Gripper and battery baking system

Abstract

A gripper (M2) and a battery baking system. The gripper (M2) comprises a support plate (100), a first gripping assembly (210), a second gripping assembly (220), and a driving mechanism (300), wherein the first gripping assembly (210) comprises at least two first gripping posts (211); the second gripping assembly (220) and the first gripping assembly (210) are arranged side by side; the second gripping assembly (220) comprises at least two second gripping posts (221); and the driving mechanism (300) is connected to the support plate (100), and the driving mechanism (300) is configured to drive at least one of the first gripping assembly (210) and the second gripping assembly (220) to move relative to the support plate, such that a spacing between the first gripping posts (211) and the second gripping posts (221) is changed, thereby gripping or releasing battery cells (M1) arranged in an array.

Description

A gripper and battery baking system

[0001] Cross-references to related applications

[0002] This disclosure is based on and claims priority to Chinese Patent Application No. 202411516240.7, filed on October 28, 2024, entitled “A Gripper and Battery Baking System”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of battery manufacturing technology, and in particular to a gripper and battery baking system. Background Technology

[0004] In the battery production process, it is usually necessary to pick up and put down battery cells arranged in groups. The related technologies have complex fixture structures and poor consistency in picking up and putting down multiple battery cells. Summary of the Invention

[0005] To address the aforementioned technical problems, the purpose of this disclosure is to provide a gripper and battery baking system.

[0006] A first aspect of this disclosure provides a gripper including a support plate, a first clamping assembly, a second clamping assembly, and a drive mechanism. The first clamping assembly includes at least two first clamping posts; the second clamping assembly is arranged side by side with the first clamping assembly and includes at least two second clamping posts; the drive mechanism is connected to the support plate and is used to drive at least one of the first and second clamping assemblies to move relative to the support plate, thereby changing the distance between the first and second clamping posts to clamp or release battery cells arranged in groups.

[0007] In the technical solution provided by this embodiment, a support plate provides an installation base for the first clamping assembly and the second clamping assembly. The first clamping assembly includes at least two first clamping posts, and the second clamping assembly includes at least two second clamping posts. The first and second clamping assemblies are arranged side by side, that is, at least two first clamping posts form a row of first clamping post groups, and at least two second clamping posts form a row of second clamping post groups. The first and second clamping post groups are arranged opposite to each other. Based on this, a driving mechanism is connected to the support plate. The driving mechanism can drive the first clamping assembly and / or the second clamping assembly to move relative to the support plate, thereby causing the first and second clamping assemblies to move closer to or further away from each other, that is, changing the spacing between the corresponding first and second clamping posts. When the spacing is small, at least two first clamping posts and at least two second clamping posts can clamp the battery cells arranged in a group; conversely, when the spacing is large, at least two first clamping posts and at least two second clamping posts release the corresponding group of battery cells. In this embodiment, the driving component drives the first clamping component and / or the second clamping component to move relative to the support plate, thereby causing all the first clamping posts in the first clamping component to move relative to the support plate, and / or causing all the second clamping posts in the second clamping component to move relative to the support plate. This eliminates the need for individual driving of each first or second clamping post, enabling the gripping and release of battery cells in a group, resulting in a simpler structure and easier maintenance. Furthermore, the synchronous movement of multiple first / second clamping posts ensures higher consistency in gripping and releasing operations. Compared to complex clamping structures in related technologies, the grippers in this embodiment drive at least two first / second clamping posts in a group to move synchronously via a driving mechanism, resulting in a simpler structure and better consistency in gripping and releasing operations, facilitating stable handling of battery cells in a group.

[0008] In some embodiments of this disclosure, a clamping post group is formed by the first clamping post and the second clamping post corresponding to the same battery cell. Multiple clamping post groups are arranged sequentially along a preset direction. The preset direction is set at an angle to the clamping direction. The clamping direction is the relative movement direction of the first clamping component and the second clamping component.

[0009] Here, multiple clamping post groups are arranged along a preset direction. Each clamping post group can correspond to a single battery cell. Multiple clamping post groups arranged in a linear distribution can correspond to multiple battery cells in the battery pack, so as to clamp or release multiple battery cells in the battery pack.

[0010] In some embodiments of this disclosure, in the clamping column assembly, the arrangement direction of at least two first clamping columns is parallel to the arrangement direction of at least two second clamping columns; wherein, the arrangement direction of at least two first clamping columns is parallel to a preset direction; or, the arrangement direction of at least two first clamping columns is set at an angle to the preset direction.

[0011] Here, the arrangement direction of at least two first clamping posts in the clamping post assembly is parallel to the arrangement direction of at least two second clamping posts, so that the force applied to the battery cell by the first and second clamping posts is relatively balanced. The arrangement direction of at least two first clamping posts is parallel to a preset direction, and the arrangement direction of at least two second clamping posts is also parallel to a preset direction, resulting in a simple structure and facilitating the placement of the first and second clamping posts. Alternatively, the arrangement direction of at least two first clamping posts is set at an angle to the preset direction, and the arrangement direction of at least two second clamping posts is also set at an angle to the preset direction, making the structure of the clamping post assembly more flexible.

[0012] In some embodiments of this disclosure, in the clamping column assembly, at least two first clamping columns are arranged along a first arrangement axis, and at least two second clamping columns are arranged along a second arrangement axis; the first arrangement axis and the second arrangement axis are set at an angle, and at least one of the first arrangement axis and the second arrangement axis is set at an angle to a preset direction.

[0013] Here, the first and second arrangement axes are set at an angle, meaning that the arrangement directions of at least two first clamping columns are set at an angle to the arrangement directions of at least two second clamping columns. This makes the clamping column assembly more flexible in structure to meet different clamping requirements. At least one of the first and second arrangement axes is set at an angle to a preset direction, further enhancing the structural flexibility.

[0014] In some embodiments of this disclosure, the clamping post assembly is symmetrically arranged about a first axis of symmetry, which is parallel to the clamping direction.

[0015] Here, the clamping column group is symmetrically arranged about the first axis of symmetry, that is, the arrangement structure formed by at least two first clamping columns and the arrangement structure formed by at least two second clamping columns are both arranged symmetrically about the first axis of symmetry, so that the forces exerted by at least two first clamping columns on the battery cell in the preset direction are balanced, and the forces exerted by at least two second clamping columns on the battery cell in the preset direction are balanced, thereby making the battery cell subjected to a balanced force in the preset direction.

[0016] In some embodiments of this disclosure, in the clamping column group, the arrangement structure formed by at least two first clamping columns and the arrangement structure formed by at least two second clamping columns are symmetrically arranged about a second axis of symmetry, and the second axis of symmetry is parallel to a predetermined direction.

[0017] Here, the arrangement of at least two first clamping posts and the arrangement of at least two second clamping posts are symmetrically arranged along the second axis of symmetry, so that the force exerted on the battery cell by the first clamping posts and the corresponding second clamping posts along the clamping direction is balanced, thereby making the battery cell bear force evenly in the clamping direction.

[0018] In some embodiments of this disclosure, two adjacent clamping column groups are symmetrically arranged about a third axis of symmetry, which is parallel to the clamping direction.

[0019] Here, the two adjacent clamping column groups are symmetrically arranged about the third axis of symmetry, so that the forces on the two adjacent clamping column groups can be balanced in the preset direction, thereby making the forces on the clamps relatively balanced.

[0020] In some embodiments of this disclosure, the first clamping columns in two adjacent clamping column groups are arranged in the same way, and the second clamping columns in two adjacent clamping column groups are arranged in the same way.

[0021] Here, the first clamping column in different clamping column groups is arranged in the same direction, and the second clamping column in different clamping column groups is also arranged in the same way. Multiple clamping column groups adopt the same structure, which facilitates the layout of the clamping column groups.

[0022] In some embodiments of this disclosure, the number of first clamping columns in two adjacent clamping column groups is different, and / or the number of second clamping columns in two adjacent clamping column groups is different.

[0023] Here, the number of first clamping columns in two adjacent clamping column groups is different, or the number of second clamping columns in two adjacent clamping column groups is different, so that the two adjacent clamping column groups can partially overlap in the clamping direction, thereby making the structure of the gripper more compact.

[0024] In some embodiments of this disclosure, one of the first clamping assembly and the second clamping assembly includes a fixed plate, and the other includes a movable plate. The first clamping post and the second clamping post are connected to the corresponding fixed plate or movable plate. The fixed plate is fixedly connected to the support plate, and the movable plate is slidably connected to the support plate.

[0025] Here, one of the first clamping assembly and the second clamping assembly is equipped with a fixed plate, and the other is equipped with a movable plate. The fixed plate can be used to position the battery cells in the group, and then the movable plate can be moved to clamp the battery cells in the group. The positioning is relatively convenient and the clamping accuracy is high.

[0026] In some embodiments of this disclosure, the first clamping assembly and the second clamping assembly form a clamping mechanism; the gripper also includes a synchronization plate, and the movable plates in at least two clamping mechanisms are fixedly connected to the synchronization plate.

[0027] Here, a synchronization plate is set up to connect the moving plates in different clamping mechanisms, so that multiple clamping mechanisms can operate synchronously, thereby realizing the picking and placing of multiple battery packs. In addition, since multiple clamping mechanisms are connected through the synchronization plate, multiple clamping mechanisms can share the drive mechanism, further simplifying the structure.

[0028] In some embodiments of this disclosure, the fixing plate has a clearance hole, and the synchronization plate passes through the clearance hole.

[0029] Here, the fixed plate is provided with clearance holes, and the synchronization plate passes through the clearance holes. On the one hand, this facilitates the layout of the synchronization plate, thereby making it easier to connect the synchronization plate with the moving plate; on the other hand, the hole wall of the clearance hole can also provide support and limit for the synchronization plate.

[0030] In some embodiments of this disclosure, the gripper further includes a first slide rail connected to a support plate, and the movable plate is slidably connected to the first slide rail via a first slider; wherein there are at least two first slide rails, and the at least two first slide rails are distributed at both ends of the movable plate along its length.

[0031] Here, the movable plate is slidably connected to the support plate via the first slide rail and the first slider, resulting in low frictional resistance. There are at least two first slide rails, which are distributed at both ends of the bearing plate along its length, so that the movable plate can be supported by multiple different first slide rails, thereby improving the stress stability of the movable plate.

[0032] In some embodiments of this disclosure, the drive mechanism includes a first drive cylinder connected to a support plate, and the output shaft of the first drive cylinder is telescopically connected to a movable plate.

[0033] Here, by setting a first driving cylinder with its output shaft extended and retracted, and connecting the first driving cylinder to the moving plate, the driving plate can drive the moving plate to move in a straight line. The structure is simple and easy to implement, and the first driving cylinder has large power and good driving accuracy.

[0034] In some embodiments of this disclosure, the drive mechanism further includes a connecting block. The first drive cylinder and the clamping mechanism are respectively disposed on both sides of the support plate. The support plate has a through hole. The connecting block is connected to the output shaft of the first drive cylinder and passes through the through hole to connect with the moving plate.

[0035] Here, by setting a connecting hole, the connecting block passes through the through hole on the support plate, thereby connecting the first driving cylinder and the moving plate on both sides of the support plate. The first driving cylinder and the moving plate are respectively set on both sides of the moving plate, which can reduce the interference between the first driving cylinder and the clamping mechanism, and also make the clamping mechanism more compact and make reasonable use of space.

[0036] In some embodiments of this disclosure, the drive mechanism further includes a buffer structure, which includes dampers disposed on both sides of the connecting block. The dampers are connected to the connecting block and are used to provide motion damping of the connecting block relative to the support plate.

[0037] Here, by setting a buffer mechanism, which includes a damper, the damper can provide motion damping for the connecting block relative to the support plate, making the movement of the connecting block smoother and reducing the impact when the moving plate and other components reach their positions, thereby protecting the clamping mechanism and the drive mechanism.

[0038] In some embodiments of this disclosure, the first clamping assembly and the second clamping assembly form a clamping mechanism; the moving plates arranged side by side in the different clamping mechanisms are connected to each other, and at least one moving plate is connected to the output shaft of the first drive cylinder.

