CN112456122A

CN112456122A - Electricity core grabbing device and electricity core transshipment equipment

Info

Publication number: CN112456122A
Application number: CN202011359442.7A
Authority: CN
Inventors: 不公告发明人
Original assignee: Wuxi Lead Intelligent Equipment Co Ltd
Current assignee: Wuxi Lead Intelligent Equipment Co Ltd
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-03-09

Abstract

The invention relates to a battery cell grabbing device and battery cell transferring equipment.A driving mechanism is in transmission connection with mounting seats of a clamping jaw mechanism, and a plurality of clamping jaw arms can be synchronously driven to move by driving two mounting seats which are oppositely arranged to be close to or far away from each other so as to enable a plurality of elastic clamping parts to be clamped or opened, so that the number of the driving mechanisms can be obviously reduced. Therefore, the structure of the battery cell grabbing device and the battery cell transferring equipment can be obviously simplified. Moreover, the elastic clamping part can deform elastically when the battery cell is clamped, so that the size of the battery cells to be clamped is allowed to have errors. When the driving mechanism drives the plurality of elastic clamping parts to clamp, the feeding amount of the driving mechanism follows the principle of maximization. Like this, can guarantee that all electric cores homoenergetic are got by the clamp smoothly, and can not cause the damage to other electric cores. In addition, the elastic clamping part can generate restoring force after being elastically deformed, so that the battery cell can be clamped more reliably.

Description

Electricity core grabbing device and electricity core transshipment equipment

Technical Field

The invention relates to the technical field of battery processing, in particular to a battery cell grabbing device and battery cell transferring equipment.

Background

In the battery assembling process, the battery core needs to be transported to a set station. In order to improve the rotating efficiency, a plurality of clamping jaws are usually arranged on the transferring equipment, so that a plurality of battery cells can be clamped and transferred simultaneously. Wherein, a plurality of clamping jaws need to be driven by a plurality of cylinders respectively to realize clamping or unclamping. Therefore, the whole structure of the device is complex, the occupied space is large and the manufacturing cost is high.

Disclosure of Invention

Therefore, it is necessary to provide a cell gripping device and a cell transferring apparatus with simple structures in order to solve the above problems.

A cell gripping device (100) comprising:

a frame (110);

the clamping jaw mechanisms (120) comprise a mounting seat (121) and a plurality of clamping jaw arms (122) arranged on the mounting seat (121) at intervals along a first direction, the mounting seat (121) is slidably arranged on the rack (110) along a second direction perpendicular to the first direction, and the clamping jaw arms (122) on two clamping jaw mechanisms (120) oppositely arranged along the second direction are matched to form a plurality of elastic clamping parts (101) arranged at intervals along the first direction; and

and the driving mechanism (130) is arranged on the rack (110), is in transmission connection with the mounting seats (121) of the two clamping jaw mechanisms (120) oppositely arranged along the second direction, and can drive the two mounting seats (121) to approach or move away from each other along the second direction.

In one embodiment, each of the claw arms (122) is slidably disposed on the mounting seat (121) along the second direction, and an elastic member (123) is disposed between the claw arm (122) and the mounting seat (121), wherein the elastic member (123) provides the claw arm (122) with an elastic force along the inner side of the elastic clamping portion (101).

In one embodiment, a guide rod (1221) extending along the second direction is disposed on the jaw arm (122), the elastic member (123) is a compression spring sleeved on the guide rod (1221) and clamped between the jaw arm (122) and the mounting seat (121), and the jaw mechanism further includes an adjusting nut disposed on the guide rod (1221) and capable of adjusting a pre-compression amount of the compression spring.

In one embodiment, the mounting seat (121) is provided with a limiting rod (1211) extending along the second direction and spaced from the guide rod (1221), and the claw clamping arm (122) can slide relative to the mounting seat (121) to abut against the limiting rod (1211).

In one embodiment, the mounting seat (121) has a guiding chute (1212), and the guiding chute (1212) is inclined with respect to the first direction, and the driving mechanism (130) includes:

the clamping driving piece (131) is fixedly arranged on the rack (110) and positioned between the two mounting seats (121), and the clamping driving piece (131) can be driven linearly along the first direction;

and the moving plate (132) is slidably arranged on the rack (110) along the first direction and fixedly arranged at the driving end of the clamping driving piece (131), and two ends of the moving plate (132) are respectively slidably arranged in the guide sliding grooves (1212) of the two mounting seats (121).

