Suction cup mechanism and loading and unloading device

Abstract

Disclosed are a suction cup mechanism and a loading and unloading device. The suction cup mechanism comprises a mounting base and suction cup modules. The mounting base is arranged along a Y direction; a Y-direction spacing adjustment module is arranged on the mounting base; and the suction cup modules are arranged on two sides of the mounting base in the Y direction and each comprise a suction cup assembly and a buffer seat, wherein the suction cup assembly is connected to the buffer seat, the suction cup assembly is used for suctioning a workpiece, and the buffer seat is used for providing buffering when the suction cup assembly is in contact with the workpiece.

Description

Suction cup mechanism and loading / unloading device

[0001] This application claims priority to Chinese patent application No. 202423225354.4, filed on December 25, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to a suction cup mechanism and a loading / unloading device. Background Technology

[0003] During the battery manufacturing process, battery cells need to be moved to different workstations. Currently, loading and unloading devices are used to transfer battery cells between different production lines.

[0004] The loading and unloading device typically uses grippers to pick up the battery cells and then transport them to different workstations, which increases the risk of battery cell damage. Summary of the Invention

[0005] The following is an overview of the detailed description of this application. This overview is not intended to limit the scope of the claims.

[0006] According to one aspect of this application, a suction cup mechanism is provided, including a mounting base and a suction cup module. The mounting base is disposed along the Y direction; the suction cup module is disposed on both sides of the mounting base along the Y direction and includes a suction cup assembly and a buffer seat, wherein the suction cup assembly is used to adsorb a workpiece, and the buffer seat is used to provide cushioning when the suction cup assembly contacts the workpiece.

[0007] According to another aspect of this application, a loading and unloading device is provided, which includes a walking frame, a support frame, and the aforementioned suction cup mechanism; the walking frame includes a walking module, a lifting module, and a load-bearing moving beam, the load-bearing moving beam extending in the Y direction, and the lifting module and the walking module being connected to the load-bearing moving beam; the support frame extending in the X direction; the walking module and the load-bearing moving beam being movably connected to the support frame and capable of moving relative to the support frame in the X direction; the suction cup mechanism is connected to the lifting module and is lifted and lowered under the drive of the lifting module.

[0008] After reading and understanding the accompanying diagrams and detailed descriptions, the other aspects can be understood. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application; those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0010] Figure 1 is a schematic diagram of a suction cup mechanism provided according to one embodiment of this application;

[0011] Figure 2 is a schematic diagram of the suction cup mechanism in Figure 1 from another perspective;

[0012] Figure 3 is a magnified view of a portion of S1 in Figure 1;

[0013] Figure 4 is a magnified view of a portion of S2 in Figure 2;

[0014] Figure 5 is a schematic diagram of a loading and unloading device according to one embodiment of this application;

[0015] Figure 6 is a schematic diagram of the assembly of the suction cup mechanism and the traveling frame in the loading and unloading device;

[0016] Figure 7 is a schematic diagram of the traveling frame in Figure 6.

[0017] The attached figures are labeled as follows:

[0018] 100. Suction cup mechanism;

[0019] 10. Install the base;

[0020] 20. Y-axis pitch adjustment module; 21. Forward and reverse lead screw; 22. Moving nut seat; 23. Pitch adjustment drive motor; 24. Pitch adjustment synchronous pulley belt; 25. Y-axis pitch adjustment slide rail;

[0021] 30. Suction cup module;

[0022] 31. Suction cup assembly; 311. Suction cup plate; 312. Air tube connector; 313. Suction cup; 314. Sensor switch; D. Airway; H. Air vent;

[0023] 32. Buffer seat;

[0024] 321. X-axis buffer plate assembly; 3211. X-axis fixed plate; 3212. X-axis movable plate; 3213. Elastic element fixed plate; 3214. X-axis elastic element; 3215. X-axis slide rail; 3216. X-axis detection switch; 3217. X-axis detection plate;

[0025] 322. Z-axis buffer plate assembly; 3221. Z-axis fixed plate; 3222. Z-axis movable plate; 3223. Z-axis elastic element; 3224. Z-axis slide rail; 3225. Z-axis detection switch; 3226. Z-axis detection plate;

[0026] 400. Walking frame; 410. Walking module; 411. Walking drive motor; 412. Walking synchronous pulley belt; 413. Output shaft; 414. Gear; 420. Lifting module; 430. Load-bearing moving crossbeam;

[0027] 500, Support frame; 600, Material transport line; 700, Transfer platform; 800, Battery cell. Embodiments of the present invention

[0028] In this application, unless otherwise explicitly specified and limited, 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 be 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 this application based on the specific circumstances.

