CN112456122B

CN112456122B - Battery cell grabbing device and battery cell transferring equipment

Info

Publication number: CN112456122B
Application number: CN202011359442.7A
Authority: CN
Inventors: 请求不公布姓名
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: 2024-07-02
Anticipated expiration: 2040-11-27
Also published as: CN112456122A

Abstract

The invention relates to a battery core grabbing device and battery core transferring equipment, wherein a driving mechanism is in transmission connection with mounting seats of clamping jaw mechanisms, and two mounting seats which are oppositely arranged are driven to be close to or far away from each other, so that a plurality of clamping jaw arms can be synchronously driven to move, a plurality of elastic clamping parts can be clamped or opened, and 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 remarkably simplified. Moreover, since the elastic clamping part can elastically deform when the battery cells are clamped, errors of sizes of the battery cells to be clamped are allowed. The drive mechanism is arranged to drive the plurality of resilient clamping portions to clamp, and the feed rate of the drive mechanism is in accordance with the maximization principle. Therefore, all the battery cells can be clamped smoothly, and other battery cells cannot be damaged. In addition, the elastic clamping part can generate restoring force after elastic deformation, so that the battery cell can be clamped more reliably.

Description

Battery cell grabbing device and battery cell transferring 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

During the battery assembly process, the battery cells need to be transported to a set station. In order to improve the transfer efficiency, a plurality of clamping jaws are usually arranged on the transfer equipment, so that a plurality of electric cores can be clamped and transferred simultaneously. Wherein, a plurality of clamping jaws need to be driven by a plurality of air cylinders respectively to realize clamping or loosening. Thus, the whole structure of the device is complex, the occupied space is large and the manufacturing cost is high.

Disclosure of Invention

Based on this, it is necessary to provide a cell grabbing device and a cell transferring device with simple structures to solve the above problems.

A cell gripping device (100), comprising:

A frame (110);

Each clamping jaw mechanism (120) comprises 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) which are oppositely arranged along the second direction are matched to form a plurality of elastic clamping parts (101) which are arranged at intervals along the first direction; and

The driving mechanism (130) is arranged on the frame (110) and is in transmission connection with the mounting seats (121) of the two clamping jaw mechanisms (120) which are oppositely arranged along the second direction, and can drive the two mounting seats (121) to be mutually close to or far away from each other along the second direction.

In one embodiment, each clamping jaw arm (122) is slidably arranged on the mounting seat (121) along the second direction, an elastic piece (123) is arranged between the clamping jaw arm (122) and the mounting seat (121), and the elastic piece (123) provides an elastic force for the clamping jaw arm (122) along the direction pointing to the inner side of the elastic clamping part (101).

In one embodiment, the clamping jaw arm (122) is provided with a guide rod (1221) extending along the second direction, the elastic piece (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 further comprises an adjusting nut which is arranged on the guide rod (1221) and can adjust the precompression amount of the compression spring.

In one embodiment, the mounting base (121) is provided with a limiting rod (1211) extending along the second direction and arranged at intervals with the guide rod (1221), and the clamping jaw arm (122) is slidable relative to the mounting base (121) to be abutted with the limiting rod (1211).

In one embodiment, the mounting base (121) is provided with a guide chute (1212), the guide chute (1212) is inclined relative to the first direction, and the driving mechanism (130) includes:

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

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

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

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

The plurality of telescopic driving pieces (152) are arranged at intervals along the first direction and are arranged in one-to-one correspondence with the plurality of elastic clamping parts (101), a detection block (153) is fixedly arranged at the driving end of each telescopic driving piece (152), and a notch for clamping a power supply core is formed in the tail end of each detection block (153) far away from the telescopic driving piece (152);

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

In one embodiment, the device further comprises a drop prevention mechanism (160), and the drop prevention mechanism (160) comprises:

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

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

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

A first carrier plate (1621);

a first driving member (1622) capable of driving the first bearing plate (1621) to slide along the second direction;

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

In one embodiment, the drag lever driving 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 grabbing device (100) according to any one of the above preferred embodiments; and

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 is connected with clamping jaw mechanism's mount pad transmission, through order about two mount pads that set up relatively be close to each other or keep away from, can order about a plurality of clamping jaw arms to remove in step to make a plurality of elasticity clamping parts press from both sides tightly or open simultaneously, 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 remarkably simplified. Moreover, since the elastic clamping part can elastically deform when the battery cells are clamped, errors of sizes of the battery cells to be clamped are allowed. The drive mechanism is arranged to drive the plurality of resilient clamping portions to clamp, and the feed rate of the drive mechanism is in accordance with the maximization principle. Therefore, all the battery cells can be clamped smoothly, and other battery cells cannot be damaged. In addition, the elastic clamping part can generate restoring force after elastic deformation, so that the battery cell can be clamped more reliably.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a top view of the cell grabbing device shown in FIG. 1;