In one embodiment, the device further comprises a detection mechanism (150), wherein the detection mechanism (150) comprises:

a mounting plate (151) provided to the frame (110);

the flexible driving parts (152) are arranged at intervals along the first direction and are in one-to-one correspondence with the elastic clamping parts (101), the driving end of each flexible driving part (152) is fixedly provided with a detection block (153), and the tail end, far away from the flexible driving part (152), of each detection block (153) is provided with a notch for clamping a battery cell;

each telescopic driving piece (152) can drive the corresponding detection block (153) to be telescopic along a third direction perpendicular to the first direction and the second direction.

In one embodiment, the system further comprises a drop-prevention mechanism (160), wherein the drop-prevention mechanism (160) comprises:

a tow bar (161) extending in the first direction;

the towing rod driving assembly (162) is arranged on the rack (110) and is in transmission connection with the towing rod (161), and the towing rod driving assembly (162) can drive the towing rod (161) to move along a third direction which is vertical to the second direction and the first direction and the second direction.

In one embodiment, the tow bar drive assembly (162) comprises:

a first bearing plate (1621);

the first driving piece (1622) can drive the first bearing plate (1621) to slide along the second direction;

and the second driving piece (1623) is arranged on the first bearing plate (1621) and is in transmission connection with the towing rod (161), and the second driving piece (1623) can drive the towing rod (161) to move along the third direction.

In one embodiment, the drawbar drive assembly (162) further includes a second bearing plate (1624) slidably disposed on the frame (110) and a locking screw (1625), the locking screw (1625) is capable of positioning the second bearing plate (1624) on the frame (110), and the first bearing plate (1621) is slidably disposed on the second bearing plate (1624) along the second direction.

A cell transfer apparatus comprising:

the cell gripping device (100) according to any of the above-described preferred embodiments; and

the manipulator is in transmission connection with the rack (110) of the battery cell grabbing device (100).

Above-mentioned electric core grabbing device and electric core transshipment equipment, actuating mechanism are connected with the mount pad transmission of clamping jaw mechanism, and two mount pads through ordering about relative setting are close to each other or keep away from, can order about a plurality of clamping jaw arms in step and remove to make a plurality of elasticity clamping part press from both sides tightly simultaneously or open, so actuating mechanism's quantity can show the reduction. Therefore, the structure of the battery cell grabbing device and the battery cell transferring equipment can be obviously simplified. Moreover, the elastic clamping part can deform elastically when the battery cell is clamped, so that the size of the battery cells to be clamped is allowed to have errors. When the driving mechanism drives the plurality of elastic clamping parts to clamp, the feeding amount of the driving mechanism follows the principle of maximization. Like this, can guarantee that all electric cores homoenergetic are got by the clamp smoothly, and can not cause the damage to other electric cores. In addition, the elastic clamping part can generate restoring force after being elastically deformed, so that the battery cell can be clamped more reliably.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a front view of a cell gripping device according to a preferred embodiment of the present invention;

fig. 2 is a top view of the cell gripping device shown in fig. 1;

fig. 3 is a side view of the cell gripping device shown in fig. 1;

fig. 4 is a front view of a clamping jaw mechanism in the cell gripping device shown in fig. 1;

FIG. 5 is a side view of the jaw mechanism shown in FIG. 4;

fig. 6 is a top view of a detection mechanism in the cell grasping apparatus shown in fig. 1;

fig. 7 is a side view of the detection mechanism shown in fig. 6.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, the present invention provides a battery cell transferring apparatus and a battery cell grabbing device 100. The above-mentioned cell transferring apparatus includes a cell gripping device 100 and a manipulator (not shown). The battery cell grabbing device 100 can grab and release the battery cell, and the manipulator can drive the battery cell grabbing device 100 to move to a designated station from one station, so that the battery cell can be transferred.

Referring to fig. 2 and fig. 3, a cell gripping device 100 according to a preferred embodiment of the invention includes a frame 110, a clamping jaw mechanism 120, and a driving mechanism 130.