[0039] Here, by connecting the moving plates arranged side by side in different clamping mechanisms, the moving plates in different clamping mechanisms can move synchronously. When one of the moving plates is connected to the output shaft of the first drive cylinder, the first drive cylinder can drive the moving plates in multiple clamping mechanisms to move, thereby simplifying the structure of the drive mechanism, making the grippers lighter and easier to maintain.

[0040] In some embodiments of this disclosure, the clamping mechanism includes at least two movable plates spaced apart along the length direction. In the clamping mechanism, different movable plates are connected to different first driving cylinders, and at least two first driving cylinders are evenly distributed on the support plate.

[0041] Here, the clamping mechanism is divided into sections with moving plates. Different moving plates in the clamping mechanism can be driven by different first drive cylinders, making the clamping method more flexible. The first drive cylinders can be flexibly arranged on the support plate according to actual needs, which is also conducive to the stable force bearing of the support plate.

[0042] In some embodiments of this disclosure, one of the first clamping assembly and the second clamping assembly that moves relative to the support plate is provided with a movable plate, and the first clamping post or the second clamping post is connected to the movable plate; the gripper also includes an elastic mechanism, and the movable plate is connected to the corresponding first clamping post or the second clamping post through the elastic mechanism. The elastic mechanism elastically deforms at least along the clamping direction, which is the relative movement direction of the first clamping assembly and the second clamping assembly.

[0043] Here, by setting an elastic mechanism, the elastic mechanism can elastically deform along the clamping direction, thereby driving the corresponding first or second clamping column to move relative to the support plate, thereby compensating for the size differences between different battery cells, so that the clamping mechanism can provide a balanced clamping force for each battery cell.

[0044] In some embodiments of this disclosure, the elastic mechanism includes a baffle, a movable block, and an elastic element. The baffle is connected to the movable block; the movable block is connected to a corresponding first clamping post or a second clamping post; the elastic element is elastically disposed between the movable block and the baffle, and the elastic element is extended and retracted at least along the clamping direction.

[0045] Here, the elastic mechanism includes a baffle and a movable plate. An elastic element is disposed between the baffle and the movable block, and the elastic element can elastically deform along the clamping direction to achieve extension and retraction, thereby driving the movable block to move relative to the baffle, and thus providing a stable elastic force for the first or second clamping column connected on the movable block to ensure effective clamping of the battery cell.

[0046] In some embodiments of this disclosure, the elastic mechanism further includes a second slide rail and a second slider. The second slide rail is connected to the movable plate, and the second slider is slidably connected to the second slide rail along the clamping direction. The movable block and the corresponding first clamping post or second clamping post are connected to the second slider.

[0047] Here, because a second slide rail and a second slider are provided between the moving block and the moving plate, motion friction can be reduced, and the second slide rail can provide guidance along the clamping direction, so that the moving block, the first clamping post or the second clamping post can move smoothly relative to the moving plate.

[0048] In some embodiments of this disclosure, the elastic mechanism further includes a guide rod connected to a baffle, and the elastic element and the movable block are respectively sleeved on the outer periphery of the guide rod.

[0049] Here, a guide rod is provided to limit the elastic element, reducing the possibility of skewing and improving the stability of the elastic deformation process. A through hole is provided on the moving block, allowing the guide rod to pass through, facilitating the movement of the moving block relative to the baffle.

[0050] In some embodiments of this disclosure, the gripper further includes a single-pickup mechanism, which includes a first clamping post and a second clamping post. The driving mechanism includes a second driving cylinder, which is used to drive the first clamping post and the second clamping post in the single-pickup mechanism to move relative to each other in order to pick up a single battery cell.

[0051] Here, due to the inclusion of a single-pickup mechanism, in addition to the clamping mechanism's ability to grip and pick up individual battery cells in a row, the single-pickup mechanism can pick up and place individual battery cells, thereby broadening the application scenarios of the gripper.

[0052] In some embodiments of this disclosure, a first clamping assembly and a second clamping assembly form a clamping mechanism, and at least one clamping mechanism has a single-release mechanism at its end; in the single-release mechanism, a first clamping post is aligned with a first clamping post in an adjacent clamping mechanism, and a second clamping post in the single-release mechanism is aligned with a second clamping post in an adjacent clamping mechanism.

[0053] Here, the single-take mechanism is located at the end of the clamping mechanism, and the first and second clamping posts in the single-take mechanism are aligned with the first and second clamping posts in the adjacent clamping mechanism, respectively, so that the single-take mechanism and the clamping mechanism can be combined to clamp the battery cells arranged in groups.

[0054] A second aspect of this disclosure provides a battery baking system, including a feeding mechanism, a baking tray, a transfer mechanism, and grippers according to the first aspect. The feeding mechanism is used to provide battery cells arranged in a row; the baking tray is used to dry or test the battery cells arranged in a row; the transfer mechanism is configured to move between the feeding mechanism and the baking tray; the grippers are connected to the transfer mechanism and driven by the transfer mechanism to pick up and place battery cells from the feeding mechanism onto the baking tray.

[0055] In the technical solution of this disclosure embodiment, since the first aspect of the battery baking system includes a gripper, and the gripper drives at least two first clamping posts / second clamping posts in a group to move synchronously through a driving mechanism, the structure is simpler and the clamping or releasing operation is more consistent, which facilitates the stable picking and placing of battery cells in a group.

[0056] In some embodiments of this disclosure, the battery baking system further includes a feeding mechanism, and the transfer mechanism is further configured to move between the baking tray and the feeding mechanism; the grippers are further configured to be driven by the transfer mechanism to pick up and place battery cells from the baking tray after baking to the feeding mechanism.

[0057] Here, a feeding mechanism is provided. The transfer mechanism can also drive the grippers to pick up and place the battery cells in the baking tray after baking to the feeding mechanism, so as to achieve stable picking and placing of battery cells in groups. Attached Figure Description

[0058] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0059] Figure 1 is a schematic diagram of the gripper in the clamping state provided in an embodiment of this disclosure;

[0060] Figure 2 is a schematic diagram of the gripper in the released state provided in an embodiment of this disclosure;

[0061] Figure 3 is a schematic diagram of the arrangement of the clamping column group in the gripper provided in the embodiment of this disclosure;

[0062] Figure 4 is a schematic diagram of the structure of the gripper provided in this embodiment of the present disclosure, in which the first and second arranged axes are both parallel to the preset axis.

[0063] Figure 5 is a schematic diagram of the structure in which the first and second arrangement axes of the gripper are parallel in an embodiment of this disclosure;

[0064] Figure 6 is a schematic diagram of the structure in which the first and second arrangement axes of the gripper are at an angle in an embodiment of this disclosure.

[0065] Figure 7 is a schematic diagram of the structure of the gripper provided in the embodiment of this disclosure, in which the first arrangement of axes and the second arrangement of axes form an angle, and one of them is parallel to a preset direction;

[0066] Figure 8 is a schematic diagram of the symmetrical structure of adjacent clamping column groups in the gripper provided in the embodiment of this disclosure about the first axis of symmetry.

[0067] Figure 9 is a schematic diagram of the symmetrical structure of adjacent clamping column groups in the gripper provided in the embodiment of this disclosure about the second axis of symmetry.

[0068] Figure 10 is one of the schematic diagrams of the symmetrical structure of adjacent clamping column groups in the gripper provided in the embodiment of this disclosure about the third axis of symmetry;

[0069] Figure 11 is a second schematic diagram of the symmetrical structure of adjacent clamping column groups in the gripper provided in the embodiment of this disclosure about the third axis of symmetry.

[0070] Figure 12 is a schematic diagram showing the quantitative relationship between adjacent first and second clamping posts in the gripper provided in the embodiment of this disclosure;

[0071] Figure 13 is a schematic diagram of the trapezoidal structure formed by the clamping column assembly in the gripper provided in the embodiment of this disclosure;

[0072] Figure 14 is a schematic diagram of the square structure formed by the clamping column assembly in the gripper provided in the embodiment of this disclosure;

[0073] Figure 15 is a schematic diagram of the circular structure formed by the clamping column assembly in the gripper provided in the embodiment of this disclosure;

[0074] Figure 16 is a schematic diagram of the structure of the synchronization plate in the gripper provided in an embodiment of this disclosure;

[0075] Figure 17 is a partially enlarged structural diagram of point A in Figure 16 provided in an embodiment of this disclosure;

[0076] Figure 18 is a schematic diagram of the structure of the first slide rail and the first slider in the gripper provided in the embodiment of this disclosure;

[0077] Figure 19 is a schematic diagram of the arrangement of the first slide rail and the synchronization plate in the gripper provided in the embodiment of this disclosure;

[0078] Figure 20 is a schematic diagram of the structure of the first driving cylinder in the gripper provided in an embodiment of this disclosure;

[0079] Figure 21 is a schematic diagram of the connecting block in the gripper provided in an embodiment of this disclosure;

[0080] Figure 22 is a schematic diagram of the buffer structure in the gripper provided in an embodiment of this disclosure;

[0081] Figure 23 is one of the schematic diagrams showing the arrangement of the first drive cylinder in the gripper provided in the embodiment of this disclosure;

[0082] Figure 24 is a second schematic diagram of the arrangement of the first driving cylinder in the gripper provided in the embodiment of this disclosure;

[0083] Figure 25 is a schematic diagram of the elastic mechanism in the gripper provided in the embodiment of this disclosure;

[0084] Figure 26 is a schematic diagram of the connection of the elastic element in the gripper provided in the embodiment of this disclosure;

[0085] Figure 27 is a schematic diagram of the structure of the second slide rail and the second slider in the gripper provided in the embodiment of this disclosure;

[0086] Figure 28 is a first-view isometric view of the elastic mechanism in the gripper provided in an embodiment of this disclosure;

[0087] Figure 29 is a second-view isometric view of the elastic mechanism in the gripper provided in an embodiment of this disclosure;

[0088] Figure 30 is a schematic diagram of the guide rod in the gripper provided in an embodiment of this disclosure;

[0089] Figure 31 is a schematic diagram (front view) of the single-pickup mechanism in the gripper provided in an embodiment of this disclosure;

[0090] Figure 32 is a schematic diagram (bottom view) of the single-pickup mechanism in the gripper provided in an embodiment of this disclosure;

[0091] Figure 33 is a partially enlarged structural diagram of point B in Figure 32 provided in an embodiment of this disclosure;

[0092] Figure 34 is a schematic diagram of the battery baking system provided in an embodiment of this disclosure.

[0093] Explanation of reference numerals in the attached drawings: 100-Support plate; 110-Through hole; 200-Clamping mechanism; 210-First clamping assembly; 211-First clamping post; 212-Moving plate; 220-Second clamping assembly; 221-Second clamping post; 222-Fixed plate; 223-Allowing hole; 230-Clamping post assembly; 231-Limiting groove; 300-Drive mechanism; 310-First drive cylinder; 320-Connecting block; 330-Buffer structure; 331-Damper; 340-Second drive cylinder; 400-Connecting mechanism; 410-Synchronization plate; 420-First slide rail; 430-First slider; 500-Elasticity Mechanism; 510-Elastic element; 520-Baffle; 530-Moving block; 540-Second slide rail; 550-Second slider; 560-Guide rod; 570-Adapter block; 600-Single picking mechanism; M1-Battery cell; M2-Gripper; M3-Feeding mechanism; M4-Baking tray; M5-Transfer mechanism; M6-Unloading mechanism; D1-First spacing; D2-Second spacing; X-Preset direction; Y-Clamping direction; Z-Vertical direction; H1-First arrangement axis; H2-Second arrangement axis; L3-Third symmetry axis; L1-First symmetry axis; L2-Second symmetry axis. Detailed Implementation

[0094] The embodiments of the technical solutions disclosed herein will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solutions disclosed herein and are therefore intended to limit the scope of protection of this disclosure.

[0095] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure; the terms “comprising” and “having”, and any variations thereof, in the specification and the foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0096] In the description of the embodiments of this disclosure, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary or secondary relationship of the indicated technical features. In the description of the embodiments of this disclosure, "a plurality of" means two or more, unless otherwise explicitly defined.

[0097] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0098] In the description of the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0099] In the description of the embodiments of this disclosure, the technical terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated, or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this disclosure.

[0100] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0101] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0102] The following is a detailed description of this disclosure.

