CN117775711A - Calibration grabbing device, stacking equipment, production line of batteries and stacking method - Google Patents

Abstract

The embodiment of the application provides a calibration grabbing device, stacking equipment, a production line of batteries and a stacking method. The calibration grabbing device comprises a mounting seat, a calibration mechanism and a clamping mechanism. The calibration mechanism is arranged on the mounting seat and comprises two calibration pieces which are at least arranged along the first shaft and can move in opposite directions. The clamping mechanism is arranged on the mounting seat and comprises two clamping pieces which are arranged along the first shaft and can move in opposite directions. The two clamping pieces are positioned on the inner sides of the two calibration pieces arranged along the first shaft, the calibration pieces protrude out of the clamping pieces along the third shaft, and one ends of the calibration pieces protruding out of the clamping pieces are far away from the mounting seat; wherein the third axis is perpendicular to the first axis. According to the calibration grabbing device, the stacking equipment, the production line of the battery and the stacking method, after the first battery cell is grabbed through the cooperation of the calibration mechanism and the clamping mechanism, the second battery cell can be subjected to position correction before stacking, the overlapping ratio of two groups of battery cells is improved, and the stacking precision is improved.

Description

Calibration grabbing device, stacking equipment, production line of batteries and stacking method

Technical Field

The application relates to the technical field of battery manufacturing, in particular to a calibration grabbing device, stacking equipment, a battery production line and a stacking method.

Background

In the related art, a battery module is formed by stacking a plurality of battery cells, and high coplanarity accuracy is required when stacking the battery cells. In the related stacking technology, the tray for loading the battery cells is positioned by the positioning mechanism of the wire body, and the consistency of the tray is difficult to ensure, so that the positions of each group of battery cells on the tray are inconsistent during stacking, and the stacking precision is poor.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a calibration gripping device, a stacking apparatus, a production line of a battery, and a stacking method, which can improve stacking accuracy of devices such as a battery cell.

To achieve the above object, a first aspect of an embodiment of the present application provides a calibration gripping device, including a mounting base, a calibration mechanism, and a clamping mechanism. The calibration mechanism is arranged on the mounting seat, and at least two calibration pieces which are arranged along the first shaft and can move in opposite directions; the clamping mechanism is arranged on the mounting seat and comprises two clamping pieces which are arranged along a first shaft and can move in opposite directions, the two clamping pieces are positioned on the inner sides of two calibration pieces which are arranged along the first shaft, the calibration pieces are protruded out of the clamping pieces along a third shaft, and one ends of the calibration pieces, which are protruded out of the clamping pieces, are far away from the mounting seat; wherein the third axis is perpendicular to the first axis in a vertical direction.

Through the cooperation of calibrating mechanism and clamping mechanism, can carry out the position correction to the second device before stacking after snatching first device to the overlap ratio that two sets of devices stacked has been improved, and then the stacking accuracy is improved.

In some embodiments, the calibration mechanism includes a first calibration mechanism and a second calibration mechanism, each disposed on the mount; the first calibration mechanism comprises two first calibration pieces which are arranged along a second shaft and can move in opposite directions, the second calibration mechanism comprises two second calibration pieces which can be arranged along the first shaft and can move in opposite directions, and the first calibration pieces and the second calibration pieces are the calibration pieces; wherein the second axis is perpendicular to the first axis in the horizontal direction.

Thus, the end plate of the battery cell can be calibrated through the first calibration mechanism, and the side plate of the battery cell can be calibrated through the second calibration mechanism.

In some embodiments, the first calibration mechanism further comprises a first support plate, a first slide rail, a first slider, and a first driver. The first supporting plate is fixedly connected with the mounting seat. The first sliding rail is arranged on the first supporting plate. The first sliding blocks are movably connected with the first sliding rails, and each first calibration piece is fixedly connected with one or more first sliding blocks. Two ends of the first driving piece are respectively connected with the two first calibration pieces so as to drive the two first calibration pieces to move along the first sliding rail.

Through the cooperation slip of first slide rail and first slider, can make first calibration piece follow first slider and follow first slide rail direction and remove. The first driving member is used for providing power for moving the first calibration member.

In some embodiments, the first calibration piece comprises a fixedly connected connection block and a calibration plate; the connecting block comprises a first connecting block and a second connecting block which are fixedly connected, and the first connecting block is connected with the first driving piece; the calibration plate comprises a first vertical plate and a first calibration block which are fixedly connected, and the first vertical plate is connected with the second connection block.

Other mechanisms can be connected through the connecting blocks, and devices such as a battery core can be clamped through the calibration plate.

In some embodiments, the first calibration mechanism further comprises a sun gear and two first racks. The sun gear is rotatably arranged on the first supporting plate. The two first racks are positioned on two sides of the central gear and meshed with the central gear respectively, and each first calibration piece is fixedly connected with one first rack.

Through sun gear and first rack meshing, first calibration piece and first rack fixed connection make two first calibration piece synchronous motion, can strengthen the control accuracy of first calibration piece travel distance.

In some embodiments, the first calibration mechanism further comprises a follower wheel, each of the first racks being in engagement with one or more of the follower wheels.

The motion stability of the first calibration mechanism is increased through the follower wheel.

In some embodiments, the first calibration mechanism further includes a follower block, one end of each first rack away from the corresponding first calibration piece is fixedly connected with one end of one follower block, and the other end of the rack connecting block is fixedly connected with one first slider.

The stability of the first rack is increased through the follow-up block, and the influence of insufficient stability of the first rack caused by lack of support is reduced.

In some embodiments, the first calibration mechanism further comprises a follower wheel, each of the first racks being in engagement with one or more of the follower wheels; the first calibration mechanism further comprises a follow-up block, one end of each first rack, which is far away from the corresponding first calibration piece, is fixedly connected with one end of one follow-up block, and the other end of each rack connecting block is fixedly connected with one first sliding block.

Thus, the motion stability of the first calibration mechanism is increased through the follower wheel; the stability of the first rack is increased through the follow-up block, and the influence of insufficient stability caused by the lack of support of the first rack is reduced.

In some embodiments, the second calibration mechanism includes two second calibration assemblies arranged along the first axis, each second calibration assembly including the second calibration piece, a second support plate, and a second drive piece. The second supporting plate is fixedly connected with the mounting seat. The second driving piece is connected with the second supporting plate and the second calibration piece so as to drive the second calibration piece to move.

The second calibration piece is controlled to move on the second supporting plate through the second driving piece, so that the second calibration piece can clamp or unclamp devices such as the battery cell.

In some embodiments, the second calibration member includes a second calibration block and a fourth connection block, the fourth connection block is connected to the second driving member, and three second calibration blocks are disposed at intervals along the fourth connection block.

Through second calibration piece along fourth connecting block interval setting, can provide operating space for devices such as clamping piece centre gripping electric core.

In some embodiments, the clamping mechanism includes two clamping assemblies, a second slide rail, a second slider, and a third drive member. The two clamping assemblies are arranged along a first shaft and can move in opposite directions, and each clamping assembly comprises a clamping piece. The second sliding rail is arranged on the mounting seat. The second sliding blocks are movably connected with the second sliding rails, and each clamping assembly is fixedly connected with one or more second sliding blocks. The third driving piece is respectively connected with the two clamping assemblies so as to drive the two clamping assemblies to move along the second sliding rail.

Therefore, the second sliding rail and the second sliding block are matched to slide, and the clamping assembly can move along the second sliding rail along with the second sliding block. The power for the movement of the clamping assembly is provided by a third drive member.

In some embodiments, the clamping assembly of at least one side includes a third slide rail, a third slider, an abutment, and a first elastic member. The third sliding rail is fixedly connected with the second sliding block. The third sliding block is movably connected with the third sliding rail. The abutting seat is fixedly connected with the second sliding block. The first elastic piece is located between the abutting seat and the clamping piece.

The clamping piece moves along the direction of the third sliding rail along with the third sliding rail through the matching sliding of the third sliding rail and the third sliding block. The abutting seat and the clamping piece are matched to compress the first elastic piece so as to balance the clamping force of the clamping piece and prevent the battery cell from being damaged by clamping.

In some embodiments, the mount includes a first connection plate, a second connection plate, and a connection post. The clamping mechanism and the second calibration mechanism are both arranged on the second connecting plate. The two ends of the connecting column are fixedly connected with the first connecting plate and the second connecting plate respectively, and the first calibration mechanism is fixedly connected with the connecting column or the second connecting plate.

In this way, the first connecting plate, the second connecting plate and the connecting column can be assembled into a frame body so as to fix the clamping mechanism and the calibration mechanism, and can provide a mounting space for the clamping mechanism and the calibration mechanism in a crossed mode.

In some embodiments, the mounting base further comprises a connecting base disposed on the second connecting plate and located between the first connecting plate and the second connecting plate, and the first calibration mechanism is disposed on the connecting base.