FIG. 3 is a side view of the cell grasping device shown in FIG. 1;

FIG. 4 is a front view of a jaw mechanism of the cell grabbing device shown in FIG. 1;

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

FIG. 6 is a top view of the detection mechanism of the cell grabbing device shown in FIG. 1;

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

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

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

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" 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 are used herein for illustrative purposes only and are not meant to be the only embodiment.

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

Referring to fig. 2 and 3, a battery cell grabbing 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 is supported and is typically a relatively strong metal frame structure. The manipulator is in transmission connection with the frame 110, so as to drive the battery cell grabbing device 100 to move integrally. In addition, in order to facilitate the installation of the manipulator and the frame 110, in this embodiment, the frame 110 is fixedly provided with a flange 111, and the moving end of the manipulator is connected to the flange 111.

The number of the clamping jaw mechanisms 120 is at least two, and the clamping jaw mechanisms 120 are oppositely arranged on the frame 110. Wherein each jaw mechanism 120 includes a mounting base 121 and a plurality of jaw arms 122. The plurality of jaw arms 122 are disposed at intervals in the first direction on the plurality of jaw 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 jaw arm 122 may be a plate-like, block-like metallic 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 base 121 may be slidably mounted to the frame 110 via a rail-slider structure. The jaw arms 122 of the two jaw mechanisms 120 disposed opposite in the second direction cooperate to form a plurality of resilient clamping portions 101 disposed at intervals in the first direction. When the two mounting seats 121 are moved toward or away from each other in the second direction, simultaneous clamping or unclamping of the plurality of elastic clamping portions 101 can be achieved. Specifically, the plurality of jaw arms 122 on the two jaw mechanisms 120 are arranged in a one-to-one correspondence. Each elastic clamping portion 101 may be surrounded by two clamping arms 122 respectively located on the two clamping jaw mechanisms 120, or may be surrounded by more than two clamping arms 122.

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

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

The elastic clamping part 101 is used for clamping the battery cell. Moreover, 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 jaw arm 122 itself may be provided as an elastic member, so that the elastic clamping portion 101 is elastically deformed by the elastic deformation of the jaw arm 122. In addition, the jaw arm 122 may be elastically floating with respect to the mounting base 121, and the above object can be achieved.

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

Specifically, the jaw arm 122 may also be mounted to the mounting block 121 via a rail-slide configuration. In the initial state, the clamping jaw arm 122 is abutted against the mounting seat 121 under the action of the elastic piece 123. When the two mounting seats 121 gradually approach and clamp the battery cells, the clamping jaw arms 122 are subjected to a force opposite to the direction of the elastic force. When the force is greater than the elastic force, the jaw arm 122 is driven to slide relative to the mounting base 121. That is, the jaw arm 122 can elastically float with respect to the mount 121, thereby realizing elastic deformation of the elastic clamping portion 101.

In order to ensure the reliability of the clamping of the battery cells, particularly in this embodiment, the surface of the clamping jaw arm 121 is generally also provided with a roughened anti-slip pad 1222. The anti-slip pad layer 1222 may be a silica gel layer or a rubber layer, and has a groove or a protruding strip structure on its surface to play a role of anti-slip.

Further, in the present embodiment, the jaw arm 122 is provided with a guide rod 1221 extending along the second direction, 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 120 further includes an adjusting nut 124 disposed on the guide rod 1221 and capable of adjusting the pre-compression amount of the compression spring.

Guide rod 1221 slidably passes through mount 121. Specifically, the cross section of the mounting seat 121 is U-shaped, and has two side plate structures. The jaw arm 122 is located 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 is more reliable in cooperation with the compression spring and can prevent the clamping jaw arm 122 from being jammed during the process of telescoping relative to the mounting seat 121.

In addition, the adjusting nut 124 can adjust the pre-compression amount of the compression spring, so that the pre-tightening force of the elastic member 123 can be changed. Therefore, by operating the adjustment nut 124, the clamping force of the elastic clamping portion 101 can be adjusted according to the clamping requirement. Specifically, the adjustment nut 124 passes through the mount 121 and is screwed with the mount 121, and the 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 thereto, and the preload of the compression spring can be adjusted by rotating the adjusting nut 124. A lock nut (not shown) is further screwed to the guide rod 1221 on the outer side of the adjustment nut 124, and the lock nut abuts against the adjustment nut 124, thereby preventing the adjustment nut 124 from loosening.