The frame 110 serves as a support and is generally a high strength metal frame structure. The manipulator is in transmission connection with the frame 110, so that the battery cell grabbing device 100 can be driven to integrally move. In addition, in order to facilitate the installation of the robot with the rack 110, in this embodiment, a flange 111 is fixedly disposed on the rack 110, and a moving end of the robot is connected to the flange 111.

The number of the clamping jaw mechanisms 120 is at least two, and at least two clamping jaw mechanisms 120 are oppositely arranged on the machine frame 110. Each jaw mechanism 120 includes a mounting base 121 and a plurality of jaw arms 122. The plurality of gripper arms 122 are provided at intervals in the first direction on the plurality of gripper arms 122 of the mount 121. The mounting base 121 is generally an elongated metal plate-like structure and extends in a first direction. The gripper arms 122 may be a plate-like, block-like metal structure.

The mount 121 is provided on the frame 110 and is slidable in a second direction perpendicular to the first direction. Specifically, the mounting seat 121 may be slidably mounted with the frame 110 through a linear rail-slider structure. The gripper arms 122 of the two gripper mechanisms 120 oppositely disposed along the second direction cooperate to form a plurality of resilient gripping portions 101 spaced along the first direction. When the two mounting seats 121 are close to or far from each other in the second direction, the plurality of elastic clamping portions 101 can be clamped or unclamped simultaneously. Specifically, the plurality of gripper arms 122 of the two gripper mechanisms 120 are arranged in a one-to-one correspondence. Each elastic clamping portion 101 may be surrounded by two corresponding clamping jaw arms 122 respectively located on the two clamping jaw mechanisms 120, or may be surrounded by more than two clamping jaw arms 122.

As shown in fig. 1, the first direction refers to a horizontal direction, and the second direction refers to a direction perpendicular to the plane of the drawing sheet.

Specifically, in the present embodiment, the clamping jaw mechanisms 120 are two groups, and each group includes two clamping jaw mechanisms 120, that is, four clamping jaw mechanisms 120. Wherein, two gripper mechanisms 120 of the same group are arranged end to end in the first direction, and are arranged opposite to two gripper mechanisms 120 of the other group along the second direction. In this way, on the premise that the number of the elastic clamping portions 101 formed is constant, the size of each clamping jaw mechanism 120 is significantly reduced, so that the assembly difficulty can be reduced.

The elastic clamping portion 101 is used for clamping the battery cell. Furthermore, when the cell is clamped and the elastic clamping portion 101 is pressed outward, the elastic clamping portion 101 can generate an inward elastic force, so that the cell in the elastic clamping portion 101 is clamped more tightly. Specifically, the claw arm 122 itself may be provided as an elastic member, so that the elastic clamping portion 101 has elasticity by the elastic deformation of the claw arm 122. Further, the claw arm 122 may be provided to be elastically floatable with respect to the mount 121, and the above-described object can be also achieved.

Referring to fig. 4 and fig. 5, in the present embodiment, each of the jaw arms 122 is slidably disposed on the mounting seat 121 along the second direction, and an elastic member 123 is disposed between the jaw arm 122 and the mounting seat 121, wherein the elastic member 123 provides an elastic force to the jaw arm 122 along an inner side of the elastic clamping portion 101.

Specifically, the gripper arms 122 may also be mounted to the mounting base 121 via a linear rail-slider structure. In the initial state, the claw arm 122 is pressed against the mounting seat 121 by the elastic member 123. When the two mounting seats 121 gradually approach and clamp the battery core, the clamping jaw arm 122 is subjected to a force opposite to the elastic force. When the force is greater than the elastic force, the claw arm 122 is driven to slide relative to the mounting seat 121. That is, the jaw arm 122 can elastically float with respect to the mount 121, thereby achieving elastic deformation of the elastic clamp 101.

In order to ensure the reliability of cell clamping, in the present embodiment, the surface of the clamping jaw arm 121 is generally further provided with a rough anti-slip pad layer 1222. The anti-slip pad layer 1222 may be a silicone layer or a rubber layer, and the surface thereof has a groove or a rib structure to achieve an anti-slip effect.

Further, in this embodiment, the clamping jaw arm 122 is provided with a guide rod 1221 extending along the second direction, the elastic element 123 is a compression spring sleeved on the guide rod 1221 and clamped between the clamping jaw arm 122 and the mounting seat 121, and the clamping jaw mechanism 120 further includes an adjusting nut 124 provided on the guide rod 1221 and capable of adjusting a pre-compression amount of the compression spring.