[0103] Batteries are being used more and more widely in daily life and industry. They are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power plants, but also widely used in electric vehicles such as electric bicycles, electric motorcycles and electric cars, as well as in aerospace and many other fields.

[0104] In the battery production process, it is usually necessary to pick up and place battery cells in groups. This operation can effectively improve production efficiency. However, in some technical solutions, each battery cell is equipped with a separate driven clamping column group during the picking and placing process, which makes the entire fixture structure complicated and difficult to maintain. In addition, each clamping column group operates independently, resulting in asynchronous operation of different clamping column groups and poor consistency in picking up and placing battery cells in groups.

[0105] This disclosure addresses the problems existing in the aforementioned related technologies by proposing a gripper M2. Referring to Figures 1 and 2, the gripper M2 includes a support plate 100, a first clamping assembly 210, a second clamping assembly 220, and a drive mechanism 300. The first clamping assembly 210 includes at least two first clamping posts 211; the second clamping assembly 220 is arranged side by side with the first clamping assembly 210 and includes at least two second clamping posts 221; the drive mechanism 300 is connected to the support plate 100 and is used to drive at least one of the first clamping assembly 210 and the second clamping assembly 220 to move relative to the support plate 100, thereby changing the distance between the first clamping posts 211 and the second clamping posts 221 to clamp or release battery cells M1 arranged in groups.

[0106] In this embodiment, the support plate 100 can be a single structure or a plate-shaped structure assembled from multiple support rods. The support plate 100 is used to connect the first clamping assembly 210, the second clamping assembly 220, and the drive mechanism 300. Furthermore, the support plate 100 can also be connected to a transplanting mechanism M5, which drives the gripper M2 to move. The transplanting mechanism M5 is used to drive the gripper M2 to move up and down in the vertical direction Z, translate the gripper M2 in a plane parallel to the preset direction X and the clamping direction Y, and rotate the gripper M2, etc.

[0107] In this embodiment, the number of first clamping posts 211 in the first clamping assembly 210 can be two or more, and the number of second clamping posts 221 in the second clamping assembly 220 can also be two or more. The number of first clamping posts 211 in the first clamping assembly 210 and the number of second clamping posts 221 in the second clamping assembly 220 can be the same or different. It should be noted that the first clamping assembly 210 and the second clamping assembly 220 cooperate to simultaneously clamp or release at least two grouped battery cells M1.

[0108] In this embodiment of the disclosure, a group of battery cells M1 refers to a battery pack formed by arranging at least two cells in a straight line, or a battery pack formed by arranging at least two battery packs in parallel. It is understood that a group of battery cells M1 includes at least one battery pack, and the gripper M2 in this embodiment of the disclosure can simultaneously clamp or release multiple battery cells M1 within a battery pack.

[0109] In this embodiment, the drive mechanism 300 may include a drive member, the output end of which is connected to the first clamping assembly 210 or the second clamping assembly 220. The output end of the drive member can perform linear motion or rotational motion. Furthermore, the drive mechanism 300 may also include a transmission assembly, the output end of which is connected to the first clamping assembly 210 or the second clamping assembly 220 via the transmission assembly. The transmission assembly may be a gear assembly, rack assembly, worm gear, cam assembly, ratchet assembly, belt drive assembly, chain drive assembly, linkage assembly, etc., and this embodiment does not impose any limitations on this.

[0110] In this embodiment of the present disclosure, at least one of the first clamping assembly 210 and the second clamping assembly 220 moves relative to the support plate 100. Alternatively, the first clamping assembly 210 may be fixed relative to the support plate 100, and the second clamping assembly 220 may be connected to the drive mechanism 300 to move relative to the support plate 100; or, the second clamping assembly 220 may be fixed relative to the support plate 100, and the first clamping assembly 210 may be connected to the drive mechanism 300 to move relative to the support plate 100; or, both the first clamping assembly 210 and the second clamping assembly 220 may be connected to the drive mechanism 300 to move relative to the support plate 100 respectively.

[0111] In this embodiment of the present disclosure, the first clamping post 211 and the second clamping post 221 are used to clamp the battery cell M1. It is understood that, referring to FIG1, the first clamping post 211 and the second clamping post 221 have a small first distance D1. The first clamping post 211 and the second clamping post 221 can respectively abut against the surface of the corresponding battery cell M1, thereby clamping the battery cell M1 so that the battery cell M1 moves with the gripper M2. Referring to FIG2, the first clamping post 211 and the second clamping post 221 have a large second distance D2. At least one of the first clamping post 211 and the second clamping post 221 does not abut against the battery cell M1, so that the battery cell M1 separates from the gripper M2, that is, the first clamping post 211 and the second clamping post 221 release the corresponding battery cell M1.

[0112] In the technical solution provided by the embodiments of this disclosure, the support plate 100 provides an installation base for the first clamping component 210 and the second clamping component 220. The first clamping component 210 includes at least two first clamping posts 211, and the second clamping component 220 includes at least two second clamping posts 221. The first clamping component 210 and the second clamping component 220 are arranged side by side, that is, at least two first clamping posts 211 form a row of first clamping posts 211 groups, and at least two second clamping posts 221 form a row of second clamping posts 221 groups. The first clamping post 211 groups and the second clamping post 221 groups are arranged opposite to each other.

[0113] Based on this, a drive mechanism 300 is connected to the support plate 100. The drive mechanism 300 can drive the first clamping component 210 and / or the second clamping component 220 to move relative to the support plate 100, thereby causing the first clamping component 210 and the second clamping component 220 to move closer to or further away from each other, that is, to change the distance between the corresponding first clamping post 211 and the second clamping post 221. When the distance is small, at least two first clamping posts 211 and at least two second clamping posts 221 can clamp the battery cells M1 arranged in groups; conversely, when the distance is large, at least two first clamping posts 211 and at least two second clamping posts 221 release the corresponding group of battery cells M1.

[0114] The drive assembly drives the first clamping assembly 210 and / or the second clamping assembly 220 to move relative to the support plate 100, thereby causing all the first clamping posts 211 in the first clamping assembly 210 to move relative to the support plate 100, and / or causing all the second clamping posts 221 in the second clamping assembly 220 to move relative to the support plate 100. This eliminates the need for individual drive application to each first clamping post 211 or second clamping post 221, enabling the clamping and release of the battery cells M1 in the group, resulting in a simpler structure and easier maintenance. Furthermore, the synchronous movement of multiple first clamping posts 211 / second clamping posts 221 ensures greater consistency in clamping and releasing operations.

[0115] Compared with the complex clamping structures in related technologies, the gripper M2 of this embodiment is driven by the drive mechanism 300 to drive at least two first clamping posts 211 / second clamping posts 221 of the group to move synchronously, which is simpler in structure and has better consistency in clamping or releasing operations, making it easier to achieve stable picking and placing of the group of battery cells M1.

[0116] To facilitate the operation of multiple battery cells M1 in the battery pack, referring to FIG3, in some possible embodiments of this disclosure, the first clamping post 211 and the second clamping post 221 corresponding to the same battery cell M1 form a clamping post group 230. Multiple clamping post groups 230 are arranged sequentially along a preset direction X. The preset direction X is set at an angle to the clamping direction Y. The clamping direction Y is the relative movement direction of the first clamping component 210 and the second clamping component 220.

[0117] In this embodiment of the disclosure, the clamping post group 230 can be two or more, and the clamping post group 230 can clamp or release a single battery cell M1. It is understood that the clamping post group 230 includes at least one first clamping post 211 and at least one second clamping post 221 to correspond to different surfaces of the battery cell M1.

[0118] In this embodiment, the preset direction X is the arrangement direction of the plurality of clamping post groups 230. It can be understood that the preset direction X is parallel to the arrangement direction of the plurality of battery cells M1 in the battery pack. The preset direction X is the relative movement direction of the first clamping assembly 210 and the second clamping assembly 220, that is, the relative movement direction of the first clamping post 211 and the second clamping post 221 in the clamping post group 230.

[0119] In this embodiment of the disclosure, the preset direction X and the clamping direction Y are set at an angle, which can be a right angle, an obtuse angle, or an acute angle. Referring to FIG3, in some possible embodiments of this disclosure, the preset direction X and the clamping direction Y are perpendicular to each other.

[0120] In the technical solution provided by the embodiments of this disclosure, a plurality of clamping post groups 230 are arranged along a preset direction X. Each clamping post group 230 can correspond to a single battery cell M1. The plurality of clamping post groups 230 arranged linearly can correspond to a plurality of battery cells M1 in the battery pack, so as to clamp or release the plurality of battery cells M1 in the battery pack.

[0121] In order to ensure that the clamping post assembly 230 applies force evenly to the battery cell M1, referring to Figures 4 and 5, in some possible embodiments of this disclosure, in the clamping post assembly 230, the arrangement direction of at least two first clamping posts 211 is parallel to the arrangement direction of at least two second clamping posts 221; wherein, the arrangement direction of at least two first clamping posts 211 is parallel to a preset direction X; or, the arrangement direction of at least two first clamping posts 211 is set at an angle to the preset direction X.

[0122] In this embodiment of the disclosure, the clamping post group 230 may include two or more first clamping posts 211, and all the first clamping posts 211 in the clamping post group 230 are arranged in a linear structure along a first arrangement axis H1; correspondingly, the clamping post group 230 may include two or more second clamping posts 221, and all the second clamping posts 221 in the clamping post group 230 are arranged in a linear structure along a second arrangement axis H2. The first arrangement axis H1 and the second arrangement axis H2 are parallel to each other.

[0123] In the technical solution provided by the embodiments of this disclosure, the arrangement direction of at least two first clamping posts 211 in the clamping post group 230 is parallel to the arrangement direction of at least two second clamping posts 221, so that the battery cell M1 is subjected to relatively balanced forces from the first clamping posts 211 and the second clamping posts 221.

[0124] Referring to FIG4, in some possible embodiments of this disclosure, in the clamping post group 230, the arrangement direction of at least two first clamping posts 211 and the arrangement direction of at least two second clamping posts 221 are parallel to the preset direction X.

[0125] In this embodiment of the present disclosure, all the first clamping columns 211 in the clamping column group 230 are arranged in a linear structure along the first arrangement axis H1, and all the second clamping columns 221 in the clamping column group 230 are arranged in a linear structure along the second arrangement axis H2. The first arrangement axis H1 and the second arrangement axis H2 are both parallel to the preset direction X.

[0126] In the technical solution provided by the embodiments of this disclosure, the arrangement direction of at least two first clamping posts 211 is parallel to the preset direction X, and the arrangement direction of at least two second clamping posts 221 is also parallel to the preset direction X. The structure is simple and facilitates the arrangement of the first clamping posts 211 and the clamping posts.

[0127] Referring to FIG5, in some other possible embodiments of this disclosure, in the clamping post group 230, the arrangement direction of at least two first clamping posts 211 and the arrangement direction of at least two second clamping posts 221 are respectively set at an angle to a preset direction X.

[0128] In this embodiment of the present disclosure, all the first clamping columns 211 in the clamping column group 230 are arranged in a linear structure along the first arrangement axis H1, and all the second clamping columns 221 in the clamping column group 230 are arranged in a linear structure along the second arrangement axis H2. The first arrangement axis H1 and the second arrangement axis H2 are respectively set at an angle to a preset direction X.

[0129] In this embodiment of the disclosure, the angle between the first arrangement axis H1 and the preset direction X can be an obtuse angle or an acute angle, and the angle between the second arrangement axis H2 and the preset direction X can be an obtuse angle or an acute angle. It can be understood that since the first arrangement axis H1 and the second arrangement axis H2 are parallel, the absolute values ​​of the angles between the two and the preset direction X are also equal.

[0130] In the technical solution provided by the embodiments of this disclosure, the arrangement direction of at least two first clamping posts 211 is set at an angle to the preset direction X, and the arrangement direction of at least two second clamping posts 221 is also set at an angle to the preset direction X. The structure of the clamping post group 230 is more flexible. In the clamping direction Y, the projections of the first clamping members in two adjacent clamping post groups 230 can overlap. Correspondingly, the projections of the second clamping members in two adjacent clamping post groups 230 can also overlap, so that the two adjacent clamping post groups 230 can be closer together, thereby making the structure of the gripper M2 more compact.