The first calibration mechanism can be supported through the connecting seat, and the installation height of the first calibration mechanism is adjusted.

The second aspect of the embodiments of the present application provides a stacking apparatus, which is configured to stack a battery cell, where the stacking apparatus includes a frame, a lateral moving assembly, a vertical moving assembly, a lifting mechanism, an unlocking mechanism, and a calibration gripping device according to any one of the foregoing. The transverse moving assembly is at least partially arranged on the frame and used for driving the calibration grabbing device to move transversely along the frame. The vertical movement assembly is at least partially fixedly connected with the mounting seat and used for driving the calibration grabbing device to move along the vertical direction of the frame. The jacking mechanism is arranged on the frame and used for jacking the tray for loading the battery cells so that the tray is separated from a wire body for conveying the tray. The unlocking mechanism is arranged on the frame and is used for pulling the pulling piece of the tray so as to release the limit of the limiting mechanism of the tray on the battery cell, so that the calibration grabbing device calibrates or clamps the battery cell.

So, the first electric core can be fixed in the unblock front position in the tray, can follow the lateral shifting subassembly and move to second electric core top after the calibration grabbing device snatchs first electric core, to the correction of second electric core position after, vertical shifting subassembly stacks to second electric core top again follows first electric core, can improve and pile up the precision.

In some embodiments, the unlocking mechanism assembly includes a mounting bracket, a fourth drive member, and a catch member. The mounting bracket is arranged on the frame. The fourth driving piece is arranged on the mounting bracket. The hooking part is connected with the fourth driving part, and the fourth driving part drives the hooking part to draw out the pulling part limiting the battery cell by the tray.

The fourth driving piece drives the hooking piece to draw out the pulling piece of the tray, and the limit of the tray to the battery cell is released.

In some embodiments, the jacking mechanism includes a jacking plate, a jacking seat, and a support column. The jacking seat is fixedly connected with the frame. The support column is arranged on the jacking plate and used for supporting the tray. The fifth driving piece is arranged on the jacking seat and used for driving the jacking plate to move along the vertical direction.

The fifth driving piece provides power for the lifting plate to move along the vertical direction so as to lift the tray to the lifting position.

In some embodiments, the lifting mechanism further comprises a positioning pin disposed on the lifting plate for positioning the tray.

Thus, the tray has positioning holes, and positioning pins are used for being inserted into the positioning holes to position the tray.

In some embodiments, the jacking mechanism further comprises a guide sleeve and a guide post, wherein the guide sleeve is fixedly connected with the jacking seat; the guide post and the jacking plate are fixedly connected and can penetrate through the guide sleeve.

The guide sleeve and the guide column play a role in guiding the lifting plate, so that the tray reaches the lifting position along the guide direction.

In some embodiments, the lifting mechanism further comprises a positioning pin disposed on the lifting plate for positioning the tray. The jacking mechanism further comprises a guide sleeve and a guide column, and the guide sleeve is fixedly connected with the jacking seat; the guide post and the jacking plate are fixedly connected and can penetrate through the guide sleeve.

Through locating pin, uide bushing and guide post, make the tray arrive the jacking position along the direction of guide after the location.

A third aspect of the embodiments of the present application provides a production line of a battery, including a tray, a grabbing wire body, a stacking wire body, and a stacking apparatus described in any one of the foregoing. The tray is used for bearing the battery cell and comprises a limiting mechanism for limiting the battery cell and a pulling piece for releasing the limit of the battery cell. The grabbing line body is arranged on the rack and used for conveying the tray. The stacking line body and the grabbing line body are arranged on the rack side by side and used for conveying the tray. The grabbing line body and the stacking line body are respectively provided with the jacking mechanism and the unlocking mechanism correspondingly; the calibration mechanism is used for calibrating the grabbing wire body and the battery cells to be stacked on the stacking wire body respectively, and the clamping mechanism is used for clamping the battery cells to be stacked on the grabbing wire body to the battery cells to be stacked on the stacking wire body.

The battery can be continuously stacked by the grasping wire body and the stacking wire body conveying tray. The stacking accuracy is improved and the stacking efficiency can be improved.

A fourth aspect of the present application provides a stacking method of a battery, applied to the above-mentioned production line, including: lifting the trays on the grabbing line body and the stacking line body respectively; respectively releasing the limit of the tray on the grabbing line body to the first battery cell to be stacked and the limit of the tray on the stacking line body to the second battery cell to be stacked; clamping the first battery cell to move to the upper part of the stacking line body; calibrating the second battery cell; stacking the first cell to the second cell.

The battery production line applies the stacking method of the embodiment of the application, the tray is relieved from limiting the first battery cell, the first battery cell is clamped and moved to the upper side of the stacking line body, the second battery cell is calibrated, and then the first battery cell is stacked on the second battery cell. The stacking precision of the battery cells can be effectively improved, and the production quality of the battery is improved.

In some implementations, before moving the first cell to above the stacking line, the stacking method further includes: and calibrating the first battery cell.

Therefore, before the first battery cell is clamped and moved to the upper side of the stacking line body, the first battery cell is calibrated, and the stacking precision can be further improved.

Drawings

FIG. 1 is a schematic diagram of a configuration of a calibration gripping device in accordance with one or more embodiments;

FIG. 2 is a schematic structural view of a calibration mechanism according to one or more embodiments;

FIG. 3 is a schematic structural view of a first calibration mechanism according to one or more embodiments;

FIG. 4 is a schematic structural view of a second calibration assembly in accordance with one or more embodiments;

FIG. 5 is a schematic illustration of a clamping mechanism and mount according to one or more embodiments;

FIG. 6 is a schematic view of the clamping mechanism and mounting base of FIG. 5 from another perspective;

FIG. 7 is a schematic structural view of a stacking apparatus according to one or more embodiments, wherein a partial structure of a grab wire body and a stacking wire body is shown;

FIG. 8 is a schematic view of a partial structure of the stacking apparatus of FIG. 7;

FIG. 9 is a schematic view of a partial structure of the stacking apparatus of FIG. 7;

FIG. 10 is a schematic structural view of a tray according to one or more embodiments;

FIG. 11 is a flow diagram of a stacking method in accordance with one or more embodiments;

FIG. 12 is a flow diagram of another stacking method in accordance with one or more embodiments;

Fig. 13 is a schematic structural diagram of a cell in accordance with one or more embodiments.

Description of the reference numerals

Calibrating the gripping device 100;

a mounting base 10; a first connection plate 11; a second connection plate 12; a connecting column 13; a connection base 14; a vertical plate 15; a reinforcing plate 16;

a calibration mechanism 20; a calibration piece 21; a first calibration mechanism 210; a first calibration piece 211; connection block 2111; a first connection block 21111; a second connection block 21112; a calibration plate 2112; a first vertical plate 21121; a first calibration block 21122; reinforcing ribs 2113; a first support plate 212; a first slide rail 213; a first slider 214; a first driving member 215; a sun gear 216; a first rack 217; follower wheel 218; a follower block 219; a second calibration mechanism 220; a second calibration component 221; a second calibration piece 2211; a second calibration block 22111; a fourth connection block 22112; a second support plate 2212; a third connection block 22121; a transition plate 22122; a second driving member 2213;

a clamping mechanism 30; a clamping assembly 31; a third slide rail 311; a third slider 312; a support base 313; a clamp 314; a first elastic member 315; a second slide rail 32; a second slider 33; a third driving member 34;

stacking apparatus 200;

a frame 110; a lateral movement assembly 120; a vertical movement assembly 130; a jacking mechanism 140; a jacking plate 141; a jack-up seat 142; support columns 143; a fifth driving member 144; a positioning pin 145; a guide sleeve 146; a guide column 147; a sensor 148; a first sensor 1481; a second sensor 1482; an unlocking mechanism 150; a mounting bracket 151; a fourth driving member 152; a hooking member 153;

A tray 300; a positioning hole 300a; a pulling member 301; a limiting mechanism 302; a first clamp block 3021; a second clamp block 3022; a third clamp block 3023; a limit slide 3024; a fourth slide 30241; a bracket 303; a first support 3031; a second support 3032; a second elastic member 304; a bottom plate 310;

a grab line body 400;

the wire body 500 is stacked.

Detailed Description

Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion.

In the description of the embodiments of the present application, the technical terms "first," "second," "third," etc. are used merely to distinguish between different objects and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, which means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, the character "/" generally indicates that the associated object is an "or" relationship.

In the description of the embodiments of the present application, the positional or positional relationship indicated by the technical terms "first axis", "second axis", "third axis", "lengthwise", "widthwise", "transverse", "vertical", etc. are merely for convenience of describing the embodiments of the present application and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific orientation, be configured, operated, or used in a specific orientation, and thus should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or be integrated; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the term "contact" is to be understood in a broad sense as either direct contact or contact across an intermediate layer, as either contact with substantially no interaction force between the two in contact or contact with interaction force between the two in contact.