The guide rod 1221 slidably passes through the mount 121. Specifically, the cross section of the mounting seat 121 is U-shaped, and has two side plate structures. The gripper arm 122 is positioned between two side plate structures and is limited, and a through hole for the guide rod 1221 to pass through is formed in one side plate. The guide rod 1221 and compression spring engagement structure is more reliable and prevents the jaw arm 122 from jamming during extension and retraction relative to the mounting block 121.

In addition, the adjusting nut 124 can adjust the precompression of the compression spring, so that the preload of the elastic member 123 can be changed. Therefore, the clamping force of the elastic clamp 101 can be adjusted as necessary by operating the adjusting nut 124. Specifically, the adjustment nut 124 is threaded through the mounting seat 121 and into the mounting seat 121, and an end surface of the adjustment nut 124 abuts against the compression spring. The guide rod 1221 passes through the inner hole of the adjusting nut 124 and is slidably connected with the inner hole, and the pretightening force of the compression spring can be adjusted by rotating the adjusting nut 124. A lock nut (not shown) is also screwed to the guide rod 1221 outside the adjustment nut 124, and the lock nut abuts against the adjustment nut 124 to prevent the adjustment nut 124 from loosening.

Furthermore, in the present embodiment, the mounting seat 121 is provided with a limiting rod 1211 extending along the second direction and spaced from the guide rod 1221, and the claw arm 122 is slidable relative to the mounting seat 121 to abut against the limiting rod 1211. The stop rod 1211 may be disposed on a side plate of the mounting seat 121, and the stop rod 1211 can limit a moving distance of the claw arm 122.

The driving mechanism 130 is disposed on the frame 110 and is in transmission connection with the mounting seats 121 of the two clamping jaw mechanisms 120 disposed opposite to each other along the second direction, and can drive the two mounting seats 121 to move toward or away from each other along the second direction. When the mounting base 121 moves, the plurality of gripper arms 122 move synchronously. Therefore, the plurality of elastic clamping portions 101 can be clamped or expanded simultaneously by the action of the driving mechanism 130, so that the number of the driving mechanisms 130 can be reduced remarkably, and even only one driving mechanism is required. As such, the structure of the battery cell grasping apparatus 100 can be significantly simplified, thereby reducing the occupied space and reducing the production cost.

In addition, there may be dimensional errors between a plurality of electric cores to be gripped, and complete consistency cannot be guaranteed. In the prior art, the plurality of clamping parts are respectively and independently driven by the plurality of driving parts, so that the feeding amount of each driving part can be adjusted according to the size of the battery cell required to be clamped, and each battery cell can be smoothly clamped. In the embodiment, the plurality of elastic clamping portions 101 are synchronously driven by the driving mechanism 130, so that the clamping degree of each elastic clamping portion 101 is the same when clamping the battery core. Because the elastic clamping portion 101 can be elastically deformed when clamping the battery cell, the feeding amount of the driving mechanism 130 can follow the maximum principle when driving the elastic clamping portion 101 to clamp the battery cell. That is, the clamping degree of the elastic clamping portion 101 can smoothly clamp the electrical core with the smallest size, and other electrical cores are not damaged due to excessive clamping because the elastic clamping portion 101 can be elastically deformed.

Referring to fig. 2 again, in the present embodiment, the mounting base 121 is provided with a guiding chute 1212, and the guiding chute 1212 is inclined with respect to the first direction. The two mounting seats 121 are both provided with guide chutes 1212, and the inclination directions of the guide chutes 1212 are opposite. Therefore, the guide runners 1212 of the two mounting seats 121 are arranged in a splayed shape. Further, the driving mechanism 130 includes a clamping driving member 131 and a moving plate 132.

The clamping driving member 131 is fixedly disposed on the frame 110 and located between the two mounting seats 121, and the clamping driving member 131 can be driven linearly along a first direction. In particular, the clamping drive 131 may be a pneumatic cylinder or a linear motor. The moving plate 132 is slidably disposed on the frame 110 along a first direction and is fixedly disposed at the driving end of the clamping driving member 131. The moving plate 132 may be a metal plate, and may be slidably mounted to the frame 110 via a linear rail-slider structure, and may be driven by the clamping driving member 131 to extend and retract in a first direction.