[0029] In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0030] As an introduction to this application, a loading and unloading device is introduced, which uses grippers to grasp battery cells and then transports the cells to different workstations. The grippers include two clamping plates that can move closer together or further apart, clamping the sides of the battery cell to achieve gripping. However, because the clamping plates exert a certain force on the battery cell, the risk of damage to the battery cell increases. Furthermore, the rigid contact between the two clamping plates as they approach the battery cell poses a significant risk of damage.

[0031] In the description of this application, the terms “X direction”, “Y direction” and “Z direction” are determined based on the Cartesian coordinate system constructed by the suction cup mechanism. The “X direction” and “Y direction” define the direction of the horizontal plane, and the Z direction is perpendicular to the direction of the horizontal plane. The three directions are perpendicular to each other.

[0032] Figure 1 is a schematic diagram of a suction cup mechanism 100 according to one embodiment of this application. Figure 2 is a schematic diagram of the suction cup mechanism 100 in Figure 1 from another perspective. Referring to Figures 1 and 2, the suction cup mechanism 100 includes a mounting base 10 and a suction cup module 30.

[0033] The mounting base 10 is arranged along the Y direction. The suction cup module 30 is arranged on both sides of the mounting base 10 in the Y direction and includes a suction cup assembly 31 and a buffer seat 32. The suction cup assembly 31 is connected to the buffer seat 32.

[0034] The suction cup assembly 31 is used to adsorb the workpiece, and the buffer seat 32 is used to provide cushioning when the suction cup assembly 31 contacts the workpiece.

[0035] In this embodiment, the mounting base 10 provides support for other components in the suction cup mechanism 100, that is, it serves as the main support component in the suction cup mechanism 100. The suction cup module 30 includes at least a suction cup assembly 31 and a buffer seat 32, and the suction cup assembly 31 is connected to the mounting base 10 through the buffer seat 32.

[0036] Optionally, when the suction cup assembly 31 adsorbs the workpiece, the buffer seat 32 can provide cushioning to reduce the risk of workpiece damage caused by rigid contact between the suction cup assembly 31 and the workpiece. Moreover, since the method of adsorbing the workpiece is used, compared with the method of gripping the workpiece with claws, it is not necessary to apply a clamping force to the workpiece, which can reduce the risk of workpiece damage.

[0037] In some optional embodiments, the suction cup mechanism 100 further includes a Y-axis spacing adjustment module 20; the Y-axis spacing adjustment module 20 is disposed on the mounting base 10, and the suction cup modules 30 on both sides of the Y-axis are configured to move closer to or further away from each other under the drive of the Y-axis spacing adjustment module 20.

[0038] In this embodiment, the Y-axis spacing adjustment module 20 can drive the buffer seat 32 to move the suction cup assembly 31, that is, adjust the Y-axis spacing between the suction cup assemblies 31 in the suction cup modules 30 on both sides of the Y-axis, so that it can adsorb workpieces with different Y-axis lengths, and has higher versatility.

[0039] In the embodiments shown in Figures 1 and 2, the Y-axis pitch adjustment module 20 is a linear transmission module based on a lead screw. Specifically, the Y-axis pitch adjustment module 20 includes forward and reverse lead screws 21, a movable nut seat 22, a pitch adjustment drive motor 23, and a pitch adjustment synchronous pulley belt 24.

[0040] The forward and reverse lead screws 21 are rotatably connected to the mounting base 10, and each of the forward and reverse lead screw sections is movably connected to a movable nut seat 22. That is, each of the forward and reverse lead screw sections is movably connected to a movable nut seat 22. The pitch adjustment drive motor 23 and the pitch adjustment synchronous pulley belt 24 are both located at the same end of the mounting base 10 in the Y direction, and the pitch adjustment drive motor 23 drives the forward and reverse lead screws 21 to rotate via the pitch adjustment synchronous pulley belt 24.

[0041] The suction cup modules 30 on both sides of the Y direction are connected to the movable nut seats 22 on both sides. During the rotation of the forward and reverse screws 21, the movable nut seats 22 on both sides can drive the suction cup modules 30 on both sides to move closer to or further away from each other.