In the related art, when the battery cells are stacked, a tray for loading the battery cells is positioned by a positioning mechanism of a wire body, and a secondary position calibration mechanism is not arranged. The electric core is positioned through the tray, and the consistency of the tray is difficult to ensure; or the appearance of each group of battery cells has tolerance, so that the positions of each group of battery cells on the tray are inconsistent when stacking, and the stacking precision is poor.

Based on the above-mentioned circumstances, the embodiment of the application provides a calibration grabbing device, before grabbing and before stacking, the electric core position to be stacked can be corrected, so as to improve the coplanarity accuracy of the electric core, improve the stacking accuracy of the electric core, and further improve the production quality of the battery. It can be understood that the calibration gripping device of the embodiment of the application can be used for stacking devices such as a battery cell, a battery module, or a battery, and can also be used for stacking other devices.

Referring to fig. 1, the calibration gripping device 100 includes a mount 10, a calibration mechanism 20, and a clamping mechanism 30. The calibration mechanism 20 is arranged on the mount 10 and comprises two calibration members 21 arranged at least along the first axis X and movable in opposite directions. The clamping mechanism 30 is disposed on the mounting base 10, and includes two clamping members 314 disposed along a first axis X and capable of moving in opposite directions, the two clamping members 314 are located on inner sides of two calibration members 21 disposed along the first axis X, the calibration members 21 protrude from the clamping members 314 along a third axis Z, and one ends of the calibration members 21 protruding from the clamping members 314 are away from the mounting base 10. Wherein the third axis Z is perpendicular to the first axis X.

The mounting base 10 is used for mounting the calibration gripping device 100 to other devices for calibration or clamping operations. For example, the mounting base 10 may be connected to a robot with multiple articulated arms, and the movement of the robot drives the calibration gripping device 100 to perform calibration or gripping operation. The mounting base 10 may be mounted on a fixing device such as a rack through a servo mechanism, and the calibration gripping device 100 is driven by the servo mechanism to perform calibration or clamping operation.

The calibration mechanism 20 is used to calibrate or unclamp the devices to be stacked. The calibration mechanism 20 comprises two calibration members 21 arranged at least along a first axis X and movable in opposite directions. For example, the alignment mechanism 20 can clamp the second device, align the second device with the first device, unclamp the second device to correct the position of the second device, and place the first device on the second device, thereby improving the stacking accuracy of the first device stacked onto the second device. In some embodiments, the alignment mechanism 20 may further comprise two alignment members 21 arranged along a second axis Y and movable in opposite directions, the second axis Y being arranged at an angle to the first axis X to accommodate differently shaped devices to be stacked. For example, for a rectangular parallelepiped cell, the second axis Y is perpendicular to the first axis X, and the second axis Y is perpendicular to the third axis Z.

The structural form of the aligning members 21 is not limited as long as the opposite movement of the two aligning members 21 in the opposite direction to grip the device can be achieved. The number of pairs of the two calibration members 21 is not limited. For example, the calibration pieces 21 may be provided in two, and one device can be calibrated; the calibration pieces 21 may be provided in two groups, and two devices can be calibrated at the same time; the calibration pieces 21 may be provided in three groups, and two devices or three devices can be calibrated at the same time. When three sets of calibration members 21 calibrate two devices simultaneously, one set of calibration members 21 may contact two devices simultaneously, and the other two sets of calibration members 21 contact a corresponding one of the devices.

The clamping mechanism 30 is used to clamp or unclamp the devices to be stacked. The clamping mechanism 30 includes two clamping members 314 arranged along the first axis X and movable in opposite directions. For example, the clamping mechanism 30 can clamp the first device, following movement of the mount 10 over the stacking position. The number of pairs of the two clamps 314 is not limited. For example, the calibration piece 21 may be provided in two, capable of holding one device; the clamping members 314 may be provided in two groups, and can clamp two devices at the same time.

The two clamping members 314 are located at the inner sides of the two calibration members 21, the calibration members 21 protrude from the clamping members 314 along the third axis Z, and one end of the calibration members 21 protruding from the clamping members 314 is far away from the mounting seat 10. The calibration member 21 herein refers to all calibration members 21, including calibration members 21 disposed along the first axis X, as well as calibration members 21 disposed along other axes. The alignment member 21 protrudes from the length of the clamping member 314, and should be capable of clamping and displacing the device to achieve alignment, so that after the clamping member 314 clamps the first device, the alignment member 21 outside the clamping member 314 can continue to align the second device without being affected.

It will be appreciated that the surface of the alignment member 21 contacting the device and the surface of the clamping member 314 contacting the device can be coplanar along the third axis Z, and that the alignment member 21 has a relief space for the relief of the clamping member 314, so as to avoid interference of the clamping member 314 with the alignment action of the alignment member 21 after the clamping member 314 has gripped the first device. The calibration member 21 can be divided into a plurality of parts along the device, the plurality of parts of the calibration member 21 can be used for calibrating to form avoidance spaces, the clamping member 314 can be divided into a plurality of parts along the device, and the clamping member 314 can be uniformly distributed in the avoidance spaces between the parts of the calibration member 21 used for calibrating.

The calibration grabbing mechanism 100 of this embodiment is capable of moving to the upper side of the second device after the first device is grabbed by the clamping mechanism 30 through the cooperation of the calibration mechanism 20 and the clamping mechanism 30, and correcting the position of the second device before stacking by the calibration mechanism 20, and stacking the first device onto the second device, so as to improve the overlapping ratio of the two groups of devices and improve the stacking precision. And the position calibration is not carried out by the tray, so that the requirement on consistency of tray processing and assembling and the like is reduced, and the manufacturing cost of equipment can be further reduced.

For ease of understanding, the stacked device in the embodiments of the present application will be described by taking two groups of cells as examples, and is named as a first cell and a second cell. The first battery cell refers to a group of battery cells which are positioned above after being stacked, and the second battery cell refers to another group of battery cells which are positioned below after being stacked. The first battery cell and the second battery cell are stacked at a stacking position, the second battery cell is located at the stacking position, and the first battery cell is stacked above the second battery cell to realize stacking.

The following takes a device as a cuboid-shaped cell as an example, and includes two ends along the length direction and the width direction respectively. The length direction may be along the second axis Y, and the width direction may be along the first axis X, which is perpendicular to the second axis Y. The number of the first electric core and the second electric core is not limited, the first electric core and the second electric core can be one electric core or a plurality of electric cores respectively, and the number of the first electric core and the number of the second electric core are the same.

In some embodiments, referring to fig. 2, the calibration mechanism 20 includes a first calibration mechanism 210 and a second calibration mechanism 220 respectively disposed on the mounting base 10. The first calibration mechanism 210 comprises two first calibration pieces 211 arranged along a second axis Y and movable in opposite directions, and the second calibration mechanism 220 comprises two second calibration pieces 2211 arranged along a first axis X and movable in opposite directions. The first calibration piece 211 and the second calibration piece 2211 are both calibration pieces 21, i.e., the calibration pieces 21 are divided into the first calibration piece 211 and the second calibration piece 2211. Wherein the second axis Y is perpendicular to the first axis X and the second axis Y is perpendicular to the third axis Z. The height of the calibration member 21 may be sufficient to calibrate two devices stacked one above the other simultaneously or separately.

The second axis Y and the first axis X are vertically arranged, so that the clamping convenience and stability can be improved. Meanwhile, when the calibration grabbing device is used for calibrating and clamping the battery cell, the calibration grabbing device can be suitable for the battery cell with a cuboid shape.

In the following embodiments, the first axis X in fig. 2 to 6 refers to the width direction of the battery cell, and the second axis Y refers to the length direction of the battery cell. Taking fig. 13 as an example, two cells D are shown, where the two sides of the cell D along the first axis X are end plates D1 and the two sides of the cell D along the second axis Y are side plates D2. The length, width, side and end panels are merely exemplary and should not be construed as limiting the use of the alignment mechanism 20.

The first calibration mechanism 210 includes two first calibration pieces 211 arranged along the second axis Y and movable in opposite directions. When the first electric core and the second electric core are respectively two electric cores, the two electric cores are arranged side by side along the second axis Y, the side plate of the single electric core is arranged along the second axis Y, and the end plate of the single electric core is arranged along the first axis X.

The first alignment member 211 is used to clamp or unclamp the cells and is capable of aligning the end plate of the second cell with the end plate of the first cell. For example, the first calibration piece 211 can simultaneously abut the end plates of the first and second cells along the third axis Z to align the end plates of the second cell with the end plates of the first cell.