[0131] To facilitate adaptation to different clamping requirements, referring to Figures 6 and 7, in some possible embodiments of this disclosure, in the clamping post group 230, at least two first clamping posts 211 are arranged along a first arrangement axis H1, and at least two second clamping posts 221 are arranged along a second arrangement axis H2; the first arrangement axis H1 and the second arrangement axis H2 are set at an angle, and at least one of the first arrangement axis H1 and the second arrangement axis H2 is set at an angle to a preset direction X.

[0132] In this embodiment of the present disclosure, all the first clamping columns 211 in the clamping column group 230 are arranged in a linear structure along the first arrangement axis H1, and all the second clamping columns 221 in the clamping column group 230 are arranged in a linear structure along the second arrangement axis H2. The first arrangement axis H1 and the second arrangement axis H2 are set at an angle.

[0133] In this embodiment of the disclosure, the included angle between the first arrangement axis H1 and the second arrangement axis H2 can be an obtuse angle or an acute angle. The first arrangement axis H1 and the preset direction X can be parallel or have an included angle, and the second arrangement axis H2 and the preset direction X can also have an included angle or be parallel. It is understood that the included angle between the first arrangement axis H1 and the preset direction X is different from the included angle between the second arrangement axis H2 and the preset direction X.

[0134] In the technical solution provided by the embodiments of this disclosure, the first arrangement axis H1 and the second arrangement axis H2 are set at an angle, that is, the arrangement direction of at least two first clamping posts 211 is set at an angle to the arrangement direction of at least two second clamping posts 221, and the structure of the clamping post group 230 is more flexible to meet different clamping requirements.

[0135] Referring to FIG6, in some possible embodiments of this disclosure, in the clamping post group 230, at least two first clamping posts 211 are arranged along a first arrangement axis H1, and at least two second clamping posts are arranged along a second arrangement axis H2; both the first arrangement axis H1 and the second arrangement axis H2 are set at an angle to a preset direction X.

[0136] In this embodiment of the disclosure, the angle between the first arrangement axis H1 and the preset direction X can be an obtuse angle or an acute angle, and the angle between the second arrangement axis H2 and the preset direction X can also be an obtuse angle or an acute angle.

[0137] In this embodiment of the disclosure, the absolute value of the angle between the first arranged axis H1 and the preset direction X is different from the absolute value of the angle between the second arranged axis H2 and the preset direction X. Alternatively, the absolute value of the angle between the first arranged axis H1 and the preset direction X is equal to the absolute value of the angle between the second arranged axis H2 and the preset direction X, but one of them forms an obtuse angle with the preset direction X, and the other forms an acute angle with the preset direction X.

[0138] In the technical solution provided by the embodiments of this disclosure, the first arrangement axis H1 and the second arrangement axis H2 are both set at an angle to the preset direction X, so that the two are arranged symmetrically. The force applied by the first clamping post 211 and the second clamping post 221 in the relative direction of the battery cell M1 is more balanced, so as to stably clamp the battery cell M1.

[0139] Referring to FIG7, in some other possible embodiments of this disclosure, in the clamping post group 230, at least two first clamping posts 211 are arranged along a first arrangement axis H1, and at least two second clamping posts are arranged along a second arrangement axis H2; one of the first arrangement axis H1 and the second arrangement axis H2 is set at an angle to a preset direction X, and the other of the first arrangement axis H1 and the second arrangement axis H2 is set parallel to the preset direction X.

[0140] In this embodiment of the present disclosure, the angle between the first arrangement axis H1 and the preset direction X can be an obtuse angle or an acute angle, and the second arrangement axis H2 is parallel to the preset direction X; or, the angle between the second arrangement axis H2 and the preset direction X can be an obtuse angle or an acute angle, and the first arrangement axis H1 is parallel to the preset direction X.

[0141] In the technical solution provided by the embodiments of this disclosure, the arrangement direction of at least two first clamping posts 211 is parallel to the preset direction X, which makes the arrangement of the first clamping posts 211 simpler; the arrangement direction of at least two second clamping posts 221 is parallel to the preset direction X, which makes the arrangement of the second clamping posts 221 simpler, thereby facilitating the arrangement of the first clamping posts 211 or the second clamping posts 221.

[0142] In order to make the force on the battery cell M1 more balanced along the preset direction X, referring to Figures 8 and 9, in some possible embodiments of this disclosure, the clamping column group 230 is symmetrically arranged about the first axis of symmetry L1, which is parallel to the clamping direction Y.

[0143] In this embodiment, the arrangement of at least two first clamping pillars 211 can be triangular, square, semi-circular, elliptical, trapezoidal, etc.; the arrangement of at least two second clamping pillars 221 can be triangular, square, semi-circular, elliptical, trapezoidal, etc. The arrangement of the first clamping pillars 211 or the second clamping pillars 221 can be symmetrical about the first axis of symmetry L1.

[0144] In this embodiment, the first axis of symmetry L1 is located at the middle position of the clamping column group 230, such that the two parts of a single clamping column group 230 are symmetrically distributed in a preset direction X. It should be noted that the arrangement structure formed by at least two first clamping columns 211 can be the same as or different from the arrangement structure formed by at least two second clamping columns 221.

[0145] Referring to Figure 8, in one example, the two first clamping posts 211 are arranged in a straight line in a predetermined direction X; the three second clamping posts 221 are arranged in a triangular structure. Referring to Figure 9, in another example, the three first clamping posts 211 are arranged in a triangular structure, and the three second clamping posts 221 are also arranged in a triangular structure.

[0146] In the technical solution provided by the embodiments of this disclosure, the clamping column group 230 is symmetrically arranged about the first axis of symmetry L1, that is, the arrangement structure formed by at least two first clamping columns 211 and the arrangement structure formed by at least two second clamping columns 221 are both arranged along the first axis of symmetry L1, so that the force exerted by at least two first clamping columns 211 on the battery cell M1 along the preset direction X is balanced, and the force exerted by at least two second clamping columns 221 on the battery cell M1 along the preset direction X is balanced, thereby making the battery cell M1 subjected to balanced force in the preset direction X.

[0147] In order to make the battery cell M1 more evenly stressed in the clamping direction Y, referring to FIG9, in some possible embodiments of this disclosure, in the clamping column group 230, the arrangement structure formed by at least two first clamping columns 211 and the arrangement structure formed by at least two second clamping columns 221 are symmetrically arranged about the second axis of symmetry L2, which is parallel to the preset direction X.

[0148] In this embodiment, the second axis of symmetry L2 is located at the midpoint between the first clamping assembly 210 and the second clamping assembly 220, such that the two parts of the single clamping post group 230 are symmetrically distributed in the clamping direction Y. That is, the arrangement structure formed by the first clamping post 211 in the clamping post group 230 is the same as the arrangement structure formed by the second clamping post 221, and the two are symmetrical about the second axis of symmetry L2.

[0149] Referring to Figure 9, in one embodiment, the three first clamping pillars 211 form a triangular arrangement, and the three second clamping pillars 221 also form a triangular arrangement. The three first clamping pillars 211 and the three second clamping pillars 221 are symmetrical about the second axis of symmetry L2.

[0150] In the technical solution provided by the embodiments of this disclosure, the arrangement structure formed by at least two first clamping posts 211 and the arrangement structure formed by at least two second clamping posts 221 are symmetrically arranged along the second axis of symmetry L2, so that the force exerted by the first clamping posts 211 and the corresponding second clamping posts 221 on the battery cell M1 along the clamping direction Y is balanced, thereby making the battery cell M1 subjected to balanced force in the clamping direction Y.

[0151] In order to make the force on the gripper M2 relatively balanced, referring to Figures 10 and 11, in some possible embodiments of this disclosure, two adjacent clamping column groups 230 are symmetrically arranged about the third axis of symmetry L3, which is parallel to the clamping direction Y.

[0152] In this embodiment, the third axis of symmetry L3 is located between two adjacent clamping column groups 230, so that the two adjacent clamping column groups 230 can be symmetrical. It is understood that when three or more clamping column groups 230 are provided, any two adjacent clamping column groups 230 are symmetrical about the corresponding third axis of symmetry L3. That is, it includes two different structures of clamping column groups 230, and the two structures of clamping column groups 230 are alternately distributed along a preset direction X.

[0153] In the technical solution provided by the embodiments of this disclosure, two adjacent clamping column groups 230 are symmetrically arranged about the third axis of symmetry L3, so that the forces on the two adjacent clamping column groups 230 in the preset direction X are balanced, thereby making the forces on the gripper M2 relatively balanced.

[0154] To facilitate the arrangement of the clamping column group 230, referring to Figures 4, 5, 6 and 7, in some possible embodiments of this disclosure, the first clamping column 211 in two adjacent clamping column groups 230 are arranged in the same way, and the second clamping column 221 in two adjacent clamping column groups 230 are arranged in the same way.

[0155] In this embodiment of the disclosure, the arrangement of the first clamping column 211 in any two clamping column groups 230 is the same, and the arrangement direction of the second clamping column 221 in any two clamping column groups 230 is also opposite, that is, multiple clamping column groups 230 adopt the same structure.

[0156] Referring to Figures 4 and 5, in one example, the first arrangement axis H1 and the second arrangement axis H2 in the clamping column group 230 are parallel to each other, and the first arrangement axis H1 is the same in two adjacent clamping column groups 230, and the second arrangement axis H2 is also the same.

[0157] Referring to Figures 6 and 7, in another example, the first arrangement axis H1 and the second arrangement axis H2 in the clamping column group 230 are at an angle, but the first arrangement axis H1 is the same in two adjacent clamping column groups 230, and the second arrangement axis H2 is also the same.

[0158] In the technical solution provided by the embodiments of this disclosure, the first clamping column 211 in different clamping column groups 230 are arranged in the same direction, and the second clamping column 221 in different clamping column groups 230 are also arranged in the same way. Multiple clamping column groups 230 adopt the same structure, which facilitates the layout of the clamping column groups 230.

[0159] To facilitate the arrangement of the first clamping post 211 and the second clamping post 221, referring to Figures 8 and 12, in some possible embodiments of this disclosure, in the clamping post group 230, the number of the first clamping post 211 is equal to the number of the second clamping post 221; or, the number of the first clamping post 211 is greater than the number of the second clamping post 221; or, the number of the second clamping post 221 is greater than the number of the first clamping post 211.

[0160] In this embodiment of the disclosure, the number of first clamping posts 211 is equal to the number of second clamping posts 221. Referring to FIG4, in one example, the first clamping posts 211 are two arranged in parallel to a preset direction X, and the second clamping posts 221 are also two arranged in parallel to a preset direction X.

[0161] In this embodiment of the disclosure, the number of first clamping posts 211 is greater than the number of second clamping posts 221. Referring to FIG12, in one example, the first clamping posts 211 are three arranged in a triangle, and the number of second clamping posts 221 is two, arranged parallel to a preset direction X.

[0162] In this embodiment of the disclosure, the number of first clamping posts 211 is less than the number of second clamping posts 221. Referring to FIG8, in one example, the second clamping posts 221 are three arranged in a triangle, and the number of first clamping posts 211 is two, arranged parallel to a preset direction X.

[0163] In this embodiment of the disclosure, the number of first clamping posts 211 can also be equal to the number of second clamping posts 221. For example, when the arrangement structure formed by at least two first clamping posts 211 and the arrangement structure formed by at least two second clamping posts 221 are both symmetrically arranged along the second axis of symmetry L2, the number of first clamping posts 211 and the number of second clamping posts 221 are equal.

[0164] In the technical solution provided by the embodiments of this disclosure, in the same clamping column group 230, the number of first clamping columns 211 can be greater than or less than the number of second clamping columns 221. The number of first clamping columns 211 and second clamping columns 221 can be flexibly set according to the required arrangement structure, which makes it easier to arrange the first clamping columns 211 and second clamping columns 221.

[0165] To make the gripper M2 more compact, referring to FIG12, in some possible embodiments of this disclosure, the number of first grippers 211 in two adjacent gripper groups 230 is different, and / or the number of second grippers 221 in two adjacent gripper groups 230 is different.