[0042] It should be noted that if one of the forward and reverse lead screw sections of the forward and reverse lead screw 21 uses a left-hand thread, then the other uses a right-hand thread. Of course, the pitch adjustment drive motor 23 is not limited to driving the forward and reverse lead screw 21 through the pitch adjustment synchronous pulley belt 24; for example, a gear set can also be used.

[0043] In addition, to ensure the stability of the suction cup module 30 during movement, the buffer seat 32 is slidably connected to the mounting base 10 through the Y-axis spacing adjustment slide rail 25. That is, the stability of the suction cup module 30 during Y-axis movement is ensured by the combination of the forward and reverse lead screw 21 and the Y-axis spacing adjustment slide rail 25.

[0044] It should be noted that the Y-axis spacing adjustment module 20 is not limited to a linear module based on a lead screw. For example, it can use a linear motor or electric push rods arranged opposite each other in the Y-axis.

[0045] Figure 3 is a partial enlarged view of S1 in Figure 1. Referring to Figure 3, in some optional embodiments, the suction cup assembly 31 includes a suction cup plate 311, a plurality of air tube connectors 312, and a plurality of suction cups 313.

[0046] Multiple air passages D are formed inside the suction cup plate 311, and multiple air pipe connectors 312 are disposed on the suction cup plate 311 and connected to the multiple air passages D. Multiple suction cups 313 are disposed on both sides of the suction cup plate 311 in the Y direction and form air holes H that communicate with the air passages D.

[0047] In this embodiment, the suction cup assembly 31 includes at least a suction cup plate 311, a plurality of air pipe connectors 312 and a plurality of suction cups 313, with the air pipe connectors 312 and suction cups 313 all fixedly mounted on the suction cup plate 311.

[0048] The air pipe connector 312 is connected to the air passage D on the suction cup plate 311. In specific applications, the air pipe connector 312 can be connected to a negative pressure air pipe. Here, a negative pressure air pipe refers to a pipeline connected to a negative pressure device. The negative pressure device can create negative pressure in the negative pressure pipeline. Negative pressure means pressure lower than atmospheric pressure. Negative pressure devices can refer to, for example, air compressors, pumps, etc.

[0049] In other words, a negative pressure can be formed within the air passage D, which in turn creates a negative pressure at the multiple air holes H on the suction cup 313 for adsorbing the workpiece. The suction cup plate 311 has multiple suction cups 313 to ensure that sufficient adsorption force can be generated to act on the workpiece.

[0050] In the embodiment shown in Figure 3, there are four suction cups 313, with two suction cups 313 arranged on each side of the suction cup plate 311 in the Y direction. However, this is not a limitation; the number of suction cups 313 can be an even number, and the number can be adjusted according to requirements. Furthermore, it is not limited to a negative pressure adsorption method.

[0051] In an optional embodiment, the suction cup assembly 31 further includes a sensing switch 314 disposed on the suction cup plate 311 and located between the suction cups 313 on both sides.

[0052] In this embodiment, the sensing switch 314 is fixedly installed on the suction cup plate 311 and located between the suction cups 313 on both sides. The sensing switch 314 is used to confirm whether the workpiece is adsorbed. Specifically, the sensing switch 314 can generate a switching signal, and the change of the switching signal is used to determine whether the workpiece is adsorbed.

[0053] Figure 4 is a partial enlarged view of point S2 in Figure 2. Referring to Figures 2 and 4, in some optional embodiments, the buffer seat 32 includes an X-direction buffer plate assembly 321 and a Z-direction buffer plate assembly 322.

[0054] X-axis buffer plate assembly 321 is connected to mounting base 10 and is used to provide X-axis buffering, Z-axis buffer plate assembly 322 is connected to X-axis buffer plate assembly 321 and is used to provide Z-axis buffering, and suction cup assembly 31 is connected to Z-axis buffer plate assembly 322.

[0055] In this embodiment, the buffer seat 32 can provide X-axis buffering and Z-axis buffering. The X-axis buffering is provided by the X-axis buffer plate group 321, and the Z-axis buffering is provided by the Z-axis buffer plate group 322.

[0056] Since the Z-axis buffer plate assembly 322 itself has a Z-axis buffering function and is also installed on the X-axis buffer plate assembly 321, the suction cup assembly 31 installed on the Z-axis buffer plate assembly 322 can provide X-axis buffering and Z-axis buffering during the contact with the workpiece under the action of the two buffer plate assemblies.