The second calibration mechanism 220 can be used to calibrate the side plate position of the cell. The second calibration mechanism 220 includes two second calibration members 2211 that are movable in opposite directions along the first axis X.

The second calibration member 2211 is used for clamping and unclamping the battery cell, and can calibrate the side plate of the second battery cell to be aligned with the side plate of the first battery cell. For example, the second calibration piece 2211 can simultaneously abut the side plates of the first and second cells along the third axis Z to align the side plates of the second cell with the side plates of the first cell.

It will be appreciated that when the first calibration mechanism 210 is used in conjunction with the second calibration mechanism 220, both the side plates and end plates of the cell can be calibrated. When the clamping member 21 clamps the first cell, the two first calibration members 211 can calibrate the end plate of the second cell to align with the end plate of the first cell. The two second calibration pieces 2211 can calibrate the side plates of the second cell to align with the side plates of the first cell. Therefore, when the second battery cell is loosened after being calibrated, and the first battery cell is placed on the second battery cell along the third axis Z, the first battery cell and the second battery cell can have better coplanarity accuracy.

In some embodiments, referring to fig. 3, the first calibration mechanism 210 further includes a first driving member 215 for driving the first calibration member 211. Each first calibration member may be configured with a first driving member 215, or may share a first driving member 215. The first calibration piece 211 is controlled by the first driving piece 215 so that the calibration mechanism 20 can clamp or unclamp the cells to be stacked.

For example, referring to fig. 3, two ends of the first driving member 215 are respectively connected to two first calibration members 211, so as to drive the two first calibration members 211 to move along the second axis Y in opposite directions.

Illustratively, the first driver 215 may include a drive cylinder, a drive ram, or a drive electric cylinder.

In some embodiments, referring to fig. 2 and 3, the first calibration mechanism 210 further includes a first support plate 212, a first sliding rail 213, and a first slider 214. The first support plate 212 is fixedly connected with the mounting base 10. The first sliding rail 213 is disposed on the first supporting plate 212. The first slide blocks 214 are movably connected with the first slide rails 213, and each first calibration piece 211 is fixedly connected with one or more first slide blocks 214. Two ends of the first driving member 215 are respectively connected to the two first calibration members 211, so as to drive the two first calibration members 211 to move along the first sliding rail 213.

The first support plate 212 is used for supporting the first calibration piece 211, the first sliding rail 213, the first sliding block 214 and the first driving piece 215, so that the first calibration piece 211 can move on the first support plate 212. In this manner, modular production and assembly of the first calibration mechanism 210 is also facilitated.

The first sliding rail 213 and the first sliding block 214 slide cooperatively, so that the first calibration piece 211 can move along the first sliding rail 213 along the first sliding block 214. The specific structure of the first calibration member 211 is not limited. Illustratively, referring to FIG. 3, the first calibration member 211 includes a connection block 2111 and a calibration plate 2112, with the connection block 2111 and the calibration plate 2112 being fixedly connected. The connection block 2111 is used to connect other mechanisms, for example, the first drive 215 to drive the calibration plate 2112. Calibration plate 2112 is used to clamp devices such as a battery cell.

Illustratively, referring to fig. 3, the connection block 2111 includes a first connection block 21111 and a second connection block 21112, the first connection block 21111 being for connecting to other mechanisms such as the first driver 215, and the second connection block 21112 being for connecting to the calibration plate 2112. The first connection block 21111 and the second connection block 21112 may be disposed at an angle, such as vertically.

It will be appreciated that the first connection block 21111 and the second connection block 21112 may be integrally formed, or may be separately formed, facilitating part processing.

For example, referring to fig. 3, two ends of the first driving member 215 are respectively connected to two first connecting blocks 21111 to drive the two first calibration members 211 to move along the second axis Y in opposite directions.

Illustratively, referring to FIG. 3, the calibration plate 2112 includes a first vertical plate 21121 and a first calibration block 21122, the first vertical plate 21121 and the first calibration block 21122 being fixedly connected. The first vertical plate 21121 and the connection block 2111 are fixedly connected, for example, the first vertical plate 21121 and the second connection block 21112 are fixedly connected. The first calibration block 21122 is generally smaller in size than the first vertical plate 21121 for holding the cells. The first calibration block 21122 may be at a height sufficient to calibrate two devices stacked one above the other simultaneously or separately. By performing finish machining on the first calibration block 21122, the machining area is reduced, and the gripping accuracy and the gripping stability can be improved. After the first calibration block 21122 is worn out, replacement is facilitated, and maintenance cost is reduced.

It will be appreciated that the calibration plate 2112 and the cell contacts may be made of materials or with transition structures added as desired. For example, the calibration plate 2112 may be a your glue to improve the wear resistance of the calibration plate 2112 and increase the lifetime.

For example, referring to fig. 3, the first calibration member 211 further includes a reinforcing rib 2113, and the reinforcing rib 2113 connects the calibration plate 2112 and the connection block 2111, so as to enhance the stability of the connection of the calibration plate 2112 and the connection block 2111, so as to improve the stability of the first calibration member 211 when the first calibration member 211 clamps the battery cell. For example, a stiffener 2113 connects the calibration plate 2112 and the second connection block 21112.

In some embodiments, referring to fig. 3, the first calibration mechanism 210 further includes a sun gear 216 and two first racks 217. The sun gear 216 is rotatably disposed on the first support plate 212. Two first racks 217 are located at both sides of the sun gear 216 and respectively engaged with the sun gear 216, and each first calibration member 211 is fixedly connected to one first rack 217.

The first calibration piece 211 is fixedly connected with the first racks 217 through the meshing of the sun gear 216 and the first racks 217, so that the two first calibration pieces 211 can synchronously move. In this way, the accuracy of controlling the moving distance of the first calibration material 211 can be enhanced, and the accuracy of the calibration of the first calibration mechanism 210 can be further improved.

In some embodiments, the first calibration mechanism 210 further includes a follower wheel 218, and each first rack 217 is engaged with one or more follower wheels 218.

The follower wheel 218 serves to increase the smoothness of the movement of the first calibration mechanism 210 and reduce the adverse effect of excessive rack length.

In some embodiments, referring to fig. 3, the first calibration mechanism 210 further includes a follower block 219, and an end of each first rack 217 away from the corresponding first calibration member 211 is fixedly connected to one end of one follower block 219, and the other end of the follower block 219 is fixedly connected to one first slider 214.

It can be understood that the gear portion of the sun gear 216 is higher than the first support plate 212, and the first rack 217 is connected to the sun gear 216 at one end and fixedly connected to the first calibration member 211 at the other end, and the first rack 217 is suspended above the first support plate 212.

In this way, the follower block 219 can increase the stability of the first rack 217. The follower block 219 is fixedly connected with the first rack 217 and the first slide block 214, so that the follower block 219 can move along the first slide rail 213 along the first rack 217 and the first slide block 214. The influence of insufficient stability of the first rack 217 due to lack of support can be reduced.

In some embodiments, referring to fig. 4, the second calibration mechanism 220 further includes a second driver 2213, where the second driver 2213 is configured to drive the second calibration member 2211. Each second calibration member 2211 may be provided with one second driving member 2213, and two second calibration members 2211 may share one second driving member 2213.

The second driver 2213 is used to provide motive power for movement of the second calibration member 2211. The second calibration member 2211 is controlled by the second driving member 2213 to enable the calibration mechanism 20 to clamp or unclamp the cells to be stacked.

Illustratively, the second driver 2213 may include a slide cylinder to save installation space.

In some embodiments, referring to fig. 2 and 4, the second calibration mechanism 220 includes two second calibration assemblies 221 disposed along the first axis X, each second calibration assembly 221 including a second calibration member 2211, a second support plate 2212, and a second drive member 2213. The second support plate 2212 is fixedly connected with the mounting base 10. The second driving member 2213 connects the second support plate 2212 with the second calibration member 2211 to drive the second calibration member 2211 to move.

The second support plate 2212 is configured to be mounted to the mount 10 and to connect the second calibration member 2211 through the second driving member 2213 such that the second calibration member 2211 can move on the second support plate 2212.

The second calibration member 2211 is controlled to move on the second support plate 2212 by the second driving member 2213 so that the second calibration assembly 221 can clamp or unclamp the cells to be stacked.

The specific structure of the second calibration member 2211 is not limited. For example, referring to fig. 4, the second calibration piece 2211 includes a second calibration block 22111 and a fourth connection block 22112, and the second calibration block 22111 is fixed to the fourth connection block 22112. The number of second calibration blocks 22111 is not limited. For example, three second calibration blocks 22111 may be disposed, and three second calibration blocks 22111 are disposed along the fourth connection block 22112 at intervals, and an avoidance space is formed between two adjacent second calibration blocks 22111, where the avoidance space may accommodate the clamping member 314, and may provide an operation space for the clamping member 314 to clamp the device.