Both ends of the moving plate 132 are slidably disposed in the guide sliding grooves 1212 of the two mounting seats 121, respectively. When the moving plate 132 extends and retracts in the first direction, two ends of the moving plate 132 interact with the guide chutes 1212 to convert the linear motion of the moving plate 132 in the first direction into the linear motion of the mounting seats 121 in the second direction, so as to drive the two mounting seats 121 to approach or move away from each other. As shown in fig. 2, when the moving plate 132 extends along the first direction, the two mounting seats 121 are driven to approach each other, so as to synchronously drive the plurality of elastic clamping portions 101 to clamp; when the moving plate 132 retracts along the first direction, the two mounting seats 121 are driven to move away, so as to synchronously open the plurality of elastic clamping portions 101.

Since the clamping driving member 131 is located between the two mounting seats 121, the forces applied to the two mounting seats 121 are more balanced when the elastic clamping portion 101 is driven to open or clamp. Moreover, the driving is realized only by the moving plate 132, and the structure of the driving mechanism 130 is simplified, so that the structure of the battery cell grasping apparatus 100 can be further simplified.

Further, in the present embodiment, rollers (not shown) are disposed at both ends of the moving plate 132, and the rollers are disposed on the guide sliding slots 1212 and can roll along the guide sliding slots 1212. The roller may be a rolling shaft, a rolling ball, or the like, which can roll along the guide chute 1212 to make the moving plate 132 slide more smoothly in the guide chute 1212. Therefore, during the process of opening and clamping the elastic clamping part 101 by the driving mechanism 130, the occurrence of jamming can be avoided.

In this embodiment, two sets of the gripper mechanisms 120 are provided, and there are two pairs of the gripper mechanisms 120 oppositely disposed in the second direction, so that two driving mechanisms 130 disposed at an interval in the first direction are required. The two driving mechanisms 130 may be oriented in the same direction or in opposite directions. As shown in fig. 2, the two driving mechanisms 130 are oppositely oriented and are axially symmetrically distributed on the frame 110.

Referring to fig. 2 again, in the present embodiment, the battery cell gripping device 100 further includes a visual positioning mechanism 140, and the visual positioning mechanism 140 is disposed at two ends of the frame 110 along the first direction.

Visual positioning mechanism 140 generally includes a camera assembly for taking a picture. Before the manipulator drives the electric core gripping device 100 to clamp the electric core, the magazine with the electric core is photographed by the visual positioning mechanism 140, so as to collect the position information of the electric core. Then, the manipulator alright order about electric core grabbing device 100 according to the positional information who gathers and accurately move to appointed station, because the position of placing at the magazine of electric core is certain, so the position of accurate discernment electric core is got and is got smoothly.

Referring to fig. 6 and fig. 7, in the present embodiment, the battery cell grasping apparatus 10 further includes a detection mechanism 150. The detecting mechanism 150 includes a mounting plate 151, a telescopic driving member 152, and a detecting block 153.

The mounting plate 151 is provided to the frame 110. The mounting plate 151 is also generally an elongated metal plate-like structure and extends in a first direction. The number of the retractable driving members 152 is plural, and the plurality of the retractable driving members 152 are disposed along the first direction at intervals and are disposed in one-to-one correspondence with the plurality of elastic clamping portions 101. The telescopic drive 152 may be a pneumatic cylinder or a linear motor. The driving end of each flexible driving member 152 is fixedly provided with a detection block 153, and the end of the detection block 153 far away from the flexible driving member 152 is provided with a notch 1531 for the battery cell to be clamped in.

Wherein, each telescopic driving member 152 can drive the corresponding detecting block 153 to extend and contract along the third direction. The third direction is perpendicular to both the first direction and the second direction, and the third direction refers to a vertical direction shown in fig. 1 or a direction perpendicular to a plane of the drawing shown in fig. 2. Before the elastic clamping portion 101 clamps the electric core, the retractable driving member 152 may move the detecting block 153 downward until the notch 1531 is clamped on two sides of the corresponding electric core. If the lifting height of the driving end of the telescopic driving member 152 is equal to the preset height, it indicates that the battery cell is placed at a proper position. It can be seen that whether the battery cell to be clamped is correctly placed or not can be judged by detecting the lifting height of the driving end of each telescopic driving piece 152.