Further, in the present embodiment, the mounting base 121 is provided with a stop rod 1211 extending along the second direction and spaced from the guide rod 1221, and the jaw arm 122 is slidable relative to the mounting base 121 to abut against the stop rod 1211. The limiting rod 1211 may be disposed on a side plate structure of the mounting seat 121, and the limiting rod 1211 can limit the moving distance of the clamping jaw 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 jaw mechanisms 120 disposed opposite to each other along the second direction, and can drive the two mounting seats 121 to approach or separate from each other along the second direction. When the mounting base 121 moves, the plurality of jaw arms 122 thereon move synchronously. Therefore, the plurality of elastic clamping portions 101 can be simultaneously clamped or opened by the action of the driving mechanism 130, so that the number of the driving mechanisms 130 can be significantly reduced, even only one driving mechanism is required. In this way, the structure of the cell grabbing device 100 can be significantly simplified, thereby reducing the occupied space and the production cost.

In addition, there may be dimensional errors between the plurality of cells to be clamped, and perfect uniformity cannot be ensured. In the prior art, the plurality of clamping parts are respectively driven by the plurality of driving parts, so that the feeding amount of each driving part can be correspondingly adjusted according to the size of the electric core to be clamped, thereby ensuring that each electric core can be clamped smoothly. In the present embodiment, the plurality of elastic clamping portions 101 are driven synchronously by the driving mechanism 130, so that the clamping degree of each elastic clamping portion 101 is the same when clamping the battery cell. Thanks to the elastic deformation of the elastic clamping portion 101 when clamping the battery cell, the feeding amount of the driving mechanism 130 can follow the principle of maximization when driving the elastic clamping portion 101 to clamp. That is, the clamping degree of the elastic clamping part 101 is ensured to smoothly clamp the cell with the smallest size, and other cells are not damaged due to excessive clamping because the elastic clamping part 101 can elastically deform.

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

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

Furthermore, both ends of the moving plate 132 are slidably disposed in the guide slide slots 1212 of the two mounting seats 121, respectively. When the moving plate 132 expands and contracts in the first direction, both ends of the moving plate 132 interact with the guide sliding grooves 1212, converting the linear motion of the moving plate 132 in the first direction into the linear motion of the mounting base 121 in the second direction, thereby driving the two mounting bases 121 to approach or separate 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 is retracted along the first direction, the two mounting seats 121 are driven to be far away, so that the plurality of elastic clamping portions 101 are synchronously driven to be opened.

Since the clamping driving member 131 is located between the two mounting seats 121, the forces exerted on the two mounting seats 121 are more balanced when the elastic clamping portion 101 is driven to open or clamp. Furthermore, the driving is realized only by the moving plate 132, and the structure of the driving mechanism 130 is also simplified, so that the structure of the cell grabbing device 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 guiding chute 1212 and can roll along the guiding chute 1212. The rollers may be configured to roll, such as rollers or balls, and the moving plate 132 may slide more smoothly in the guide chute 1212 by rolling along the guide chute 1212. Therefore, the clamping can be avoided during the process of the driving mechanism 130 driving the elastic clamping portion 101 to open and clamp.

In particular, in the present embodiment, since there are two pairs of the jaw mechanisms 120 disposed opposite to each other in the second direction, two driving mechanisms 130 disposed at intervals in the first direction are required. The two driving mechanisms 130 may be oriented identically or oppositely. The two drive mechanisms 130 are oppositely oriented and are axisymmetrically distributed on the frame 110 as shown in fig. 2.

Referring to fig. 2 again, in the present embodiment, the battery cell grabbing 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.

The visual positioning mechanism 140 generally includes a camera assembly for taking a photograph. Before the manipulator drives the cell grabbing device 100 to clamp the cell, the visual positioning mechanism 140 can be utilized to photograph the material box with the cell so as to collect the position information of the cell. Then, the manipulator can drive the cell grabbing device 100 to accurately move to a designated station according to the collected position information, and the cell can be accurately identified and smoothly clamped because the cell is placed at a certain position of the material box.