[0166] In this embodiment of the disclosure, the number of first clamping posts 211 and second clamping posts 221 in two adjacent clamping post groups 230 can be flexibly set. In one example, the number of first clamping posts 211 in two adjacent clamping post groups 230 is different, while the number of second clamping posts 221 in two adjacent clamping post groups 230 is the same; in another example, the number of first clamping posts 211 in two adjacent clamping post groups 230 is the same, while the number of second clamping posts 221 in two adjacent clamping post groups 230 is different; in yet another example, the number of first clamping posts 211 in two adjacent clamping post groups 230 is different, and the number of second clamping posts 221 in two adjacent clamping post groups 230 is also different.

[0167] Referring to Figure 12, in one possible embodiment of this disclosure, one of two adjacent clamping post groups 230 includes two first clamping posts 211 and three second clamping posts 221, and the other includes three first clamping posts 211 and two second clamping posts 221. That is, it includes two different clamping post groups 230, and the two different clamping post groups 230 are alternately distributed in a preset direction X.

[0168] In the technical solution provided by the embodiments of this disclosure, the number of first clamping posts 211 in two adjacent clamping post groups 230 is different, or the number of second clamping posts 221 in two adjacent clamping post groups 230 is different, so that the two adjacent clamping post groups 230 can partially overlap in the clamping direction Y, thereby making the structure of the gripper M2 more compact.

[0169] Referring to Figures 13 and 14, in some possible embodiments of this disclosure, in the clamping post group 230, at least three first clamping posts 211 enclose to form a polygonal structure, and / or at least three second clamping posts 221 enclose to form a polygonal structure.

[0170] In this embodiment of the disclosure, the polygonal structure formed by at least three first clamping posts 211 can be a triangle, a square, a rhombus, a trapezoid, etc.; the polygonal structure formed by at least three second clamping posts 221 can be a triangle, a square, a rhombus, a trapezoid, etc.

[0171] In this embodiment of the disclosure, the polygonal structure formed by at least three first clamping posts 211 and the polygonal structure formed by at least three second clamping posts 221 may be the same or different.

[0172] Referring to Figure 13, in one example, four first clamping posts 211 enclose a trapezoidal structure, and four second clamping posts 221 also enclose a trapezoidal structure; referring to Figure 14, in another example, eight first clamping posts 211 enclose a square structure, and eight second clamping posts 221 enclose a square structure.

[0173] In the technical solution provided by the embodiments of this disclosure, at least three first clamping posts 211 are enclosed to form a polygonal structure, and at least three second clamping posts 221 are enclosed to form a polygonal structure, which facilitates the enclosed polygonal structure by the first clamping posts 211 and the second clamping posts 221, thereby facilitating the gripping of the prism-shaped battery cell M1.

[0174] Referring to FIG15, in some other possible embodiments of this disclosure, in the clamping post assembly 230, at least three first clamping posts 211 are arranged along an arc, and / or at least three second clamping posts 221 are arranged along an arc.

[0175] In this embodiment of the present disclosure, at least three first clamping posts 211 may be arranged along a circular arc or an elliptical arc; at least three second clamping posts 221 may be arranged along a circular arc or an elliptical arc. The arrangement of the at least three first clamping posts 211 and the arrangement of the at least three second clamping posts 221 may be the same or different.

[0176] Referring to FIG15, in one possible embodiment of this disclosure, six first clamping posts 211 are arranged along an arc, and six second clamping posts 221 are arranged along an arc, with the two arcs having the same curvature, so that the clamping post assembly 230 can be assembled to form a circular structure to fit a cylindrical battery.

[0177] In the technical solution provided by the embodiments of this disclosure, at least three first clamping posts 211 are arranged along an arc, and at least three second clamping posts 221 are arranged along an arc, so that the first clamping posts 211 and the second clamping posts 221 can form an arc structure, thereby facilitating the gripping of cylindrical or elliptical battery cells M1.

[0178] To facilitate the positioning of the battery pack, referring to FIG16, in some possible embodiments of this disclosure, one of the first clamping assembly 210 and the second clamping assembly 220 includes a fixed plate 222, and the other includes a movable plate 212. The first clamping post 211 and the second clamping post 221 are connected to the corresponding fixed plate 222 or movable plate 212. The fixed plate 222 is fixedly connected to the support plate 100, and the movable plate 212 is slidably connected to the support plate 100.

[0179] In this embodiment of the present disclosure, the first clamping component 210 includes a movable plate 212, the second clamping component 220 includes a fixed plate 222, the first clamping post 211 is connected to the movable plate 212, and the second clamping post 221 is connected to the fixed plate 222; or, the first clamping component 210 includes a fixed plate 222, the second clamping component 220 includes a movable plate 212, the first clamping post 211 is connected to the fixed plate 222, and the second clamping post 221 is connected to the movable plate 212; or, both the first clamping component 210 and the second clamping component 220 may include a movable plate 212, and the first clamping post 211 and the second clamping post 221 are respectively connected to the corresponding movable plate 212.

[0180] In this embodiment, the fixed connection between the fixed plate 222 and the support plate 100 can be welding, snap-fitting, bonding, fastener connection, etc. For example, the fixed plate 222 and the support plate 100 are connected by fasteners such as screws. The connection between the first clamping post 211 / second clamping post 221 and the corresponding moving plate 212 / fixed plate 222 can be a movable connection or a fixed connection, such as welding, snap-fitting, bonding, fastener connection, etc.

[0181] In the technical solution provided by the embodiments of this disclosure, one of the first clamping component 210 and the second clamping component 220 is provided with a fixed plate 222 and the other is provided with a movable plate 212. The fixed plate 222 can be used to position the battery cell M1 in the group, and then the movable plate 212 can be moved to clamp the battery cell M1 in the group. The positioning is relatively convenient and the clamping accuracy is high.

[0182] To achieve synchronous loading and unloading of multiple battery packs, referring to FIG16, in some possible embodiments of this disclosure, the first clamping assembly 210 and the second clamping assembly 220 form a clamping mechanism 200; the gripper M2 also includes a synchronization plate 410, and the movable plates 212 in at least two clamping mechanisms 200 are fixedly connected to the synchronization plate 410.

[0183] In this embodiment of the disclosure, the gripper M2 may include one, two or more gripping mechanisms 200. It is understood that multiple gripping mechanisms 200 are arranged side by side, that is, the moving plates 212 in different gripping mechanisms 200 are parallel to each other.

[0184] In this embodiment, the connection between the synchronization plate 410 and the moving plate 212 can be welding, snap-fitting, bonding, fastener connection, etc. Multiple synchronization plates 410 can be configured, and the moving plate 212 is connected to at least two synchronization plates 410, making the force on the moving plate 212 more balanced.

[0185] In the technical solution provided by the embodiments of this disclosure, a synchronization plate 410 is provided, which connects the moving plates 212 in different clamping mechanisms 200, so that multiple clamping mechanisms 200 can operate synchronously, thereby realizing the picking and placing of multiple battery packs. In addition, since multiple clamping mechanisms 200 are connected through the synchronization plate 410, multiple clamping mechanisms 200 can share the drive mechanism 300, further simplifying the structure.

[0186] To facilitate the installation of the synchronization plate 410, referring to FIG17, in some possible embodiments of this disclosure, the fixing plate 222 is provided with a clearance hole 223, and the synchronization plate 410 passes through the clearance hole 223.

[0187] In this embodiment, the clearance hole 223 can be a circular hole, a square hole, a triangular hole, a trapezoidal hole, etc., and the radial cross section of the clearance hole 223 can be the same as or different from the radial cross section of the synchronization plate 410.

[0188] In this embodiment, the synchronization plate 410 and the fixing plate 222 may or may not be in contact. In the case of the synchronization plate 410 and the fixing plate 222, the wall of the clearance hole 223 can also provide support and limit for the synchronization plate 410.

[0189] In the technical solution provided in this embodiment, the fixed plate 222 is provided with a clearance hole 223, and the synchronization plate 410 passes through the clearance hole 223. On the one hand, it is convenient to lay out the synchronization plate 410, thereby facilitating the connection between the synchronization plate 410 and the moving plate 212; on the other hand, the hole wall of the clearance hole 223 can also provide support and limit for the synchronization plate 410.

[0190] To make the force on the movable plate 212 more even, referring to Figures 18 and 19, in some possible embodiments of this disclosure, the gripper M2 further includes a first slide rail 420, which is connected to the support plate 100. The movable plate 212 is slidably connected to the first slide rail 420 via a first slider 430. There are at least two first slide rails 420, which are distributed at both ends of the movable plate 212 along its length.

[0191] In this embodiment of the present disclosure, the length direction of the movable plate 212 is the preset direction X, and at least two first slide rails 420 are distributed at both ends of the movable plate 212 along the length direction, so that both ends of the movable plate 212 can be effectively supported, and the force on the movable plate 212 is more balanced.

[0192] In this embodiment, the movable plate 212 moves along the clamping direction Y. Correspondingly, the first slide rail 420 needs to extend along the clamping direction Y. Therefore, the first slide rail 420 is perpendicular to the fixed plate 222 and needs to pass through the fixed plate 222. The fixed plate 222 is provided with a clearance groove corresponding to the first slide rail 420. The first slide rail 420 passes through the clearance groove to facilitate the arrangement of the first slide rail 420.

[0193] In the technical solution provided by this embodiment, the movable plate 212 is slidably connected to the support plate 100 through the first slide rail 420 and the first slider 430, resulting in low frictional resistance. Furthermore, there are at least two first slide rails 420, which are distributed at both ends of the bearing plate along the length direction, so that the movable plate 212 can be supported by multiple different first slide rails 420, thereby improving the stress stability of the movable plate 212.

[0194] To facilitate the relative movement of the moving plate 212 and the support plate 100, referring to Figures 20 and 21, in some possible embodiments of this disclosure, the driving mechanism 300 includes a first driving cylinder 310, which is connected to the support plate 100. The output shaft of the first driving cylinder 310 is telescopically connected to the moving plate 212.

[0195] In this embodiment, the first driving cylinder 310 can be connected to the side of the support plate 100 where the clamping mechanism 200 is provided, or it can be connected to the side of the support plate 100 where the clamping mechanism 200 is not provided. It is understood that the output shaft of the first driving cylinder 310 extends and retracts along the clamping direction Y. Alternatively, a motor and transmission assembly can be used to drive the moving plate 212 relative to the support plate 100.

[0196] In this embodiment of the present disclosure, when multiple clamping mechanisms 200 are provided, a first driving cylinder 310 can be provided for each moving plate 212, or the moving plates 212 can be connected by a synchronization plate 410 and share a single first driving cylinder 310. Referring to FIG19, in one possible embodiment of the present disclosure, four moving plates 212 arranged along the clamping direction Y are connected by a synchronization plate 410, and the output shaft of the first driving cylinder 310 is connected to one of the moving plates 212.

[0197] In the technical solution provided by the embodiments of this disclosure, a first driving cylinder 310 is provided, the output shaft of the first driving cylinder 310 is telescopically arranged, and the first driving cylinder 310 is connected to the moving plate 212, so that the driving plate can drive the moving plate 212 to move in a straight line. The structure is simple and easy to implement, and the first driving cylinder 310 has large power and good driving accuracy.

[0198] To facilitate the arrangement of the first drive cylinder 310 and to make the clamping mechanism 200 more compact, referring to Figures 21 and 22, in some possible embodiments of this disclosure, the drive mechanism 300 further includes a connecting block 320. The first drive cylinder 310 and the clamping mechanism 200 are respectively disposed on both sides of the support plate 100. The support plate 100 has a through hole 110. The connecting block 320 is connected to the output shaft of the first drive cylinder 310, and the connecting block 320 passes through the through hole 110 and is connected to the moving plate 212.

[0199] In this embodiment, the connecting block 320 is fixedly connected to the output shaft of the first driving cylinder 310, so that the first driving cylinder 310 drives the connecting block 320 to move along the clamping direction Y. It can be understood that the size of the through hole 110 along the clamping direction Y needs to be greater than the displacement of the connecting block 320 along the clamping direction Y, so as to meet the stroke requirements of the connecting block 320.

[0200] In this embodiment of the disclosure, the connecting block 320 can be integrally formed or formed by connecting multiple components together. The connecting block 320 can be regular or irregular in shape, and this embodiment of the disclosure does not limit it.