The specific structure of the second support plate 2212 is not limited. For example, referring to fig. 4, the second support plate 2212 includes a third connection block 22121 and a transition plate 22122. Third connection block 22121 and transition plate 22122 are disposed vertically. The second driver 2213 is positioned between the transition plate 22122 and the second calibration piece 2211. For example, the second driver 2213 is positioned between the transition plate 22122 and the fourth connection block 22112.

The third connection block 22121 is used for fixedly connecting with the mounting base 10, the transition plate 22122 is used for fixing the second driving piece 2213, and the fourth connection block 22112 is used for fixing the second calibration piece 2211.

The second driving member 2213 is used for providing power for the movement of the fourth connection block 22112. The fourth connection block 22112 is controlled by the second driving member 2213 so that the second calibration member 2211 can clamp or unclamp the cells to be stacked.

Illustratively, referring to FIG. 4, the fourth connection block 22112 is configured to have an "E" shaped configuration projected along the third axis Z and projected along the first axis X, with three protruding ends of the "E" shaped configuration defining respective relief spaces therebetween, each of which is adapted to receive a clamping member 314. The second calibration piece 2211 includes three second calibration blocks 22111, and the three second calibration blocks 22111 are disposed at intervals of "E" shape projected along the first axis X of the fourth connection block 22112.

In some embodiments, referring to fig. 5 and 6, the clamping mechanism 30 is disposed on the mounting base 10, and includes two clamping assemblies 31 disposed along the first axis X and capable of moving in opposite directions, where the two clamping assemblies 31 each include a clamping member 314. The clamping mechanism 30 further includes a second slide rail 32, a second slider 33, and a third drive member 34. The second sliding rail 32 is disposed on the mounting base 10. The second sliding blocks 33 are movably connected with the second sliding rail 32, and each clamping assembly 31 is fixedly connected with one or more second sliding blocks 33. The third driving member 34 is respectively connected to the two clamping assemblies 31 to drive the two clamping assemblies 31 to move along the second sliding rail 32.

The second slide rail 32 and the second slide block 33 cooperatively slide, so that the clamping assembly 31 can move along the second slide rail 32 along the second slide block 33.

The third drive 34 is used to provide the motive force for moving the clamping assembly 31. The clamping assembly is controlled by a third drive 34 to enable the clamping mechanism 30 to clamp or unclamp the cells to be stacked.

Illustratively, the third driver 34 may include a finger cylinder to improve gripping accuracy and stability.

Illustratively, the side of the clamping member 314 contacting the battery cell is provided with a force optimizing adhesive to improve the wear resistance of the clamping member 314 and prolong the service life.

Illustratively, the clamping assembly 31 includes two clamping members 314; the fourth connection block 22112 is configured to have an E-shaped structure projected along the third axis Z and projected along the first axis X, the second calibration member 2211 includes three second calibration blocks 22111, and the three second calibration blocks 22111 are arranged at intervals along the E-shape projected along the first axis X of the fourth connection block 22112; two clamps 314 can be located between three second calibration blocks 22111. Thus, the clamping member 314 does not interfere with the fourth connection block 22112 aligning the second cell after clamping the first cell. The clamping piece 314 and the second calibration block 22111 can be simultaneously abutted against the first battery cell, and the second calibration block 22111 can be simultaneously abutted against the first battery cell and the second battery cell so as to calibrate the side plate of the second battery cell to be aligned with the side plate of the first battery cell.

In some embodiments, not shown, the clamping assemblies 31 on both sides each include a third sliding rail 311, a third sliding block 312, a supporting seat 313, a clamping member 314, and a first elastic member 315. The third sliding rail 311 is fixedly connected with the second sliding block 33. The third slider 312 is movably connected to the third slide rail 311. The abutment 313 is fixedly connected to the second slider 33. The clamping member 314 is used for clamping the battery cell. The first elastic member 315 is located between the supporting base 313 and the clamping member 314.

In some embodiments, referring to fig. 5, the clamping assembly 31 on one side includes a third sliding rail 311, a third sliding block 312, a supporting seat 313, a clamping member 314 and a first elastic member 315. The third sliding rail 311 is fixedly connected with the second sliding block 33. The third slider 312 is movably connected to the third slide rail 311. The abutment 313 is fixedly connected to the second slider 33. The clamping member 314 is used for clamping the battery cell. The first elastic member 315 is located between the supporting base 313 and the clamping member 314.

The third sliding rail 311 and the third sliding block 312 slide cooperatively, so that the clamping piece 314 can move along the direction of the third sliding rail 311 along with the third sliding block 312. The abutment 313 is used to compress the first elastic member 315 in cooperation with the clamping member 314. The first elastic member 315 is used for balancing the clamping force of the clamping member 314 to prevent the cell from being damaged by clamping.

Illustratively, the first resilient member 315 may be provided as a spring or a resilient pad. The clamping force of the clamping piece 314 is balanced through the energy absorption of the spring or the elastic pad, so that the battery cell is prevented from being damaged by clamping.

In some embodiments, after the two clamping members 314 clamp the battery cells, the two clamping members 314 are located between the three second calibration blocks 22111, and the second calibration blocks 22111 can simultaneously abut against the side plates of the first battery cell and the second battery cell, so that the side plates on two sides of the first battery cell and the second battery cell can be aligned. Meanwhile, the calibration plate 2112 includes a first vertical plate 21121 and a first calibration block 21122, the first vertical plate 21121 being fixedly connected to the first calibration block 21122. The first calibration block 21122 can abut the end plates of the first and second cells simultaneously to enable alignment of the end plates on both sides of the first and second cells. Thus, the side plates of the first and second cells can be aligned, and the end plates can be aligned.

In some embodiments, referring to fig. 1, the mounting base 10 includes a first connection plate 11, a second connection plate 12, and a connection post 13. The clamping mechanism 30 and the second calibration mechanism 220 are both disposed on the second connecting plate 12, and the moving directions of the clamping assembly 31 and the second calibration member 2211 are disposed in the same direction. The two ends of the connecting column 13 are respectively and fixedly connected with the first connecting plate 11 and the second connecting plate 12, and the first calibration mechanism 210 is fixedly connected with the connecting column 13.

In some embodiments, referring to fig. 1, the mounting base 10 includes a first connection plate 11, a second connection plate 12, and a connection post 13. The clamping mechanism 30 and the second calibration mechanism 220 are both disposed on the second connecting plate 12, and the moving directions of the clamping assembly 31 and the second calibration member 2211 are disposed in the same direction. The two ends of the connecting column 13 are respectively and fixedly connected with the first connecting plate 11 and the second connecting plate 12, and the first calibration mechanism 210 is fixedly connected with the second connecting plate 12.

The first connection plate 11 is used for connecting other devices. The second web 12 is used to secure the clamping mechanism 30 and the second calibration mechanism 220. The connection post 13 is used for connecting the first connection plate 11 and the second connection plate 12, so that an installation space is provided between the first connection plate 11 and the second connection plate 12 to install the first calibration mechanism 210.

The mount 10 can be used as a mounting base for the components, for mounting and positioning the components such as the alignment mechanism 20 and the clamping mechanism 30. The specific structure of the mount 10 is not limited, and the manner of connecting the mount 10 to each component connected to the mount 10 is not limited.

Illustratively, the mount 10 further includes a riser 15 and a reinforcement plate 16 on the first connection plate 11, the riser 15 and the reinforcement plate 15 being vertically disposed. Wherein the number of reinforcing plates 16 is not limited. For example, the reinforcing plates 16 may be provided in two at both ends of the riser 15. The riser 15 is intended for connection with other devices.

In this way, the first connection plate 11, the second connection plate 12, and the connection post 13 can be assembled into a frame to fix the clamping mechanism 30 and the alignment mechanism 20, and can provide a mounting space for the clamping mechanism 30 and the alignment mechanism 20 that are disposed crosswise.

In some embodiments, referring to fig. 1, the mounting base 10 further includes a connecting base 14 disposed on the second connecting plate 12 and located between the first connecting plate 11 and the second connecting plate 12, and the first calibration mechanism 210 is disposed on the connecting base 14.

The connecting seat 14 is used for supporting the first calibration mechanism 210, and may be further configured to adjust the mounting height of the first calibration mechanism 210, so that the heights of the first calibration mechanism 210 and the second calibration mechanism 220 at one end of the clamping cell are consistent, thereby improving the clamping stability.