Referring to fig. 1 again, in the present embodiment, the battery cell gripping device 100 further includes an anti-drop mechanism 160. The anti-drop mechanism 160 includes a tow bar 161 and a tow bar driving assembly 162.

The tow bar 161 may be a long bar structure such as a metal bar, plastic bar, etc. with a surface coated with glue. Also, the tow bar 161 extends in the first direction. The driving assembly 162 is disposed on the frame 110 and is connected to the pulling rod 161 in a transmission manner, and the driving assembly 162 can drive the pulling rod 161 to move along a second direction and a third direction, which are perpendicular to the first direction and the second direction.

When the battery core is clamped, the tow rod driving assembly 162 can drive the tow rod 161 to move to abut against the edge of the material box containing the battery core, and the battery core in the material box is prevented from being displaced. Then, the manipulator drives the cell gripping device 100 to further approach the cell, and the drawbar 161 is always in contact with the magazine under the driving of the drawbar driving assembly 162. Taking the example of the cylinder driving the drag rod 161, the piston rod of the cylinder extends first and makes the drag rod 161 press against the material box, and the cylinder keeps the inflation state. When the cell gripping device 100 descends and approaches the cell, the piston rod of the air cylinder contracts under the action of pressure.

When the battery cell gripping device 100 successfully grips the battery cell and is driven by the manipulator to be away from the magazine, the tow rod 161 is driven by the tow rod driving assembly 162 to continuously support and press the magazine with the battery cell until the battery cell is separated from the magazine. Specifically, as the battery cell gripping device 100 rises, the piston rod of the cylinder extends out under other actions in the cylinder. Therefore, it is possible to avoid the cell gripping device 100 from taking up the cassettes while carrying the cells.

In addition, in the process that the cell gripping device 100 drives the gripped cell to transfer to the designated station, the drawbar 161 is movable to a position right below the elastic clamping portion 101 by the drawbar driving assembly 162. As such, the tow bar 161 will bottom up the battery cell in the elastic clamping portion 101, thereby effectively preventing the battery cell from falling from the elastic clamping portion 101.

Specifically, in the present embodiment, there are two towing rods 161, and the two towing rods 161 are disposed at intervals in the second direction. Thus, whether for pressing against the magazine or the bottoming cell, the anti-drop mechanism 160 can apply force through the two tow bars 161, providing more stable support.

In addition, two ends of each tow bar 161 are respectively connected with a tow bar driving assembly 162. That is, each tow bar 161 is driven from both ends by two tow bar drive assemblies 162, respectively. Therefore, the force of the towing rod 161 can be more balanced, and the dynamic process is more stable. As shown in fig. 2, the anti-dropping mechanism 160 has four tow bar driving assemblies 162, and two tow bar driving assemblies 162 are disposed at two ends of the frame 110 in the first direction.

Further, referring to fig. 1 and fig. 2 again, in the present embodiment, the towing bar driving assembly 162 includes a first supporting plate 1621, a first driving member 1622, and a second driving member 1623.

The first supporting plate 1621 is slidably disposed along the second direction relative to the frame 110, and the first driving member 1622 can drive the first supporting plate 1621 to slide along the second direction. The second driving member 1623 is disposed on the first supporting plate 1621 and is in transmission connection with the towing bar 161. Also, the second driver 1623 can drive the drag link 161 to move in the third direction. Specifically, the towing bar 161 can be fixedly connected to the driving end of the second driving member 1623 by a connecting rod (not shown). The first driving member 1622 and the second driving member 1623 may be cylinders.

The first driving member 1622 can drive the first loading plate 1621 and the second driving member 1623 to move along the second direction, and the second driving member 1623 can drive the drag rod 161 to move along the third direction. Therefore, the first driving member 1622 is engaged with the second driving member 1623, so that the towing bar 131 can move in both the first direction and the third direction.

Further, in this embodiment, the drawbar driving assembly 162 further includes a second supporting plate 1624 slidably disposed on the frame 110 and a locking screw 1625, and the first supporting plate 1621 is slidably disposed on the second supporting plate 1624 along the second direction. Also, a locking screw 1625 can position the second carrier plate 1624 to the rack 110.