[0057] In an optional embodiment, the X-direction buffer plate assembly 321 includes an X-direction fixed plate 3211, an X-direction movable plate 3212, an elastic element fixed plate 3213, an X-direction elastic element 3214, and an X-direction slide rail 3215.

[0058] The X-direction fixed plate 3211 is connected to the mounting base 10, the X-direction movable plate 3212 is located below the X-direction fixed plate 3211 in the Z direction, and the X-direction slide rail 3215 is connected between the X-direction fixed plate 3211 and the X-direction movable plate 3212.

[0059] The elastic element fixing plate 3213 is located on the X-direction side of the X-direction fixing plate 3211 away from the Z-direction buffer plate group 322, and the X-direction elastic element 3214 is connected between the elastic element fixing plate 3213 and the X-direction movable plate 3212 at one end.

[0060] In this embodiment, the X-direction fixing plate 3211 can be installed on the movable nut seat 22 in the Y-direction spacing adjustment module 20, and is movably connected to the mounting base 10 through the Y-direction spacing adjustment slide rail 25. Specifically, the mounting base 10 is equipped with the guide rail in the Y-direction spacing adjustment slide rail 25, and the X-direction fixing plate 3211 is equipped with the slider in the Y-direction spacing adjustment slide rail 25. This cooperation enables the X-direction fixing plate 3211 and the mounting base 10 to slide and connect.

[0061] Optionally, the X-direction movable plate 3212 and the X-direction fixed plate 3211 are spaced apart in the Z-direction, and the X-direction movable plate 3212 is located below the X-direction fixed plate 3211. The X-direction movable plate 3212 is slidably connected to the X-direction fixed plate 3211 via the X-direction slide rail 3215.

[0062] Specifically, the guide rail in the X-axis slide rail 3215 is mounted on the X-axis fixed plate 3211, and the slider in the X-axis slide rail 3215 is mounted on the X-axis movable plate 3212, thus achieving a sliding connection between the X-axis movable plate 3212 and the X-axis fixed plate 3211. Furthermore, the X-axis fixed plate 3211 is mounted on the movable nut seat 22, and during movement, the movable nut seat 22 drives the X-axis fixed plate 3211 to move along the X-axis slide rail 3215.

[0063] In addition, an elastic element fixing plate 3213 is fixedly installed on the X-direction side of the X-direction fixing plate 3211 away from the Z-direction buffer plate group 322. The elastic element fixing plate 3213 extends outward from the X-direction fixing plate 3211, and the X-direction elastic element 3214 is sandwiched between the elastic element fixing plate 3213 and the end of the X-direction movable plate 3212 near the elastic element fixing plate 3213.

[0064] In addition, the X-axis movable plate 3212 is connected to the Z-axis buffer plate group 322 on which the suction cup assembly 31 is installed. Thus, during the process of the suction cup assembly 31 and the workpiece touching in the X-axis, the X-axis elastic element 3214 will be squeezed to play a buffering role.

[0065] In an optional embodiment, the X-axis buffer plate assembly 321 further includes an X-axis detection switch 3216 and an X-axis detection piece 3217. The X-axis detection switch 3216 is connected to the X-axis fixed plate 3211, and the X-axis detection piece 3217 is connected to the X-axis movable plate 3212. The X-axis detection piece 3217 can move along the X-axis with the X-axis movable plate 3212 to the position of the X-axis detection switch 3216.

[0066] In this embodiment, an X-axis detection switch 3216 is installed on the X-axis fixed plate 3211, and an X-axis detection piece 3217 is installed on the X-axis movable plate 3212. During the movement of the X-axis movable plate 3212, it can drive the X-axis detection piece 3217 to move and reach the X-axis detection switch 3216, thereby triggering the X-axis detection switch 3216 to change the switching signal.

[0067] It should be understood that when the X-axis elastic member 3214 is not compressed, the X-axis spacing between the X-axis detection switch 3216 and the X-axis detection piece 3217 defines the maximum allowable X-axis buffering amount. When the X-axis elastic member 3214 is compressed, it indicates that buffering has occurred in the X-axis direction. Furthermore, when the X-axis detection piece 3217 reaches the position of the X-axis detection switch 3216, the X-axis detection switch 3216 is triggered to change the switching signal, indicating that the suction cup assembly 31 and the workpiece have excessive contact in the X-axis direction.