The embodiment of the application also provides a stacking device 200 for stacking the battery cells. Referring to fig. 7, the stacking apparatus 200 includes a frame 110, a lateral movement assembly 120, a vertical movement assembly 130, a lifting mechanism 140, an unlocking mechanism 150, and a calibration gripping device 100 according to any of the above. The transverse moving assembly 120 is at least partially disposed on the frame 110, and is used for driving the calibration gripping device 100 to move along the transverse direction of the frame 110. The vertical movement assembly 130 is at least partially fixedly connected to the mounting base 10 for driving the calibration gripping device 100 to move vertically along the frame 110. The lifting mechanism 140 is disposed on the frame 110, and is used for lifting the tray 300 loaded with the battery cells, so that the tray 300 is separated from the wire body for conveying the tray 300. The unlocking mechanism 150 is disposed on the frame 110 and is used for pulling the pulling member 301 of the tray 300 to release the limit of the limiting mechanism of the tray 300 on the battery cell, so that the calibration gripping device 100 calibrates or clamps the battery cell.

The frame 110 is a mounting base for each component, and is used for calibrating the mounting and positioning of each component such as the gripping device 100. Both the grasping wire body 400 and the stacking wire body 500 may be penetrated in the frame 110. A partial length of the grab wire 400 and the stacking wire 500 are schematically shown in fig. 7.

The transverse moving component 120 is used for providing power for moving the calibration grabbing device 100, so that the calibration grabbing device 100 can move along the transverse direction of the rack 110 after grabbing the battery cells. In fig. 7, the first axis X refers to the lateral direction.

In some embodiments, for ease of operation, the width direction of the cell is the same direction as the direction of movement of the lateral movement assembly. The width direction of the battery cell and the moving direction of the transverse moving assembly are both a first axis X, and two sides of the battery cell along the first axis X are end plates. It is understood that the stacking apparatus 200 is equally applicable when the width direction of the battery cells is the second axis Y.

Illustratively, the lateral movement assembly 120 may include servo drives to perform high precision positioning to improve cell stacking accuracy.

The vertical movement assembly 130 is used to provide power for movement of the calibration gripping device 100, enabling vertical movement of the calibration gripping device 100 along the frame 110. In fig. 7, the third axis Z refers to the vertical direction.

For example, the vertical movement assembly 130 may be provided as a servo driver to perform high-precision positioning, improving stacking precision of the first and second cells.

The lifting mechanism 140 is used for lifting the tray 300 loaded with the battery cells so as to separate the tray 300 from the wire body for conveying the tray 300 for unlocking in the next step.

The unlocking mechanism 150 is used for releasing the clamping of the tray 300 to the battery cell, so that the calibration grabbing device 100 can clamp the battery cell.

In this way, the position of the first electric core before unlocking in the tray 300 can be fixed, the calibration grabbing device 100 can follow the transverse moving assembly 120 to move to the upper side of the second electric core after grabbing the first electric core, and the first electric core can be stacked to the upper side of the second electric core after correcting the position of the second electric core, so as to improve stacking precision.

In some embodiments, referring to fig. 8, the unlocking mechanism 150 includes a mounting bracket 151, a fourth driving member 152, and a hooking member 153. The mounting bracket 151 is disposed on the frame 110. The fourth driving piece 152 is disposed on the mounting bracket 151. The hooking member 153 is connected to the fourth driving member 152, and the fourth driving member 152 drives the hooking member 153 to withdraw the pulling member 301 of the tray 300 for limiting the battery cell.

The mounting bracket 151 is used to mount the fourth driving piece 152. The hooking member 153 is used to withdraw the pulling member 301. The pulling member 301 can fix the battery cell to the tray 300. The fourth driving member 152 is used for providing power for the hooking member 153 to withdraw the pulling member 301. The fourth driving member 152 controls the hooking member 153 to draw out the pulling member 301, so as to release the limit of the tray 300 on the battery cell, and release the battery cell.

Illustratively, the fourth driving member 152 may include a slide cylinder to save installation space.

In some embodiments, referring to fig. 9, the jacking mechanism 140 includes a jacking plate 141, a jacking seat 142, a support column 143, and a fifth driving member 144. The jacking seat 142 is fixedly connected with the frame 110. The support column 143 is disposed on the jacking plate 141 for supporting the tray 300. The fifth driving member 144 is disposed on the jacking seat 142, and is used for driving the jacking plate 141 to move along the vertical direction.

The jacking plate 141 is used to provide the support column 143, and the support column 143 can support the tray 300. The jack 142 is used to connect to the frame 110. The fifth driving member 144 is for providing power for moving the lifting plate 141 in a vertical direction to lift the tray 300 to the lifting position.

Illustratively, the fifth driver 144 may include a drive cylinder, a drive ram, or a drive electric cylinder.

In some embodiments, referring to fig. 9, the jacking mechanism 140 further includes a positioning pin 145 disposed on the jacking plate 141 for positioning the tray 300.

Referring to fig. 10, the tray 300 has a positioning hole 300a, and the positioning pin 145 is inserted into the positioning hole 300a to position the tray 300. The accuracy and efficiency of stacking are improved by positioning the tray 300 precisely by the positioning pins 145.

In some embodiments, referring to fig. 9, the jacking mechanism 140 further includes a guide sleeve 146 and a guide post 147, where the guide sleeve 146 is fixedly connected to the jacking seat 142. The guide posts 147 are fixedly connected to the jacking plate 141 and can be inserted into the guide sleeves 146.

The guide sleeve 146 and the guide column 147 serve to guide the lifting plate 141 so that the tray 300 reaches the lifting position in the guide direction.

In some embodiments, referring to fig. 9, the jacking mechanism 140 further includes a sensor 148 for detecting the position of the tray 300.

Illustratively, referring to FIG. 9, the sensors include a first sensor 1481 and a second sensor 1482. The first sensor 1481 is used to detect whether the tray 300 position has reached the raised position. The second sensor 1482 is used to detect whether the tray 300 position has reached an initial position before lifting.

In some embodiments, the jacking mechanism 140 further includes a locating pin 145, a guide sleeve 146, and a guide post 147. The positioning pins 145 are provided on the jacking plate 141 for positioning the tray 300. The guide sleeve 146 is fixedly connected with the jacking seat 142. The guide posts 147 are fixedly connected to the jacking plate 141 and can be inserted into the guide sleeves 146.

The positioning pin 145, the guide bush 146 and the guide column 147 can position the tray 300 and then reach the lifting position along the guide direction, so that the tray 300 is separated from the wire body.

The embodiment of the application further provides a production line of the battery cells, referring to fig. 7, including a tray 300, a grabbing line body 400, a stacking line body 500, and a stacking apparatus 200 according to any of the above. The tray 300 is used for bearing the battery cell, and the tray 300 comprises a limiting mechanism 302 for limiting the battery cell and a pulling piece 301 for releasing the limit of the battery cell. The grasping line 400 is provided on the frame 110 for conveying the tray 300. The stacking line 500 is disposed on the frame 110 side by side with the grasping line 400 for conveying the tray 300. Wherein, the grabbing wire body 400 and the stacking wire body 500 are respectively provided with a jacking mechanism 140 and an unlocking mechanism 150 correspondingly; the calibration mechanism 20 is used for calibrating the to-be-stacked cells on the grabbing wire body 400 and the stacking wire body 500 respectively, and the clamping mechanism 30 is used for clamping to stack the to-be-stacked cells on the grabbing wire body 400 onto the to-be-stacked cells on the stacking wire body 500.

Referring to fig. 10, the tray 300 includes a pulling member 301 and a limiting mechanism 302. Thus, during the movement of the tray 300, the limiting mechanism 302 can fix the battery cell to prevent the battery cell from being damaged due to shaking. The fixing action of the limiting mechanism 302 on the battery cell can be released by the pulling piece 301.

In some embodiments, referring to fig. 10, the spacing mechanism 302 includes a first clamp block 3021, a second clamp block 3022, and a third clamp block 3023. The first clamping block 3021 and the third clamping block 3023 cooperate to clamp the side plates of the cell and the second clamping block 3022 is used to clamp the end plates of the cell.

For example, referring to fig. 10, two first clamping blocks 3021 are arranged on one side of the cell and adjacent to the cell side plate. The number of the third clamping blocks 3023 is two, and the third clamping blocks are arranged on the other side of the battery cell and close to the side plate of the battery cell.

For example, referring to fig. 10, two second clamping blocks 3022 are disposed at each end of the cell and adjacent to the end plates of the cell.

It can be understood that when the hooking member 153 in the stacking apparatus 200 performs the pulling operation on the pulling member 301, the first and second clamping blocks 3021 and 3022 release the restriction on the battery cell.

In some embodiments, referring to fig. 10, the limiting mechanism 302 further includes a limiting rail 3024, so that the limiting mechanism 302 can slide relative to the base plate 310.

For example, referring to fig. 10, the limit rail 3024 includes a fourth rail 30241 and a fifth rail (not shown). The fourth slide 30241 is in sliding engagement with the first clamping block 3021 and the fifth slide is in sliding engagement with the second clamping block 3022 to facilitate movement of the first and second clamping blocks 3021, 3022 over the base plate 310 to clamp or unclamp the electrical cells.

