cylinder drive assembly to move in the first direction, and the cylinder drive assembly is used to drive the first clamping member to move in the first direction.

3. The gripping device according to claim 2, wherein: The cylinder body has an air inlet and an air outlet. The air inlet is connected to an air inlet pipeline. The air outlet is equipped with a pilot-operated one-way valve. The pilot-operated one-way valve is in communication with the air inlet pipeline and is in a conducting state during ventilation.

4. The gripping device according to claim 2 or 3, wherein: The servo drive assembly includes a servo motor and a first ball screw. The servo motor is transmission-connected to the first ball screw. The first ball screw is transmission-connected to one of the cylinder body and the rod body.

5. The gripping device according to claim 4, wherein: The servo drive assembly further includes a first transmission belt, and the first ball screw and the servo motor are connected in transmission via the first transmission belt.

6. The gripping device according to claim 3, wherein: The grasping device also includes a first guide rail and a guide rail lock. The first guide rail is installed on the frame along the first direction. The first clamping member is connected to the guide rail lock. The first clamping member is slidably assembled on the first guide rail. The guide rail lock is connected to the air intake pipe. The guide rail lock is slidably assembled on the first guide rail in the ventilation state. The guide rail lock is locked on the first guide rail in the air-off state.

7. The gripping device according to any one of claims 2 to 6, wherein: The grasping device also includes a control mechanism and multiple first position sensors, which are installed on the frame at intervals along the first direction. One of the cylinder body and the rod body connected to the servo drive assembly is provided with a first trigger structure, and the first trigger structure is used to trigger any one of the first position sensors; the control mechanism is respectively connected to the first position sensor and the servo drive assembly signal.

8. The gripping device according to claim 7, wherein: The gripping device also includes a plurality of second position sensors, which are installed on the frame at intervals along the second direction. At least one of the third clamping member and the fourth clamping member is provided with a second trigger structure, and the second trigger structure is used to trigger any of the second position sensors; the control mechanism is respectively connected to the second position sensor and the second drive component signal.

9. The gripping device according to any one of claims 1 to 8, wherein: The second drive assembly includes a second driver and a second ball screw, the second ball screw includes a second screw, a second movable seat and a third movable seat, the second screw is transmission-connected to the second driver, the second screw has a first thread segment and a second thread segment, and the thread directions of the first thread segment and the second thread segment are opposite; the second movable seat is threadedly connected to the first thread segment, and the second movable seat is connected to the third clamping member; the third movable seat is threadedly connected to the second thread segment, and the third movable seat is connected to the fourth clamping member.

10. The gripping device according to claim 9, wherein: The second drive assembly further includes a second transmission belt, and the second driver and the second screw are connected in transmission via the second transmission belt.

11. The gripping device according to any one of claims 1 to 10, wherein: A first supporting portion is provided on a side of the third clamping member facing the fourth clamping member, and a second supporting portion is provided on a side of the fourth clamping member facing the third clamping member. The first supporting portion and the second supporting portion are arranged opposite to each other along the second direction.

12. The gripping device according to claim 11, wherein: There are multiple first supporting parts, and the multiple first supporting parts are spaced apart in the first direction; there are multiple second supporting parts, and the multiple second supporting parts are spaced apart in the first direction.

13. The gripping device according to claim 12, wherein: The gripping device further includes an object detection sensor, which is mounted on the first clamping member and / or the second clamping member. The object detection sensor is used to detect whether an object is clamped between the first clamping member and the second clamping member.

14. The gripping device according to any one of claims 11 to 13, wherein: The grasping device further includes a distance measuring sensor, which is mounted on the frame and has a detection direction downward.

15. A battery production line, wherein: Comprising a gripping device as described in any one of claims 1-14.

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