[0068] In an optional embodiment, the Z-direction buffer plate assembly 322 includes a Z-direction fixed plate 3221, a Z-direction movable plate 3222, a Z-direction elastic element 3223, and a Z-direction slide rail 3224.

[0069] Z-direction fixed plate 3221 is connected to X-direction movable plate 3212 and extends downward. Z-direction movable plate 3222 and Z-direction fixed plate 3221 are spaced apart in the X-direction. Z-direction slide rail 3224 is connected between Z-direction fixed plate 3221 and Z-direction movable plate 3222.

[0070] The Z-axis elastic element 3223 is connected between the top ends of the X-axis movable plate 3212 and the Z-axis movable plate 3222, and the suction cup assembly 31 is connected to the Z-axis movable plate 3222 and extends downward.

[0071] In this embodiment, the Z-direction fixed plate 3221 is mounted on the X-direction movable plate 3212 and extends downward. The Z-direction movable plate 3222 and the Z-direction fixed plate 3221 are spaced apart in the X-direction. The Z-direction movable plate 3222 is slidably connected to the Z-direction fixed plate 3221 through the Z-direction slide rail 3224.

[0072] Specifically, the guide rail in the Z-axis slide rail 3224 is mounted on the Z-axis fixed plate 3221, and the slider in the Z-axis slide rail 3224 is mounted on the Z-axis movable plate 3222, thus realizing the sliding connection between the Z-axis movable plate 3222 and the Z-axis slide rail 3224.

[0073] Optionally, the Z-axis elastic element 3223 is sandwiched between the top ends of the X-axis movable plate 3212 and the Z-axis movable plate 3222. In this way, during the contact between the suction cup assembly 31 and the workpiece in the Z-axis, the Z-axis elastic element 3223 will be squeezed to play a buffering role.

[0074] In an optional embodiment, the Z-axis buffer plate assembly 322 further includes a Z-axis detection switch 3225 and a Z-axis detection piece 3226. The Z-axis detection switch 3225 is connected to the Z-axis fixed plate 3221, and the Z-axis detection piece 3226 is connected to the Z-axis movable plate 3222. The Z-axis detection piece 3226 can move along the Z-axis with the Z-axis fixed plate 3221 to the position of the Z-axis detection switch 3225.

[0075] In this embodiment, a Z-axis detection switch 3225 is installed on the Z-axis fixed plate 3221, and a Z-axis detection piece 3226 is fixedly installed on the Z-axis movable plate 3222. During the movement of the Z-axis movable plate 3222, it can drive the Z-axis detection piece 3226 to move, thereby allowing the Z-axis detection piece 3226 to reach the position of the Z-axis detection switch 3225, so as to trigger the Z-axis detection switch 3225 to change the switching signal.

[0076] It should be understood that, when the Z-axis elastic member 3223 is not compressed, the Z-axis spacing between the Z-axis detection switch 3225 and the Z-axis detection piece 3226 defines the maximum permissible Z-axis buffering amount. When the Z-axis elastic member 3223 is compressed, it indicates that buffering has occurred in the Z-axis direction, and when the Z-axis detection piece 3226 reaches the position of the Z-axis detection switch 3225, the Z-axis detection switch 3225 is triggered to change the switching signal, indicating that the suction cup assembly 31 and the workpiece have excessive contact in the Z-axis direction.

[0077] It should be noted that the Y-axis spacing adjustment slide rail 25, X-axis slide rail 3215 and Z-axis slide rail 3224 mentioned above can all be combinations of guide rails and sliders. The sensing switch 314, X-axis detection switch 3216 and Z-axis detection switch 3225 can all be photoelectric switches. In specific applications, the X-axis detection switch 3216 and Z-axis detection switch 3225 are slot-type photoelectric switches.

[0078] Furthermore, the X-direction elastic element 3214 and the Z-direction elastic element 3223 can be a combination of a spring or a spring-coated guide post. That is, the X-direction elastic element 3214 can be a spring or a combination of a spring-coated guide post; the Z-direction elastic element 3223 can be a spring or a combination of a spring-coated guide post.

[0079] Figure 5 is a schematic diagram of a loading and unloading device according to one embodiment of this application. Figure 6 is a schematic diagram of the assembly of the suction cup mechanism 100 and the traveling frame 400 in the loading and unloading device. Figure 7 is a schematic diagram of the traveling frame 400 in Figure 6.