Referring to fig. 6 and fig. 7 together, in the present embodiment, the cell grabbing device 10 further includes a detecting mechanism 150. The detection mechanism 150 includes a mounting plate 151, a telescopic driving member 152, and a detection 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 the first direction. The telescopic driving pieces 152 are plural, and the plural telescopic driving pieces 152 are arranged at intervals along the first direction and are arranged in a one-to-one correspondence with the plural elastic clamping portions 101. The telescoping drive 152 may be a cylinder or a linear motor. The driving end of each telescopic driving piece 152 is fixedly provided with a detection block 153, and the end of the detection block 153 far away from the telescopic driving piece 152 is provided with a notch 1531 for clamping a power supply core.

Wherein each telescopic driving member 152 can drive the corresponding detecting block 153 to telescope in the third direction. The third direction is perpendicular to 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 drawing plane shown in fig. 2. Before the elastic clamping portion 101 clamps the battery cell, the telescopic driving piece 152 can be used for driving the detection block 153 to move downwards until the notch 1531 clamps the two sides of the corresponding battery cell. If the elevation height of the driving end of the telescopic driving member 152 is equal to the preset height, the battery cell is placed at a proper position. Therefore, by detecting the lifting height of the driving end of each telescopic driving member 152, it can be determined whether the electrical core to be clamped is correctly placed.

Referring to fig. 1 again, in the present embodiment, the cell grabbing device 100 further includes a drop prevention mechanism 160. The anti-drop mechanism 160 includes a drag lever 161 and a drag lever driving assembly 162.

The drag link 161 may be a long bar-like structure such as a surface-encapsulated metal bar, a plastic bar, etc. Also, the drag lever 161 extends in the first direction. The drag lever driving assembly 162 is disposed on the frame 110 and is in transmission connection with the drag lever 161, and the drag lever driving assembly 162 can drive the drag lever 161 to move along a second direction and a third direction, wherein the third direction is perpendicular to the first direction and the second direction.

When the battery cell is clamped, the pulling rod 161 is driven by the pulling rod driving assembly 162 to move until the pulling rod is pressed against the edge of the material box with the battery cell, and a position is avoided for the battery cell in the material box. Next, the manipulator drives the cell grabbing device 100 to further approach the cell, and the pull rod 161 is always in contact with the magazine under the driving of the pull rod driving component 162. Taking the cylinder driving the drag lever 161 as an example, the piston rod of the cylinder extends out first and makes the drag lever 161 press against the material box, and the cylinder keeps an inflated state. When the cell grabbing device 100 descends and approaches the cell, the piston rod of the cylinder contracts under the action of pressure.

When the battery cell grabbing device 100 successfully grabs the battery cell and is far away from the material box under the drive of the manipulator, the pulling rod 161 still can continuously press the material box with the battery cell under the drive of the pulling rod driving assembly 162 until the battery cell is separated from the material box. Specifically, as the battery cell grabbing device 100 ascends, the piston rod of the cylinder stretches out under other actions in the cylinder. Thus, the cell grabbing device 100 can avoid that the cell grabbing device is used for simultaneously taking up the cell when the cell is carried.

In addition, in the process that the cell grabbing device 100 drives the clamped cell to transfer to the designated station, the pulling rod 161 can move to the position right below the elastic clamping portion 101 at the pulling rod driving assembly 162. Thus, the pulling rod 161 can play a role of supporting the battery cell in the elastic clamping part 101, so that the battery cell is effectively prevented from falling from the elastic clamping part 101.

In particular, in the present embodiment, two drag bars 161 are provided, and the two drag bars 161 are disposed at intervals in the second direction. Therefore, the anti-drop mechanism 160 can exert a force through the two drag bars 161, whether used to press against the cartridge or to cradle the cell, thereby providing more stable support.

In addition, both ends of each of the drag bars 161 are respectively connected to one drag bar driving assembly 162. That is, each of the drag bars 161 is driven from both ends by two drag bar driving assemblies 162, respectively. In this way, the load of the drag lever 161 can be balanced and the dynamic process can be stable. As shown in fig. 2, the anti-drop mechanism 160 is provided with four drag-bar driving assemblies 162, and two drag-bar driving assemblies 162 are provided at both ends of the frame 110 in the first direction.

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

The first bearing plate 1621 is slidably disposed along a second direction relative to the frame 110, and the first driving member 1622 is capable of driving the first bearing plate 1621 to slide along the second direction. The second driving component 1623 is disposed on the first bearing plate 1621 and is in driving connection with the drag link 161. Also, the second driving member 1623 is capable of driving the drag lever 161 to move in the third direction. Specifically, the drag lever 161 may be fixedly connected to the driving end of the second driving member 1623 through a connecting rod (not shown). The first driving part 1622 and the second driving part 1623 may be cylinders.