Illustratively, referring to fig. 10, the tray 300 further includes a base 310 and a bracket 303, the bracket 303 is fixed to the base 310, and the base 310 and the bracket 303 are used for supporting the battery cell and the limiting mechanism 302.

Illustratively, referring to fig. 10, the bracket 303 includes a first support 3031 and a second support 3032, the first support 3031 being configured to receive a battery cell and the second support 3032 being configured to support the first support 3031 to a height that facilitates providing an installation space for other mechanisms below the first support 3031.

Referring to fig. 10, the tray 300 further includes a second elastic member 304 for connecting the bracket 303 and the second clamping block 3022 to reduce the clamping force of the second clamping block 3022 on the battery cell and reduce the damage to the battery cell. For example, the second elastic member 304 is located between the second clamping block 3022 and the second supporting member 3032, and when the second clamping block 3022 acts on the battery cell, the second elastic member 304 can elastically deform and absorb energy, so as to reduce the damage to the battery cell.

Both the grasping wire 400 and the stacking wire 500 are used to convey the tray 300.

It will be appreciated that the grasping wire 400 transports the tray 300 carrying the first cell and the stacking wire 500 transports the tray 300 carrying the second cell. After the stacking apparatus 200 moves the first cell away from the grasping wire 400, the grasping wire 400 continues to move to transport other cells. After the first and second cells are stacked completely, the stacking wire 500 continues to move to convey the stacked cells.

In this way, the stacking apparatus 200 according to the embodiment of the present application is used in a cell production line, and the stacking line 400 and the stacking line 500 are used to convey the tray, so that the cell can be continuously stacked. The stacking accuracy is improved and the stacking efficiency can be improved.

The embodiment of the present application further provides a stacking method of a battery, referring to fig. 11, which is applied to the above production line, the sequence of numbering steps is not limited, and the sequence of part of the steps may be adjusted according to actual situations, and specifically includes the following steps:

s1, respectively lifting trays positioned on a grabbing line body and a stacking line body;

s2, respectively releasing the limit of the tray on the grabbing line body to the first battery cell to be stacked and the limit of the tray on the stacking line body to the second battery cell to be stacked;

s3, clamping the first battery cell to move to the upper part of the stacked wire body;

s4, calibrating the second battery cell;

and S5, stacking the first battery cell on the second battery cell.

It will be appreciated that after the grab wire and the stack wire enter the stacking apparatus, the first and second cells stay on the same line along the first axis X, with the side plates of the first and second cells aligned respectively. After the jacking mechanism jacks up the tray, the unlocking mechanism releases the first battery cell and the second battery cell. The clamping mechanism clamps the first electric core, moves to the upper part of the stacking wire body, and the calibration mechanism clamps the second electric core and then puts down the second electric core to calibrate the second electric core, so that the second electric core is aligned with the first electric core clamped by the clamping mechanism at the moment along the third axis Z, the second electric core is loosened, and then the vertical movement assembly drives the clamping mechanism to move downwards to stack the first electric core and the second electric core.

The battery production line applies the stacking method of the embodiment of the application, releases the limit of the tray to the first battery cell, clamps and moves the first battery cell to the upper part of the stacking line body, calibrates the second battery cell to be aligned with the first battery cell, then places the second battery cell, and stacks the first battery cell on the second battery cell. The stacking precision of the battery cells can be effectively improved, and the production quality of the battery is improved.

In some embodiments, referring to fig. 12, the stacking method includes the following steps:

t1, respectively lifting trays positioned on the grabbing line body and the stacking line body;

t2, respectively releasing the limit of the tray on the grabbing line body to the first battery cell to be stacked and the limit of the tray on the stacking line body to the second battery cell to be stacked;

t3, calibrating the first battery cell;

t4, clamping the first battery cell to move to the upper part of the stacking line body;

t5, calibrating the second battery cell;

and T6, stacking the first battery cell on the second battery cell.

It will be appreciated that the grab wire has a grab position and the stacking wire has a stacking position. After the grabbing line body and the stacking line body enter the stacking device, the grabbing position and the stacking position are aligned along a first axis X. As such, the first cell and the second cell can be aligned along the first axis X. The clamping mechanism of the calibration gripping device moves between the gripping position and the stacking position following the traverse assembly.

So, carry out the calibration to first electric core earlier before pressing from both sides and getting first electric core, adjust first electric core position to clamping mechanism be convenient for the position of centre gripping, can improve the centre gripping stability, can reduce the stop gear of tray simultaneously and open the influence to electric core position when releasing the electric core, and then improve the stacking precision. The clamping mechanism can clamp the same position of the first battery cell, so that the position variation of the clamping mechanism can be reduced, and the stacking precision is further improved.

Taking a specific embodiment as an example, a part of the stacking process of the stacking apparatus 200 of the embodiment of the present application will be described. For ease of understanding, the tray 300 transported by the grasping wire body 400 is referred to as a first tray, the cells carried in the first tray are referred to as first cells, the tray 300 transported by the stacking wire body 500 is referred to as a second tray, and the cells carried in the second tray are referred to as second cells. The grasping wire body 400 has a grasping position and the stacking wire body 500 has a stacking position. The first cell moves to the stacking apparatus 200 following the grab line 400. And calibrating the first battery cell, grabbing the first battery cell and moving to the position above the stacking position. And calibrating the second electric core, aligning the second electric core with the first electric core along a third axis Z, loosening after calibration, and downwards moving the first electric core to be placed on the second electric core.

1) The first and second cells enter the stacking apparatus 200 and are lifted to the lifting position.

The grab line 400 transports the first tray carrying the first cells into the stacking apparatus 200, and the jacking mechanism 140 positions the first tray. The stacking wire 500 transports a second tray carrying second cells into the stacking apparatus 200. The surfaces of the first battery cell and the second battery cell are adhered with double-sided adhesive tape.

The first tray brings the first battery cell to the jacking position in the clamping state.

The fifth driving member 144 extends to push the jacking plate 141, the jacking plate 141 reaches the jacking position under the guiding action of the guide posts 147 and the guide sleeves 146, the positioning pins 145 are inserted into the positioning holes 300a of the first tray, the support columns 143 support the first tray, the first tray is separated from the grabbing wire body 400, the first sensor 1481 senses signals, and the jacking is completed.

The second tray also performs the lifting operation. The fifth driving member 144 extends to push the jacking plate 141, the jacking plate 141 reaches the jacking position under the guiding action of the guide posts 147 and the guide sleeves 146, the positioning pins 145 are inserted into the positioning holes 300a of the second tray, the support columns 143 support the second tray, the second tray is separated from the stacking line body 500, the first sensor 1481 senses a signal, and the jacking is completed.

2) Unlocking the first tray and the second tray.

After the first tray is lifted, the fourth driving piece 152 on the grabbing wire body 400 unlocks the first tray, and the first degree of freedom of the battery cell is released. The fourth driving member 152 is retracted, the pulling member 301 on the first tray is pulled by the hooking member 153, and the limiting mechanism 302 of the first tray is simultaneously opened, at this time, the degrees of freedom of the first battery cell in the first axis X and the second axis Y are released.

After the second tray is lifted, the fourth driving piece 152 on the stacking line body 500 unlocks the second tray, and the second degree of freedom of the battery cell is released. The fourth driving member 152 of the unlocking mechanism 150 is retracted, the pulling member 301 on the second tray is pulled by the hooking member 153, and the limiting mechanism 302 of the second tray is simultaneously opened, at this time, the second battery cell is released in the degrees of freedom of the first axis X and the second axis Y.

3) And grabbing the first battery cell after calibrating the first battery cell.

The transverse moving assembly 120 drives the calibration gripping device 100 to move above the grabbing line 400 along the first axis X, and the vertical moving assembly 130 drives the calibration gripping device 100 to move down to the gripping position.

The first driving piece 215 in the calibration mechanism 20 drives the first calibration mechanism 210, the second driving piece 2213 drives the second calibration mechanism 220, and the first battery cell is clamped and then loosened after being calibrated, so that the calibration of the first battery cell position is realized.

4) The first cell is moved over the stack.

The third driving piece 34 in the clamping mechanism 30 drives the clamping piece 314 to clamp the first battery cell, the first battery cell reaches a position above the stacking position of the stacking line body 500 along the first axis X under the driving of the transverse moving assembly 120, and the first battery cell moves downwards to a position, with the lower surface being 5mm away from the upper surface of the second battery cell, along the third axis Z under the driving of the vertical moving assembly 130.

5) The second cell is calibrated.

The first driving member 215 drives the first calibration mechanism 210, the second driving member 2213 drives the second calibration mechanism 220, and the second battery cell is calibrated to be aligned with the first battery cell and then is released, so that the calibration of the position of the second battery cell is realized.