[0080] Referring to Figures 5 to 7, in some optional embodiments, the loading and unloading device includes a traveling frame 400 and the aforementioned suction cup mechanism 100. The traveling frame 400 includes a traveling module 410, a lifting module 420, and a supporting moving beam 430. The supporting moving beam 430 extends in the Y direction, and both the lifting module 420 and the traveling module 410 are connected to the supporting moving beam 430. The suction cup mechanism 100 is connected to the lifting module 420 and moves up and down under the drive of the lifting module 420.

[0081] Optionally, the loading and unloading device further includes a support frame 500, which extends along the X direction. The traveling module 410 and the load-bearing moving beam 430 are both movably connected to the support frame 500, and both the traveling module 410 and the load-bearing moving beam 430 are capable of moving relative to the support frame 500 in the X direction.

[0082] In this embodiment, the supporting movable crossbeam 430 can provide support, and the mounting base 10 in the suction cup mechanism 100 is mounted on the supporting movable crossbeam 430.

[0083] The walking module 410 and the load-bearing moving crossbeam 430 are movably connected to the support frame 500. The walking module 410 provides driving force, enabling the walking frame 400 to drive the suction cup mechanism 100 to move in the X direction, that is, the suction cup mechanism 100 has X-direction freedom of movement.

[0084] In addition, since the suction cup mechanism 100 is installed on the lifting module 420 on the walking frame 400, the suction cup mechanism 100 has a Z-axis degree of freedom of movement under the action of the lifting module 420.

[0085] As can be seen, the suction cup mechanism 100, in cooperation with the traveling frame 400 and the support frame 500, possesses X-axis and Z-axis degrees of freedom of movement. Understandably, the suction cup module 30 can approach the workpiece along the X or Z axis. Correspondingly, since the suction cup module 30 has a buffer seat 32, and in an optional embodiment, this buffer seat 32 can provide X-axis and Z-axis cushioning, the suction cup assembly 31 in the suction cup module 30 can buffer when it contacts the workpiece. Furthermore, in the event of excessive contact, a corresponding detection switch is triggered to send a switching signal, causing the traveling module 410 or the lifting module 420 to stop operating, thus preventing damage to the workpiece due to excessive contact.

[0086] In a specific application, the walking module 410 includes a walking drive motor 411, a walking synchronous belt 412, an output shaft 413, and gears 414. Gears 414 are installed at both ends of the axial direction of the output shaft 413. The walking drive motor 411 drives the output shaft 413 to rotate through the walking synchronous belt 412, thereby driving the gears 414 on both sides to rotate.

[0087] Correspondingly, racks extending in the X direction are provided on both sides of the support frame 500 in the Y direction, which cooperate with the gears 414 on both sides. In addition, in order to improve the stability of the traveling frame 400 during movement, guide rails extending in the X direction are also provided on both sides of the support frame 500 in the Y direction, and sliders are provided at both ends of the moving crossbeam 430 in the Y direction to slide and cooperate with the guide rails on both sides of the support frame 500. In addition, the lifting module 420 can be a lead screw type linear module, a synchronous belt type linear module, or a linear motor.

[0088] In practical applications, this loading and unloading device is used to transport battery cells 800 between the material transport line 600 and the transfer platform 700. The material transport line 600 conveys the battery cells 800, and the transfer platform 700 can hold the battery cells 800. The suction cup assemblies 31 on both sides can adsorb the battery cells, and under the protection of the buffer seat 32, the risk of damaging the battery cells 800 can be greatly reduced. Moreover, by using the adsorption method to replace the existing clamping method, there is no need to apply clamping force to the battery cells 800, further reducing the risk of damaging the battery cells 800.

[0089] In summary, the suction cup mechanism and loading / unloading device provided in this application have at least the following beneficial effects:

[0090] The loading and unloading device provided in this application can be applied to the handling of battery cells 800 and adopts a suction cup mechanism 100. The suction cup mechanism 100 adsorbs the battery cells 800 to replace the existing solution of using grippers to grasp the battery cells 800. It is not necessary to apply a clamping force to the battery cells 800, which can reduce the risk of damaging the battery cells 800.

[0091] The suction cup mechanism 100 has at least a mounting base 10 and a suction cup module 30. The suction cup module 30 has at least a suction cup assembly 31 and a buffer seat 32. When the suction cup assembly 31 adsorbs the battery cell 800, the buffer seat 32 can provide cushioning to reduce the risk of damage to the battery cell 800 caused by the rigid contact between the suction cup assembly 31 and the battery cell 800.