The first driving member 1622 is capable of driving the first bearing plate 1621 and the second driving member 1623 to move along the second direction, and the second driving member 1623 is capable of driving the drag lever 161 to move along the third direction. Therefore, the first driving member 1622 and the second driving member 1623 cooperate to enable the towing bar 131 to move in both the first direction and the third direction.

Further, in the present embodiment, the towing bar driving assembly 162 further includes a second bearing plate 1624 slidably disposed on the frame 110 and a locking screw 1625, and the first bearing plate 1621 is slidably disposed on the second bearing plate 1624 along the second direction. Also, the locking screw 1625 is capable of positioning the second bearing plate 1624 to the frame 110.

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

In the unlocked state, the locking screw 1625 may manually push the second bearing plate 1624, thereby allowing the anti-drop mechanism 160 to slide along the frame 110 as a whole, thereby achieving position adjustment. When adjusted in place, the second carrier plate 1624 may be positioned to the housing 110 by rotating the locking screw 1625.

The above-mentioned electric core grabbing device 100 and electric core transferring equipment, the driving mechanism 130 is in transmission connection with the mounting seats 121 of the clamping jaw mechanism 120, and by driving the two mounting seats 121 which are oppositely arranged to be close to or far away from each other, the plurality of clamping jaw arms can be synchronously driven to move, so that the plurality of elastic clamping portions 101 can be simultaneously clamped or opened, and the number of the driving mechanism 130 can be significantly reduced. Therefore, the structure of the cell grabbing device 100 and the cell transferring apparatus can be significantly simplified. Further, since the elastic clamping portion 101 is capable of being elastically deformed when the cell is clamped, an error in the size of the plurality of cells to be clamped is allowed. The drive mechanism 130 follows the principle of maximization when driving the clamping of the plurality of resilient clamping portions 101. Therefore, all the battery cells can be clamped smoothly, and other battery cells cannot be damaged. Further, since the elastic clamping portion 101 can generate a restoring force after being elastically deformed, the battery cell can be more reliably clamped.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

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

A frame (110);

Each clamping jaw mechanism (120) comprises 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) which are oppositely arranged along the second direction are matched to form a plurality of elastic clamping parts (101) which are arranged at intervals along the first direction; each clamping jaw arm (122) is slidably arranged on the mounting seat (121) along the second direction, an elastic piece (123) is arranged between the clamping jaw arm (122) and the mounting seat (121), and the elastic piece (123) provides elastic force for the clamping jaw arm (122) along the direction of the inner side of the elastic clamping part (101); the clamping jaw arm (122) is provided with a guide rod (1221) extending along the second direction, the elastic piece (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 also comprises an adjusting nut which is arranged on the guide rod (1221) and can adjust the precompression amount of the compression spring; and

The driving mechanism (130) is arranged on the frame (110) and is in transmission connection with the mounting seats (121) of the two clamping jaw mechanisms (120) which are oppositely arranged along the second direction, and can drive the two mounting seats (121) to be mutually close to or far away from each other along the second direction;

A guide chute (1212) is formed on the mounting seat (121), the guide chute (1212) is inclined relative to the first direction, and the driving mechanism (130) comprises:

the moving plate (132) is slidably arranged on the frame (110) along the first direction and fixedly arranged on 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);

wherein, electric core grabbing device (100) still includes detection mechanism (150), detection mechanism (150) include:

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

2. The cell grabbing device (100) according to claim 1, wherein the mounting base (121) is provided with a limiting rod (1211) extending along the second direction and spaced from the guide rod (1221), and the clamping jaw arm (122) is slidable relative to the mounting base (121) to abut against the limiting rod (1211).

3. The cell grabbing device (100) of claim 1, further comprising an anti-drop mechanism (160), the anti-drop mechanism (160) comprising:

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

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

4. The cell grabbing device (100) of claim 3, wherein the tow bar drive assembly (162) comprises:

A first carrier plate (1621);

5. The battery cell grabbing device (100) of claim 4, wherein the hauling bar driving assembly (162) further comprises a second bearing plate (1624) slidably disposed on the frame (110) and a locking screw (1625), the locking screw (1625) being capable of positioning the second bearing plate (1624) on the frame (110), the first bearing plate (1621) being slidably disposed on the second bearing plate (1624) along the second direction.

6. A cell transfer apparatus, comprising:

The cell grabbing device (100) of any one of the preceding claims 1 to 5; and