[0201] In this embodiment of the disclosure, the connecting block 320 can be connected to the moving plate 212 or the synchronization plate 410. The first driving cylinder 310 can be connected to one or more connecting blocks 320. Multiple connecting blocks 320 can be connected to different moving plates 212 or synchronization plates 410, or multiple connecting blocks 320 can be connected to different positions on the same moving plate 212 / synchronization plate 410.

[0202] In the technical solution provided by the embodiments of this disclosure, by setting a connecting hole, the connecting block 320 passes through the through hole 110 on the support plate 100, thereby drivingly connecting the first driving cylinder 310 and the moving plate 212 on both sides of the support plate 100. The first driving cylinder 310 and the moving plate 212 are respectively set on both sides of the moving plate 212, which can reduce the interference between the first driving cylinder 310 and the clamping mechanism 200, and also make the clamping mechanism 200 more compact and make reasonable use of space.

[0203] To make the operation of the clamping mechanism 200 smoother, referring to FIG22, in some possible embodiments of this disclosure, the drive mechanism 300 further includes a buffer structure 330. The buffer structure 330 includes dampers 331 disposed on both sides of the connecting block 320. The dampers 331 are connected to the connecting block 320 and are used to provide motion damping of the connecting block 320 relative to the support plate 100.

[0204] In this embodiment, the damper 331 can be liquid, gas, electromagnetic, etc. The damper 331 can provide damping in the opposite direction to the movement of the connecting block 320, thereby reducing the impact on the connecting block 320 and making the movement of the connecting block 320 more stable.

[0205] In this embodiment, the damper 331 can be disposed on one side of the connecting block 320 or on both sides of the connecting block 320. The dampers 331 on both sides of the connecting block 320 can provide dampers 331 in opposite directions. It can be understood that the two dampers 331 are disposed on both sides of the connecting block 320 along the clamping direction Y.

[0206] In this embodiment of the present disclosure, the damper 331 may also be disposed between the connecting plate and the support plate 100, or the damper 331 may be disposed between the moving plate 212 and the support plate 100; or the damper 331 may be disposed between the moving plate 212 and the fixed plate 222.

[0207] In the technical solution provided by the embodiments of this disclosure, a buffer mechanism is set up, which includes a damper 331. The damper 331 can provide motion damping of the connecting block 320 relative to the support plate 100, making the movement of the connecting block 320 more stable and reducing the impact when the moving plate 212 and other components move into place, thereby protecting the clamping mechanism 200 and the driving mechanism 300.

[0208] To facilitate the arrangement of the clamping mechanism 200, referring to Figures 19 and 23, in some possible embodiments of this disclosure, the first clamping component 210 and the second clamping component 220 form a clamping mechanism 200; the moving plates 212 arranged side by side in different clamping mechanisms 200 are connected to each other, and at least one moving plate 212 is connected to the output shaft of the first drive cylinder 310.

[0209] In this embodiment of the present disclosure, the moving plates 212 arranged side by side in different clamping mechanisms 200 are arranged along a preset direction X in the length direction of the moving plates 212 in different clamping mechanisms 200, and multiple moving plates 212 are arranged sequentially along the clamping direction Y, and their projections in the clamping direction Y at least partially overlap, so as to achieve side by side arrangement.

[0210] In this embodiment, the side-by-side movable plates 212 can be fixed together by a synchronization plate 410. It is understood that the movable plates 212 connected by the synchronization plate 410 can be equipped with one or more first drive cylinders 310, while multiple unconnected movable plates 212 require different first drive cylinders 310 to drive the multiple movable plates 212 to move relative to the support plate 100.

[0211] For example, a single clamping mechanism 200 includes a movable plate 212, and the movable plates 212 in multiple clamping mechanisms 200 are fixed together. A first driving cylinder 310 is provided on the support plate 100, and the output shaft of the first driving cylinder 310 is connected to one of the movable plates 212. The first driving cylinder 310 may be located in the middle of the support plate 100.

[0212] In the technical solution provided by the embodiments of this disclosure, by connecting the moving plates 212 arranged side by side in different clamping mechanisms 200, the moving plates 212 in different clamping mechanisms 200 can move synchronously. When one of the moving plates 212 is connected to the output shaft of the first drive cylinder 310, the first drive cylinder 310 can drive the multiple moving plates 212 in multiple clamping mechanisms 200 to move, thereby simplifying the structure of the drive mechanism 300, making the gripper M2 lighter and easier to maintain.

[0213] In order to make the force on the gripper M2 more even, referring to Figures 19 and 24, in some possible embodiments of this disclosure, the clamping mechanism 200 includes at least two movable plates 212 spaced apart along the length direction. In the clamping mechanism 200, different movable plates 212 are connected to different first drive cylinders 310, and at least two first drive cylinders 310 are evenly distributed on the support plate 100.

[0214] In this embodiment of the present disclosure, the clamping mechanism 200 includes at least two movable plates 212 spaced apart along the length direction. That is, a single clamping mechanism 200 includes at least two movable plates 212, and the at least two movable plates 212 are arranged at intervals along the length direction, i.e., the preset direction X, so that the movable plates 212 in the same clamping mechanism 200 are segmented and can be driven separately.

[0215] In this embodiment of the present disclosure, the clamping mechanism 200 includes at least two movable plates 212, which are distributed sequentially along a preset direction X. The at least two movable plates 212 may correspond to the same fixed plate 222. Alternatively, the clamping mechanism 200 includes the same number of movable plates 212 and fixed plates 222 that correspond one-to-one.

[0216] In this embodiment of the present disclosure, at least two first driving cylinders 310 are evenly distributed on the support plate 100, which can be a linear distribution, a rectangular array distribution, a circular array distribution, etc. Referring to FIG24, in one possible embodiment of the present disclosure, each clamping mechanism 200 includes two moving plates 212, which are arranged sequentially along the length direction of the support plate 100. Two first driving cylinders 310 are correspondingly arranged on the support plate 100 to drive the two moving plates 212 in the same clamping mechanism 200 respectively. This leaves the middle part of the support plate 100 empty, so that the middle part of the support plate 100 can be connected to the transplanting mechanism M5.

[0217] In the technical solution provided by the embodiments of this disclosure, the clamping mechanism 200 is provided with segmented movable plates 212. Different movable plates 212 in the clamping mechanism 200 can be driven by different first driving cylinders 310, making the clamping method more flexible. The first driving cylinders 310 can be flexibly arranged on the support plate according to actual needs, which is also conducive to the stable force on the support plate 100.

[0218] To facilitate adaptation to size differences between battery cells M1, referring to FIG25, in some possible embodiments of this disclosure, one of the first clamping assembly 210 and the second clamping assembly 220 that moves relative to the support plate 100 is provided with a movable plate 212, and the first clamping post 211 or the second clamping post 221 is connected to the movable plate 212; the gripper M2 also includes an elastic mechanism 500, and the movable plate 212 is connected to the corresponding first clamping post 211 or the second clamping post 221 through the elastic mechanism 500. The elastic mechanism 500 elastically deforms at least along the clamping direction Y, which is the relative movement direction of the first clamping assembly 210 and the second clamping assembly 220.

[0219] In this embodiment of the present disclosure, when the first clamping assembly 210 is provided with a movable plate 212, an elastic mechanism 500 is provided between each first clamping post 211 and the movable plate 212; when the second clamping assembly 220 is provided with a movable plate 212, an elastic mechanism 500 is provided between each second clamping post 221 and the movable plate 212.

[0220] Referring to FIG25, in one possible embodiment of this disclosure, the first clamping assembly 210 is provided with a movable plate 212. During the clamping process of the clamping mechanism 200 clamping the battery pack, the movable plate 212 drives the first clamping post 211 to approach the battery cell M1 through the elastic mechanism 500. After the first clamping post 211 contacts the corresponding battery cell M1, under the reaction force of the battery cell M1, the first clamping post 211 will move relative to the support plate 100 to adapt to the size of the battery cell M1, and the elastic mechanism 500 will undergo elastic deformation and provide elastic force, which can be transmitted to the first clamping post 211 so that the first clamping post 211 and the second clamping post 221 cooperate to stably clamp the battery cell M1.

[0221] In the technical solution provided by the embodiments of this disclosure, by setting an elastic mechanism 500, the elastic mechanism 500 can elastically deform along the clamping direction Y, thereby driving the corresponding first clamping post 211 or second clamping post 221 to move relative to the support plate 100, thereby compensating for the size difference between different battery cells M1, so that the clamping mechanism 200 can provide a balanced clamping force for each battery cell M1.

[0222] To provide a stable elastic force, referring to Figures 26, 27, and 28, in some possible embodiments of this disclosure, the elastic mechanism 500 includes a baffle 520, a moving block 530, and an elastic element 510. The baffle 520 is connected to the moving plate 212; the moving block 530 is connected to a corresponding first clamping post 211 or a second clamping post 221; the elastic element 510 is elastically disposed between the moving block 530 and the baffle 520, and the elastic element 510 is extended and retracted at least along the clamping direction Y.

[0223] In this embodiment, the baffle 520 is connected to the movable plate 212, thereby protruding relative to the movable plate 212 to facilitate the arrangement of the elastic member 510. The elastic member 510 can be fixedly connected to either the elastic member 510 or the movable block 530, or the elastic member 510 can abut against both the baffle 520 and the movable block 530.

[0224] In this embodiment of the present disclosure, when the first clamping assembly 210 is provided with a movable plate 212, the movable block 530 is fixed to the first clamping post 211 at the corresponding position; when the second clamping assembly 220 is provided with a movable plate 212, the movable block 530 is fixed to the second clamping post 221 at the corresponding position, so that the movable block 530 and the corresponding first clamping post 211 or second clamping post 221 can move synchronously.

[0225] In this embodiment of the disclosure, the elastic element 510 can be a spring, leaf spring, sheet spring, etc., and can be made of metal material, rubber, elastic plastic, etc. For example, the elastic element 510 is a metal spring.

[0226] In the technical solution provided by the embodiments of this disclosure, the elastic mechanism 500 includes a baffle 520 and a movable plate 212. The elastic element 510 is disposed between the baffle 520 and the movable block 530, and the elastic element 510 can elastically deform along the clamping direction Y to achieve extension and retraction, thereby driving the movable block 530 to move relative to the baffle 520, thereby providing a stable elastic force for the first clamping post 211 or the second clamping post 221 connected on the movable block 530, so as to ensure effective clamping of the battery cell M1.

[0227] To improve the smoothness of the movement of the elastic mechanism 500, referring to Figures 27, 28 and 29, in some possible embodiments of this disclosure, the elastic mechanism 500 further includes a second slide rail 540 and a second slider 550. The second slide rail 540 is connected to the moving plate 212, and the second slider 550 is slidably connected to the second slide rail 540 along the clamping direction Y. The moving block 530 and the corresponding first clamping post 211 or second clamping post 221 are connected to the second slider 550.

[0228] In this embodiment, the second slide rail 540 is arranged along the clamping direction Y so that the second slider 550 slides relative to the second slide rail 540 along the clamping direction Y. The moving block 530 is fixedly connected to the second slider 550. The first clamping post 211 or the second clamping post 221 can be directly connected to the second slider 550 or indirectly connected to the second slider 550.

[0229] In this embodiment, the second slider 550 can also be connected to the adapter block 570. The adapter block 570 is fixedly connected to the second slider 550. The shape of the adapter block 570 is adapted to the arrangement structure of the first clamping post 211 or the second clamping post 221. The moving block 530, the first clamping post 211 or the second clamping post 221 are connected to the adapter block 570 in a detachable or non-detachable manner, thereby facilitating the connection and arrangement of the first clamping post 211, the second clamping post 221 and the moving block 530.

[0230] In the technical solution provided by the embodiments of this disclosure, since a second slide rail 540 and a second slider 550 are provided between the moving block 530 and the moving plate 212, the motion friction can be reduced, and the second slide rail 540 can provide guidance along the clamping direction Y, so that the moving block 530, the first clamping post 211 or the second clamping post 221 can move smoothly relative to the moving plate 212.

[0231] To improve the stability of the elastic element 510, referring to FIG29, in some possible embodiments of this disclosure, the elastic mechanism 500 further includes a guide rod 560, which is connected to the baffle 520, and the elastic element 510 and the moving block 530 are respectively sleeved on the outer periphery of the guide rod 560.