[0092] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A suction cup mechanism, comprising: Mounting base, positioned along the Y direction; as well as A suction cup module is disposed on both sides of the mounting base in the Y direction and includes a suction cup assembly and a buffer seat, wherein the suction cup assembly is connected to the buffer seat; The suction cup assembly is configured to adsorb the workpiece, and the buffer seat is configured to provide cushioning when the suction cup assembly contacts the workpiece.

2. The suction cup mechanism according to claim 1, wherein, The buffer seat includes an X-axis buffer plate group and a Z-axis buffer plate group; The X-axis buffer plate assembly is connected to the mounting base and is used to provide X-axis buffering; the Z-axis buffer plate assembly is connected to the X-axis buffer plate assembly and is used to provide Z-axis buffering; the suction cup assembly is connected to the Z-axis buffer plate assembly.

3. The suction cup mechanism according to claim 2, wherein, The X-direction buffer plate assembly includes an X-direction fixed plate, an X-direction movable plate, an elastic element fixed plate, an X-direction elastic element, and an X-direction slide rail; The X-direction fixed plate is connected to the mounting base, the X-direction movable plate is located below the X-direction fixed plate in the Z-direction, and the X-direction slide rail is connected between the X-direction fixed plate and the X-direction movable plate. The elastic element fixing plate is disposed on the X-direction side of the X-direction fixing plate away from the Z-direction buffer plate group, and the X-direction elastic element is connected between the elastic element fixing plate and one X-direction end of the X-direction movable plate.

4. The suction cup mechanism according to claim 3, wherein, The X-axis buffer plate assembly also includes an X-axis detection switch and an X-axis detection plate; The X-axis detection switch is connected to the X-axis fixed plate, and the X-axis detection plate is connected to the X-axis movable plate, and can move along the X-axis with the X-axis movable plate to the position of the X-axis detection switch.

5. The suction cup mechanism according to claim 3, wherein, The Z-axis buffer plate assembly includes a Z-axis fixed plate, a Z-axis movable plate, a Z-axis elastic element, and a Z-axis slide rail; The Z-direction fixed plate is connected to the X-direction movable plate and extends downward; the Z-direction movable plate and the Z-direction fixed plate are spaced apart in the X-direction; the Z-direction slide rail is connected between the Z-direction fixed plate and the Z-direction movable plate. The Z-axis elastic element is connected between the top of the X-axis movable plate and the top of the Z-axis movable plate; the suction cup assembly is connected to the Z-axis movable plate and extends downward.

6. The suction cup mechanism according to claim 5, wherein, The Z-axis buffer plate assembly also includes a Z-axis detection switch and a Z-axis detection plate; The Z-axis detection switch is connected to the Z-axis fixed plate, the Z-axis detection piece is connected to the Z-axis movable plate, and the Z-axis detection piece can move along the Z-axis with the Z-axis fixed plate to the position of the Z-axis detection switch.

7. The suction cup mechanism according to any one of claims 1 to 6, wherein the suction cup mechanism (100) further comprises a Y-axis spacing adjustment module; The Y-axis spacing adjustment module is disposed on the mounting base, and the suction cup modules on both sides of the Y-axis are configured to move closer to or further away from each other under the drive of the Y-axis spacing adjustment module.

8. The suction cup mechanism according to claim 1, wherein, The suction cup assembly includes a suction cup plate, multiple air tube connectors, and multiple suction cups; Multiple air channels are formed inside the suction cup plate, and multiple air pipe connectors are disposed on the suction cup plate and connected to the multiple air channels. Multiple suction cups are disposed on both sides of the suction cup plate in the Y direction, and multiple air holes are formed that communicate with the air passage.

9. The suction cup mechanism according to claim 7, wherein, The suction cup assembly also includes a sensing switch, which is disposed on the suction cup plate and located between the suction cups on both sides.

10. A loading and unloading device, comprising a walking frame, a support frame, and a suction cup mechanism according to any one of claims 1 to 9; The traveling frame includes a traveling module, a lifting module, and a load-bearing moving crossbeam. The load-bearing moving crossbeam extends in the Y direction, and both the lifting module and the traveling module are connected to the load-bearing moving crossbeam. The support frame extends along the X direction, and the walking module and the load-bearing moving beam are both movably connected to the support frame and can move relative to the support frame in the X direction. The suction cup mechanism is connected to the lifting module and moves up and down under the drive of the lifting module.

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