6) The first and second cells are stacked.

The vertical moving assembly 130 drives the calibration grabbing device 100 to move downwards along the third axis Z, stacks the first battery cell onto the second battery cell, and fixes the first battery cell and the second battery cell through double faced adhesive tape.

7) The first tray leaves the stacking apparatus 200.

The fifth driving member 144 is retracted to move the jacking plate 141 away from the jacking position, to return the first tray to the grab line 400, and the second sensor 1482 senses the signal, and the grab line 400 transports the first tray without the battery cells away from the stacking apparatus 200.

8) The second tray leaves the stacking apparatus 200.

The fourth driving member 152 extends, and the hooking member 153 pushes the pulling member 301 on the second tray, so that the limiting mechanism 302 of the second tray is closed. At this time, the stacked first and second cells are stuck together, and fixed at the first and second axes X and Y.

The fifth driving member 144 is retracted to move the jacking plate 141 away from the jacking position to return the second tray to the stacking line 500, the second sensor 1482 senses a signal, and the stacking line 500 transports the second tray with the first and second cells away from the stacking apparatus 200.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the embodiments, and are intended to be included within the scope of the present application. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein.

Claims (19)

1. A calibration gripping device, comprising:

a mounting base;

the calibration mechanism is arranged on the mounting seat and comprises two calibration pieces which are at least arranged along a first shaft and can move in opposite directions; and

the clamping mechanism is arranged on the mounting seat and comprises two clamping pieces which are arranged along a first shaft and can move in opposite directions, the two clamping pieces are positioned on the inner sides of the two calibration pieces which are arranged along the first shaft, the calibration pieces are protruded out of the clamping pieces along a third shaft, and one ends of the calibration pieces, which are protruded out of the clamping pieces, are far away from the mounting seat;

wherein the third axis is perpendicular to the first axis.

2. The alignment grasping device according to claim 1, wherein the alignment mechanism comprises a first alignment mechanism and a second alignment mechanism, each disposed on the mount;

the first calibration mechanism comprises two first calibration pieces which are arranged along a second shaft and can move in opposite directions, the second calibration mechanism comprises two second calibration pieces which can be arranged along the first shaft and can move in opposite directions, and the first calibration pieces and the second calibration pieces are the calibration pieces;

wherein the second axis is perpendicular to the first axis and the second axis is perpendicular to the third axis.

3. The alignment grasping device according to claim 2, wherein the first alignment mechanism further comprises:

the first supporting plate is fixedly connected with the mounting seat;

the first sliding rail is arranged on the first supporting plate;

the first sliding blocks are movably connected with the first sliding rails, and each first calibration piece is fixedly connected with one or more first sliding blocks; and

and the two ends of the first driving piece are respectively connected with the two first calibration pieces so as to drive the two first calibration pieces to move along the first sliding rail.

4. The alignment grasping device according to claim 3, wherein the first alignment member comprises a connection block and an alignment plate fixedly connected;

the connecting block comprises a first connecting block and a second connecting block which are fixedly connected, and the first connecting block is connected with the first driving piece;

the calibration plate comprises a first vertical plate and a first calibration block which are fixedly connected, and the first vertical plate is connected with the second connection block.

5. The alignment grasping device according to claim 3, wherein the first alignment mechanism further comprises:

the central gear is rotatably arranged on the first supporting plate; and

The two first racks are positioned on two sides of the central gear and meshed with the central gear respectively, and each first calibration piece is fixedly connected with one first rack.

6. The alignment grabber of claim 5, wherein said first alignment mechanism further includes a follower wheel, each of said first racks being engaged with one or more of said follower wheels; and/or the number of the groups of groups,

the first calibration mechanism further comprises a follow-up block, one end of each first rack, which is far away from the corresponding first calibration piece, is fixedly connected with one end of each follow-up block, and the other end of each first rack is fixedly connected with one first sliding block.

7. The calibration gripping device of claim 2, wherein the second calibration mechanism includes two second calibration assemblies arranged along a first axis, each second calibration assembly comprising:

the second calibration piece;

the second supporting plate is fixedly connected with the mounting seat; and

the second driving piece is connected with the second supporting plate and the second calibration piece so as to drive the second calibration piece to move.

8. The alignment grasping device according to claim 7, wherein the second alignment member comprises a second alignment block and a fourth connection block, the fourth connection block being connected to the second driving member, three of the second alignment blocks being disposed at intervals along the fourth connection block.

9. The alignment grasping device according to claim 2, wherein the clamping mechanism further comprises:

two clamping assemblies which are arranged along the first shaft and can move in opposite directions and respectively comprise the clamping pieces;

the second sliding rail is arranged on the mounting seat;

the second sliding blocks are movably connected with the second sliding rails, and each clamping assembly is fixedly connected with one or more second sliding blocks; and

and the third driving piece is respectively connected with the two clamping assemblies so as to drive the two clamping assemblies to move along the second sliding rail.

10. The alignment grasping device of claim 9, wherein the clamping assembly of at least one side comprises:

the third sliding rail is fixedly connected with the second sliding block;

the third sliding block is movably connected with the third sliding rail;

the abutting seat is fixedly connected with the second sliding block; and

the first elastic piece is positioned between the abutting seat and the clamping piece.

11. The alignment gripping device of any of claims 2 to 10, wherein the mount comprises:

a first connection plate;

the clamping mechanism and the second calibration mechanism are arranged on the second connecting plate;

The two ends of the connecting column are fixedly connected with the first connecting plate and the second connecting plate respectively, and the first calibration mechanism is fixedly connected with the connecting column or the second connecting plate.

12. The alignment grabber of claim 11, wherein said mounting base further includes a connecting base disposed on said second connecting plate between said first connecting plate and said second connecting plate, said first alignment mechanism being disposed on said connecting base.

13. A stacking apparatus for stacking cells, comprising:

a frame;

the calibration gripping device according to any one of claims 1 to 12;

the transverse moving assembly is at least partially arranged on the frame and used for driving the calibration grabbing device to move transversely along the frame;

the vertical moving assembly is at least partially fixedly connected with the mounting seat and is used for driving the calibration grabbing device to move vertically along the frame;

the jacking mechanism is arranged on the rack and used for jacking the tray for loading the battery cells so as to separate the tray from a wire body for conveying the tray; and

the unlocking mechanism is arranged on the frame and is used for pulling the pulling piece of the tray so as to release the limit of the limiting mechanism of the tray to the battery cell, so that the calibration grabbing device can calibrate or clamp the battery cell.

14. The stacking apparatus of claim 13 wherein the unlocking mechanism comprises:

the mounting bracket is arranged on the rack;

the fourth driving piece is arranged on the mounting bracket; and

the hooking part is connected with the fourth driving part, and the fourth driving part drives the hooking part to draw out the pulling part limiting the battery cell.

15. The stacking apparatus of claim 13 wherein the jacking mechanism comprises:

a jacking plate;

the jacking seat is fixedly connected with the frame;

the support column is arranged on the jacking plate and used for supporting the tray; and

and the fifth driving piece is arranged on the jacking seat and used for driving the jacking plate to move along the vertical direction.

16. The stacking apparatus of claim 15 wherein the jacking mechanism further comprises a locating pin disposed on the jacking plate for locating the tray; and/or the number of the groups of groups,

the jacking mechanism further comprises a guide sleeve and a guide column, and the guide sleeve is fixedly connected with the jacking seat; the guide post and the jacking plate are fixedly connected and can penetrate through the guide sleeve.

17. A production line of a battery, characterized by comprising:

Stacking device according to any of claims 13 to 16;

the tray is used for bearing the battery cells and comprises a limiting mechanism for limiting the battery cells and a pulling piece for releasing the limit of the battery cells;

the grabbing line body is arranged on the rack and used for conveying the tray; and

the stacking line body is arranged on the rack side by side with the grabbing line body and used for conveying the tray;

the grabbing line body and the stacking line body are respectively provided with the jacking mechanism and the unlocking mechanism correspondingly; the calibration mechanism is used for calibrating the grabbing wire body and the battery cells to be stacked on the stacking wire body respectively, and the clamping mechanism is used for clamping the battery cells to be stacked on the grabbing wire body to the battery cells to be stacked on the stacking wire body.

18. A stacking method of cells, applied to the production line of claim 17, comprising:

lifting the trays on the grabbing line body and the stacking line body respectively;

respectively releasing the limit of the tray on the grabbing line body to the first battery cell to be stacked and the limit of the tray on the stacking line body to the second battery cell to be stacked;

Clamping the first battery cell to move to the upper part of the stacking line body;

calibrating the second battery cell;

stacking the first cell to the second cell.

19. The stacking method of claim 18, wherein prior to moving the first die to above the stacking wire, the stacking method further comprises:

and calibrating the first battery cell.