[0232] In this embodiment, the guide rod 560 is arranged parallel to the clamping direction Y, and the radial cross-section of the guide rod 560 can be square, circular, elliptical, rhomboid, triangular, etc. The radial cross-sectional profile of the guide rod 560 can be the same as or different from the radial cross-sectional profile of the elastic element 510.

[0233] In this embodiment of the present disclosure, the guide rod 560 is fixedly connected to the baffle 520, and the moving block 530 is sleeved on the outer periphery of the guide rod 560 to move relative to the baffle 520. Alternatively, the guide rod 560 is fixedly connected to the moving block 530, and the baffle 520 is sleeved on the outer periphery of the guide rod 560.

[0234] In the technical solution provided by this embodiment, a guide rod 560 is provided to limit the elastic member 510, thereby reducing the possibility of the elastic member 510 being skewed and improving the stability of the elastic member 510 during elastic deformation. A through hole is provided on the moving block 530, through which the guide rod 560 can pass, so that the moving block 530 can move relative to the baffle 520.

[0235] To facilitate the handling of individual battery cells M1, referring to FIG34, in some possible embodiments of this disclosure, the gripper M2 further includes a single-grip mechanism 600, which includes a first clamping post 211 and a second clamping post 221. The drive mechanism 300 includes a second drive cylinder 340, which is used to drive the first clamping post 211 and the second clamping post 221 in the single-grip mechanism 600 to move relative to each other to grip the individual battery cell M1.

[0236] In this embodiment, the arrangement of the first clamping post 211 and the second clamping post 221 in the single-take mechanism 600 can be the same as or different from the arrangement of the first clamping post 211 and the second clamping post 221 in the clamping post group 230. For example, the single-take mechanism 600 includes two first clamping posts 211 and two second clamping posts 221, with the two first clamping posts 211 arranged parallel to a preset direction X, and the two second clamping posts 221 also arranged parallel to the preset direction X. The single-take mechanism 600 can be used to clamp water battery cells for testing.

[0237] In this embodiment of the disclosure, the driving mechanism 300 may include a second driving cylinder 340 corresponding to the single-take mechanism 600, so that the second driving cylinder 340 can drive the first clamping column 211 and the second clamping column 221 in the single-take mechanism 600 to move independently.

[0238] In the technical solution provided by this embodiment, since a single-removal mechanism 600 is provided, on the basis that the clamping mechanism 200 can clamp the battery cells M1 in the group, the single-removal mechanism 600 can pick up and put in a single battery cell M1, thereby broadening the application scenarios of the gripper M2.

[0239] To facilitate the handling of the battery cells M1 arranged in a row, referring to Figures 31, 32, and 33, in some possible embodiments of this disclosure, the first clamping assembly 210 and the second clamping assembly 220 form a clamping mechanism 200, and at least one clamping mechanism 200 has a single-take mechanism 600 at its end; the first clamping post 211 in the single-take mechanism 600 is aligned with the first clamping post 211 in the adjacent clamping mechanism 200, and the second clamping post 221 in the single-take mechanism 600 is aligned with the second clamping post 221 in the adjacent clamping mechanism 200.

[0240] In this embodiment of the present disclosure, one or more single-take mechanisms 600 may be provided in the gripper M2. Multiple single-take mechanisms 600 may be provided for different gripping mechanisms 200. The single-take mechanism 600 may be provided at one end of the gripping mechanism 200 along a preset direction.

[0241] In this embodiment of the present disclosure, the single-take mechanism 600 has adjacent clamping mechanisms 200 along the preset direction X and the clamping direction Y, respectively. The first clamping post 211 of the single-take mechanism 600 is aligned with the first clamping post 211 of the adjacent clamping mechanism 200 in the corresponding direction along the preset direction X and the clamping direction Y, respectively. The second clamping post 221 of the single-take mechanism 600 is aligned with the second clamping post 221 of the adjacent clamping mechanism 200 in the corresponding direction along the preset direction X and the clamping direction Y, respectively.

[0242] In the technical solution provided by the embodiments of this disclosure, the single-take mechanism 600 is disposed at the end of the clamping mechanism 200, and the first clamping post 211 and the second clamping post 221 in the single-take mechanism 600 are respectively aligned with the first clamping post 211 and the second clamping post 221 in the adjacent clamping mechanism 200, so that the single-take mechanism 600 and the clamping mechanism 200 can be combined to clamp the battery cells M1 arranged in groups.

[0243] Furthermore, this disclosure also provides a battery baking system. Referring to FIG34, the battery baking system includes a feeding mechanism M3, a baking tray M4, a transfer mechanism M5, and a gripper M2. The feeding mechanism M3 is used to provide battery cells M1 arranged in groups; the baking tray M4 is used to dry or test the battery cells M1 arranged in groups; the transfer mechanism M5 can move between the feeding mechanism M3 and the target arrangement; the gripper M2 is connected to the transfer mechanism M5 and is driven by the transfer mechanism M5 to pick up and place the battery cells M1 from the feeding mechanism M3 onto the baking tray M4.

[0244] In this embodiment of the disclosure, the feeding mechanism M3 is the stacking position of the battery cells M1 in the group. The feeding mechanism M3 can be set in the production equipment upstream of the production line, such as the equipment for assembling battery cells M1. The feeding mechanism M3 can also be a conveyor belt, a transfer trolley, etc.

[0245] In this embodiment of the disclosure, the baking tray M4 is used to dry or test the battery cells M1 arranged in a row. For example, the baking tray M4 is a drying device that can be used to remove excess moisture from the battery cells M1; or, for example, the baking tray M4 is a testing device that can be used to test the performance parameters of the battery cells M1; or, the baking tray M4 has both drying and testing functions.

[0246] In this embodiment of the disclosure, the transfer device is used to drive the gripper M2. The transfer device can be a multi-degree-of-freedom robotic arm, a multi-degree-of-freedom lateral movement mechanism, a lifting mechanism, etc. For example, the transfer device is a multi-degree-of-freedom robotic arm, which can move along a preset direction X, a gripping direction Y, and a vertical direction Z to drive the gripper M2 to move.

[0247] In the technical solution of this disclosure embodiment, since the battery baking system includes a gripper M2, the gripper M2 drives at least two first clamping posts 211 / second clamping posts 221 in a group to move synchronously through the driving mechanism 300, the structure is simpler, and the clamping or releasing operation is more consistent, which facilitates the stable picking and placing of the battery cells M1 in the group.

[0248] To facilitate the unloading of battery cells M1 in the group, referring to FIG34, in some possible embodiments of this disclosure, the battery baking system further includes an unloading mechanism M6, and a transfer mechanism M5 is also configured to move between the baking tray M4 and the unloading mechanism M6; the gripper M2 is also configured to be driven by the transfer mechanism M5 to pick up and place the battery cells M1 in the baking tray M4 after baking to the unloading mechanism M6.

[0249] In this embodiment of the disclosure, the unloading mechanism M6 is the stacking position of the battery cells M1 in the group. The unloading mechanism M6 can be set in the production equipment downstream of the production line, such as the performance testing equipment of the battery cells M1, or the equipment for assembling and packaging the battery cells M1. The unloading mechanism M6 can also be a conveyor belt, a transfer trolley, etc.

[0250] In the technical solution provided in this embodiment, a feeding mechanism M6 is provided. The transfer mechanism M5 can also drive the gripper M2 to pick up and place the battery cell M1 in the baking tray M4 after baking to the feeding mechanism M6, so as to achieve stable feeding of the battery cell M1 in the group.

[0251] In one possible embodiment of this disclosure, the battery baking system includes a gripper M2, a loading mechanism M3, a baking tray M4, a transfer mechanism M5, and a unloading mechanism M6. The loading mechanism M3 is used to provide battery cells M1 (i.e., battery packs) arranged in groups. The battery packs may include four battery rows, each battery row including multiple battery cells M1 arranged in a straight line, and the four battery rows are arranged parallel to each other. The baking tray M4 is a device for drying the battery cells M1. The transfer mechanism M5 can drive the gripper M2 to move between the loading mechanism M3 and the baking tray M4 to pick up and place the battery packs from the loading mechanism M3 onto the baking tray M4 for baking. After the battery cells M1 in groups are baked, the transfer mechanism M5 can also drive the gripper M2 to move between the baking tray M4 and the unloading mechanism M6. The transfer mechanism M5 can drive the gripper M2 to move up and down in the vertical direction Z, translate the gripper M2 in a plane parallel to the preset direction X and the clamping direction Y, and rotate the gripper M2, etc.

[0252] The gripper M2 includes a support plate 100, which is connected to a transfer mechanism M5. The transfer mechanism M5 is used to drive the support plate 100 and its components to move relative to the baking tray M4. Four clamping mechanisms 200 are provided on the lower side of the support plate 100, corresponding to the four battery packs respectively.

[0253] Taking one of the clamping mechanisms 200 as an example, the clamping mechanism 200 includes a first clamping component 210 and a second clamping component 220. The first clamping component 210 includes a movable plate 212 and a plurality of first clamping posts 211 arranged sequentially on the movable plate 212 along a preset direction X. The second clamping component 220 includes a fixed plate 222 and a plurality of second clamping posts 221 arranged sequentially on the fixed plate 222 along a preset direction X. The preset direction X is also the length direction of the fixed plate 222 and the movable plate 212. The fixed plate 222 is fixedly connected to the support plate 100, and the movable plate 212 slides relative to the support plate 100 through a connecting mechanism 400. The movable plate 212 moves relative to the support plate 100 to change the distance between it and the fixed plate 222, thereby changing the distance between the first clamping posts 211 and the second clamping posts 221.

[0254] Specifically, the connecting mechanism 400 includes a first slide rail 420, which is fixedly connected to the lower side of the support plate 100. The sliding direction of the first slide rail 420 is set along the clamping direction Y, that is, the first slide rail 420 is perpendicular to the fixed plate 222. Each first slider 430 on the moving plate 212 is connected to a first slider 430, and the first slider 430 is connected to the corresponding first slide rail 420, so that the moving plate 212 can slide relative to the support plate 100 to move closer to or further away from the corresponding fixed plate 222 along the clamping direction Y of the first slide rail 420. Each moving plate 212 is connected to two first slide rails 420, and the two first slide rails 420 are distributed at both ends of the moving plate 212 to improve the stability of the force.

[0255] Based on this, the connecting mechanism 400 also includes a synchronization plate 410, which is arranged parallel to the clamping direction Y, that is, the synchronization plate 410 is perpendicular to the fixed plate 222. The fixed plate 222 has a clearance hole 223, through which the synchronization plate 410 passes to fix and connect multiple moving plates 212, so that the multiple moving plates 212 can move synchronously relative to the support plate 100. Each moving plate 212 is connected to two synchronization plates 410, and the two synchronization plates 410 can be arranged between two first slide rails 420.

[0256] In addition, the gripper M2 also includes a drive mechanism 300, which includes a first drive cylinder 310. The first drive cylinder 310 is fixedly connected to the upper side of the support plate 100. The output end of the first drive cylinder 310 is connected to a connecting block 320, which passes through a through hole 110 on the support plate 100 and is connected to one of the multiple movable plates 212. The first drive cylinder 310 drives the connecting block 320 to move relative to the support plate 100 by extending and retracting, thereby driving the movable plate 212 to move relative to the support plate 100. Specifically, when the output end of the first drive cylinder 310 extends, it drives one of the movable plates 212 away from the fixed plate 222 through the movement of the connecting block 320. The multiple movable plates 212 are linked by a synchronization plate 410, thereby synchronously switching the multiple gripping mechanisms 200 to the release state. Conversely, when the output end of the first drive cylinder 310 shortens, the multiple gripping mechanisms 200 can be synchronously switched to the gripping state.

[0257] The size of the through hole 110 is larger than the displacement of the connecting block 320 along the clamping direction Y. A buffer structure 330 is also connected to the support plate 100. The buffer structure 330 includes dampers 331 arranged on both sides of the connecting block 320 along the clamping direction Y. The dampers 331 are connected to the connecting block 320 and can provide damping to reduce the impact on the connecting block 320.