The second supporting plate 1624 may have the same structure as the first supporting plate 1621, and may be disposed on the frame 110 through a linear rail-slider structure. Similarly, the first supporting board 1621 may be disposed on the second supporting board 1624 through a linear rail-slider structure. Specifically, the first driving element 1622 is fixed to the first loading plate 1621, and the driving end of the first driving element 1622 is fixedly connected to a fixing block (not shown), and the fixing block is fixedly connected to the second loading plate 1624. When the first driving member 1622 is actuated, the first supporting plate 1621 may be driven to move along the second direction relative to the second supporting plate 1624.

The locking screw 1625 may be manually pushed to push the second supporting plate 1624 in an unlocked state, so that the anti-drop mechanism 160 integrally slides along the rack 110 to achieve position adjustment. When adjusted in place, the second carrier 1624 may be positioned to the rack 110 by rotating the locking screw 1625.

Above-mentioned electric core grabbing device 100 and electric core transshipment equipment, actuating mechanism 130 is connected with the mount pad 121 transmission of clamping jaw mechanism 120, and two mount pads 121 through ordering about relative setting are close to each other or keep away from, can order about a plurality of clamping jaw arms in step and remove to make a plurality of elasticity clamping part 101 press from both sides tightly simultaneously or open, so actuating mechanism 130's quantity can show the reduction. Therefore, the structures of the cell gripping device 100 and the cell transfer apparatus can be significantly simplified. Moreover, since the elastic clamping portion 101 can be elastically deformed when clamping the battery cell, a plurality of battery cells to be clamped are allowed to have a size error. The driving mechanism 130 follows a principle of maximizing the feeding amount thereof when driving the plurality of elastic clamping portions 101 to clamp. Like this, can guarantee that all electric cores homoenergetic are got by the clamp smoothly, and can not cause the damage to other electric cores. Further, since the elastic clamping portion 101 is elastically deformed to generate a restoring force, the cell can be more reliably clamped.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A cell gripping device (100), comprising:

a frame (110);

2. The cell gripping device (100) according to claim 1, wherein each of the gripper arms (122) is slidably disposed on the mounting seat (121) along the second direction, and an elastic member (123) is disposed between the gripper arms (122) and the mounting seat (121), and the elastic member (123) provides the gripper arms (122) with an elastic force along an inner side directed to the elastic clamping portion (101).

3. The cell grasping apparatus (100) according to claim 2, wherein a guide rod (1221) extending in the second direction is disposed on the gripper arm (122), the elastic member (123) is a compression spring sleeved on the guide rod (1221) and clamped between the gripper arm (122) and the mounting seat (121), and the gripper mechanism further includes an adjusting nut disposed on the guide rod (1221) and capable of adjusting a pre-compression amount of the compression spring.

4. The battery cell grasping device (100) according to claim 3, wherein a stop rod (1211) extending in the second direction and spaced apart from the guide rod (1221) is provided on the mounting base (121), and the gripper arm (122) is slidable relative to the mounting base (121) to abut against the stop rod (1211).

5. The apparatus (100) of claim 1, wherein the mounting seat (121) defines a guide chute (1212), the guide chute (1212) being inclined with respect to the first direction, and the driving mechanism (130) includes:

6. The cell gripping device (100) of claim 1, further comprising a detection mechanism (150), the detection mechanism (150) comprising:

a mounting plate (151) provided to the frame (110);

7. The cell gripping device (100) of claim 1, further comprising a drop prevention mechanism (160), the drop prevention mechanism (160) comprising:

a tow bar (161) extending in the first direction;

the towing rod driving assembly (162) is arranged on the rack (110) and is in transmission connection with the towing rod (161), and the driving assembly (162) can drive the towing rod (161) to move along a third direction which is perpendicular to the second direction and the first direction and the second direction.

8. The cell gripping device (100) of claim 7, wherein the tow bar drive assembly (162) comprises:

a first bearing plate (1621);

9. The cell grasping apparatus (100) according to claim 8, wherein the tow bar drive assembly (162) further includes a second carrier plate (1624) slidably disposed on the frame (110) and a locking screw (1625), the locking screw (1625) being capable of positioning the second carrier plate (1624) on the frame (110), the first carrier plate (1621) being slidably disposed on the second carrier plate (1624) along the second direction.

10. A cell transfer apparatus, comprising:

the cell gripping device (100) of any of the above claims 1 to 9; and