[0258] It should be noted that a clamping mechanism 200 includes two movable plates 212, which are arranged sequentially along a preset direction X. Different movable plates 212 are driven by different first drive cylinders 310, thereby reducing the driving force requirement of a single first drive cylinder 310. In addition, the two first drive cylinders 310 are located at both ends of the support plate 100, which also facilitates the connection of the middle part of the support plate 100 to the transplanting mechanism M5, making the force on the support plate 100 more balanced.

[0259] It is understood that in a clamping mechanism 200, a plurality of first clamping posts 211 on the moving plate 212 and a plurality of second clamping posts 221 on the fixed plate 222 are symmetrically arranged, and the first clamping posts 211 and second clamping posts 221 on the moving plate 212 and the fixed plate 222 that are opposite to each other and used to clamp the same battery cell M1 form a clamping post group 230.

[0260] Specifically, the clamping post assembly 230 may include two first clamping posts 211 and two second clamping posts 221. Both the first clamping posts 211 and the second clamping posts 221 are cylindrical. During the movement of the moving plate 212 relative to the fixed plate 222, the two first clamping posts 211 on the moving plate 212 and the two second clamping posts 221 on the fixed plate 222 move closer to or further away from each other to clamp or release the battery pack. When the battery cell M1 is a cylindrical battery, the two first clamping posts 211 and the two second clamping posts 221 are evenly distributed around the periphery of the cylindrical battery, which can stably clamp the cylindrical battery and reduce the possibility of the battery cell M1 falling.

[0261] Here, the movable plate 212 drives multiple first clamping posts 211 on it to move closer to or away from the corresponding second clamping posts 221 on the fixed plate 222, thereby enabling multiple clamping post groups 230 to simultaneously clamp or release battery cells M1, so as to realize the picking and placing of battery packs arranged in groups. This can improve the picking and placing efficiency, improve the consistency of picking and placing operations, and reduce the number of first drive cylinders 310 and related components, simplifying the structure.

[0262] Based on this, an elastic mechanism 500 is provided between the movable plate 212 and each of the first clamping posts 211 on it. The elastic mechanism 500 includes a second slide rail 540, which is fixedly connected to the movable plate 212. A second slider 550 is slidably connected to the second slide rail 540. The second slider 550 moves relative to the second slide rail 540 along the clamping direction Y. A transition block 570 is fixedly connected to the second slider 550. A movable block 530 and a corresponding clamping rod are fixedly connected to the lower side of the transition block 570. A baffle 520 is provided on the lower side of the movable plate 212. The movable block 530 and the baffle 520 are arranged opposite to each other, and an elastic element 510, which is a spring, is provided between them.

[0263] In this configuration, during the clamping process of the battery pack by the clamping mechanism 200, the moving plate 212, through the elastic mechanism 500, drives the first clamping post 211 to approach the battery cell M1. After the first clamping post 211 contacts the corresponding battery cell M1, under the reaction force of the battery cell M1, the first clamping post 211 moves relative to the second slide rail 540, thereby compressing the elastic element 510 through the moving block 530. The elastic element 510 undergoes elastic deformation and provides elastic force, which can be transmitted to the first clamping post 211, so that the first clamping post 211 and the second clamping post 221 cooperate to stably clamp the battery cell M1. With this configuration, the clamping mechanism 200 can simultaneously clamp multiple battery cells M1 in a row. The elastic mechanism 500 can adjust the relative position of the first clamping post 211 and the moving plate 212, which maintains sufficient clamping force and can also compensate for the dimensional errors between battery cells M1, so that each battery cell M1 can be stably stressed, thereby improving the clamping stability of the clamping mechanism 200.

[0264] In addition, a guide rod 560 is fixedly connected to the baffle 520. The guide rod 560 is arranged along the extension and retraction direction of the elastic member 510. A spring is sleeved on the outside of the guide rod 560, and the guide rod 560 provides a limit to reduce the possibility of the elastic member 510 tilting. The moving block 530 is provided with a through hole, through which the guide rod 560 can pass, so as to facilitate the movement of the moving block 530 relative to the baffle 520.

[0265] It should be noted that during the battery pack loading and unloading process, the displacement device can drive the gripper M2 to move along the clamping direction Y, so that both the fixed plate 222 and the moving plate 212 have a gap with the corresponding battery pack in the clamping direction Y. Based on this, the displacement device drives the gripper M2 to descend in the vertical direction Z, so that the battery cell M1 is located between the corresponding first clamping post 211 and second clamping post 221. Based on this, the displacement device then drives the gripper M2 to move in the opposite direction Y, so that the second clamping post 221 abuts against the corresponding battery cell M1. Based on this, the drive mechanism 300 then drives the moving plate 212 to move, and through the adjustment of the elastic mechanism 500, each first clamping post 211 abuts against the corresponding battery cell M1. Since the elastic mechanism 500 is located between the first clamping post 211 and the moving plate 212, it can be positioned first by the second clamping post 221 and then adapted to the size by the elastic mechanism 500. The overall movement of the gripper M2 also reduces the possibility of the fixed plate 222 or the second clamping post 221 colliding with the battery cell M1.

[0266] Based on this, a single-release mechanism 600 is also provided at a corner of the support plate 100. The single-release mechanism 600 includes a single clamping column group 230. The driving mechanism 300 includes a first driving cylinder 310 corresponding to the single-release mechanism 600. The first driving cylinder 310 independently drives the single-release mechanism 600 to move the clamping column and the second clamping column 221 closer or further away from each other, so as to realize the clamping and release of a single battery cell M1.

[0267] The above embodiments are merely illustrative of the technical solutions of this disclosure and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure, and all should be covered within the scope of this disclosure. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This disclosure is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the application documents.

Claims

1. A gripper, comprising: Support plate; The first clamping assembly includes at least two first clamping posts; A second clamping assembly is arranged side by side with the first clamping assembly, and the second clamping assembly includes at least two second clamping posts; A drive mechanism is connected to the support plate. The drive mechanism is used to drive at least one of the first clamping assembly and the second clamping assembly to move relative to the support plate, thereby changing the distance between the first clamping post and the second clamping post to clamp or release battery cells arranged in groups.

2. The gripper according to claim 1, wherein, The first and second clamping posts corresponding to the same battery cell form a clamping post group. Multiple clamping post groups are arranged sequentially along a preset direction. The preset direction is set at an angle to the clamping direction. The clamping direction is the relative movement direction of the first clamping component and the second clamping component.

3. The gripper according to claim 2, wherein, In the clamping post group, the arrangement direction of at least two of the first clamping posts is parallel to the arrangement direction of at least two of the second clamping posts; Wherein, at least two of the first clamping posts are arranged in a direction parallel to the preset direction; or, at least two of the first clamping posts are arranged at an angle to the preset direction.

4. The gripper according to claim 2, wherein, In the clamping post assembly, at least two of the first clamping posts are arranged along a first arrangement axis, and at least two of the second clamping posts are arranged along a second arrangement axis; The first arrangement axis and the second arrangement axis are set at an angle, and at least one of the first arrangement axis and the second arrangement axis is set at an angle to the preset direction.

5. The gripper according to claim 2 or 3, wherein, The clamping column group is symmetrically arranged about a first axis of symmetry, which is parallel to the clamping direction.

6. The gripper according to any one of claims 2, 3, or 5, wherein, In the clamping column group, the arrangement of at least two of the first clamping columns and the arrangement of at least two of the second clamping columns are symmetrically arranged about a second axis of symmetry, which is parallel to the preset direction.

7. The gripper according to any one of claims 2 to 6, wherein, Two adjacent clamping post groups are symmetrically arranged about a third axis of symmetry, which is parallel to the clamping direction; or... The arrangement of the first clamping column in two adjacent clamping column groups is the same, and the arrangement of the second clamping column in two adjacent clamping column groups is the same.

8. The gripper according to any one of claims 2 to 6, wherein, The number of first clamping columns in two adjacent clamping column groups is different, and / or the number of second clamping columns in two adjacent clamping column groups is different.

9. The gripper according to any one of claims 1 to 8, wherein, One of the first clamping assembly and the second clamping assembly includes a fixed plate, and the other includes a movable plate. The first clamping post and the second clamping post are connected to the corresponding fixed plate or the movable plate. The fixed plate is fixedly connected to the support plate, and the movable plate is slidably connected to the support plate.

10. The gripper according to claim 9, wherein, The first clamping component and the second clamping component form a clamping mechanism; The gripper also includes a synchronization plate, and the movable plates in at least two of the gripping mechanisms are fixedly connected to the synchronization plate.

11. The gripper according to claim 10, wherein, The fixing plate has a clearance hole, and the synchronization plate passes through the clearance hole.

12. The gripper according to claim 9 or 10, wherein, It also includes a first slide rail, which is connected to the support plate, and the movable plate is slidably connected to the first slide rail via a first slider; Wherein, there are at least two first slide rails, and the at least two first slide rails are distributed at both ends of the moving plate along its length; and / or, The driving mechanism includes a first driving cylinder, which is connected to the support plate. The output shaft of the first driving cylinder is telescopically connected to the moving plate.

13. The gripper according to claim 12, wherein, The driving mechanism further includes a connecting block. The first driving cylinder and the clamping mechanism are respectively disposed on both sides of the support plate. The support plate has a through hole. The connecting block is connected to the output shaft of the first driving cylinder, and the connecting block passes through the through hole to connect with the moving plate; and / or, The drive mechanism further includes a buffer structure, which includes dampers disposed on both sides of the connecting block. The dampers are connected to the connecting block and are used to provide motion damping of the connecting block relative to the support plate.

14. The gripper according to claim 12 or 13, wherein, The first clamping assembly and the second clamping assembly form a clamping mechanism, and the moving plates arranged side by side in different clamping mechanisms are connected to each other, and at least one of the moving plates is connected to the output shaft of the first driving cylinder.

15. The gripper according to claim 14, wherein, The clamping mechanism includes at least two movable plates spaced apart along the length direction. In the clamping mechanism, different movable plates are connected to different first driving cylinders. At least two first driving cylinders on the support plate are evenly distributed.

16. The gripper according to any one of claims 1 to 15, wherein, One of the first clamping assembly and the second clamping assembly, which moves relative to the support plate, is provided with a movable plate, and the first clamping post or the second clamping post is connected to the movable plate; The gripper also includes an elastic mechanism, and the movable plate is connected to the corresponding first or second clamping post through the elastic mechanism. The elastic mechanism elastically deforms at least along the clamping direction, which is the relative movement direction of the first clamping component and the second clamping component.

17. The gripper according to claim 16, wherein, The elastic mechanism includes: A baffle plate is connected to the movable plate. The movable block is connected to the corresponding first or second clamping post; An elastic element is elastically disposed between the movable block and the baffle, and the elastic element is extended and retracted at least along the clamping direction.

18. The gripper according to claim 17, wherein, The elastic mechanism further includes a second slide rail and a second slider. The second slide rail is connected to the movable plate, and the second slider is slidably connected to the second slide rail along the clamping direction. The movable block and the corresponding first clamping post or second clamping post are connected to the second slider; and / or... The elastic mechanism further includes a guide rod connected to the baffle, and the elastic element and the moving block are respectively sleeved on the outer periphery of the guide rod.

19. The gripper according to any one of claims 1 to 18, wherein, It also includes a single-take mechanism, which includes the first clamping post and the second clamping post; The driving mechanism includes a second driving cylinder, which drives the first and second clamping columns in the single-clamping mechanism to move relative to each other to clamp a single battery cell; and / or, The first clamping assembly and the second clamping assembly form a clamping mechanism, and at least one end of the clamping mechanism is provided with the single-take mechanism; In the single-take mechanism, the first clamping post is aligned with the first clamping post in the adjacent clamping mechanism, and in the single-take mechanism, the second clamping post is aligned with the second clamping post in the adjacent clamping mechanism.

20. A battery baking system, comprising: The feeding mechanism is used to provide battery cells arranged in groups; A baking tray for drying or testing the battery cells arranged in a row; A transfer mechanism is configured to move between the feeding mechanism and the baking tray; The gripper of any one of claims 1 to 19 is connected to the transfer mechanism, the gripper being driven by the transfer mechanism to pick up and place the battery cell from the loading mechanism onto the baking tray; the unloading mechanism; the transfer mechanism is further configured to move between the baking tray and the unloading mechanism; The gripper is also configured to be driven by the transfer mechanism to pick up and place the battery cells from the baking tray after baking into the unloading mechanism.

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