CN218114227U - Clamping device and battery replacing system - Google Patents

Abstract

The application is suitable for the technical field of batteries, and provides a clamping device and a battery replacement system, wherein the battery replacement system comprises a clamping device, a battery replacement device and a carrying device; the clamping device comprises a frame, a driving mechanism and two groups of clamping mechanisms; the driving mechanism is arranged on the frame; the two groups of clamping mechanisms are respectively movably connected to the frame; the two groups of clamping mechanisms are connected to the output end of the driving mechanism so as to move to a clamping state or a releasing state under the driving of the driving mechanism; the two groups of clamping mechanisms are configured to jointly clamp the object to be clamped along the X axis in the clamping state and hold the object to be clamped along the Z bearing, and the clamping mechanisms are further configured to be separated from the object to be clamped along the X axis and the Z axis respectively in the releasing state. So set up, when pressing from both sides the device clamp and getting the battery, two clamp mechanisms are got along the common centre gripping battery of X axle, and hold in the palm the battery along the Z bearing, so make press from both sides the device of getting have stronger clamp to the battery and get the dynamics, can avoid the battery to drop in the centre gripping process as far as possible.

Description

Clamping device and battery replacing system

Technical Field

The application belongs to the technical field of batteries, and particularly relates to a clamping device and a battery replacement system.

Background

In the field of new energy vehicles, when the battery replacement work is required, the battery is generally required to be carried. At present, batteries are generally transported by a manipulator, specifically, the manipulator supports two opposite sides of the battery in opposite directions by two clamping arms to clamp the battery, so as to transport the battery. However, because the volume of battery, weight are all great, present manipulator is not enough to the centre gripping dynamics of battery, has the risk that the battery dropped to appear among the clamping process, so has certain potential safety hazard.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the embodiment of the application is as follows: the utility model provides a press from both sides and get device aims at solving prior art, and the manipulator is to the not enough technical problem of the centre gripping dynamics of battery.

In order to solve the technical problem, the embodiment of the application adopts the following technical scheme:

in a first aspect, a clamping device is provided, comprising:

a frame;

the driving mechanism is arranged on the rack;

the two groups of clamping mechanisms are respectively movably connected with the rack; the two groups of clamping mechanisms are connected to the output end of the driving mechanism so as to move to a clamping state or a releasing state under the driving of the driving mechanism; the two groups of clamping mechanisms are configured to jointly clamp the object to be clamped along the X axis in the clamping state and to clamp the object along the Z bearing support, and the clamping mechanisms are further configured to be separated from the object to be clamped along the X axis and the Z axis respectively in the releasing state.

In one embodiment, the grasping mechanism includes:

the clamping arm is connected to the output end of the driving mechanism and can be arranged on the rack in a moving mode along the X axis, and the clamping arm is configured to abut against an object to be clamped along the X axis in a clamping state;

and the first material supporting part is arranged on the clamping arm and is configured to support the object to be clamped along the Z bearing in a clamping state.

In one embodiment, the first material supporting part is provided with a transmission mechanism, the transmission mechanism is configured to support the object to be gripped along a Z bearing in a gripping state, and is configured to transmit the object to be gripped along a Y axis.

In one embodiment, the grasping mechanism includes:

a rotating part rotatably connected to the frame and configured to be rotatable to a clamping position or a releasing position with respect to the frame;

the second material supporting part is arranged on the rotating part; in the clamping state, the rotating part is positioned at the clamping position and is abutted against the object to be clamped along the X axis, and the second material supporting part supports the object to be clamped along the Z bearing; in the releasing state, the rotating part is positioned at the releasing position, and the rotating part and the second material supporting part are separated from the object to be clamped;

the transmission assembly is connected to the output end of the driving mechanism in a transmission mode, and the rotating portion is arranged at the output end of the transmission assembly.

In one embodiment, the transmission assembly comprises:

the transmission part is in transmission connection with the output end of the driving mechanism;

the connecting rod mechanism is connected to the transmission part, and the rotating part is arranged at one end, far away from the transmission part, of the connecting rod mechanism.

In one embodiment, the transmission member is configured to move along the X-axis, the link mechanism includes a first link and a second link, one end of the first link is rotatably connected to the transmission member, one end of the second link is rotatably connected to the other end of the first link, the rotating portion is disposed at the other end of the second link, and the rotation axis of the first link, the rotation axis of the second link, and the rotation axis of the rotating portion are parallel.

In one embodiment, the gripping device further comprises a traveling mechanism, and the traveling mechanism is arranged on the frame and drives the frame to travel at least along the Y axis.

In one embodiment, the driving mechanism comprises a driver and a screw rod connected to the output end of the driver, the screw rod extends along the X axis, the screw rod has opposite thread directions at two opposite end parts along the X axis, and the screw rod is respectively in threaded connection with the two groups of clamping mechanisms.

In one embodiment, the rack comprises a rack body and a limiting part arranged on at least one side of the rack body along a Y axis, wherein the limiting part is configured to limit an object to be clamped along the Y axis; the driving mechanism and the clamping mechanism are arranged on the frame body.

In a second aspect, a battery swapping system is provided, which includes:

the clamping device is configured to take and place the battery at a clamping station;

the battery replacing device is configured at a battery replacing station to install the battery on the automobile or to detach the battery from the automobile;

the carrying device is configured to carry the battery between the clamping station and the battery replacement station.

The clamping device and the battery replacing system provided by the embodiment of the application have the beneficial effects that:

the clamping device provided by the embodiment of the application is in operation, and when the clamping device is located at the clamping station to prepare for clamping the battery, the two groups of clamping mechanisms can move relative to the rack under the driving of the driving mechanism. When the two groups of clamping mechanisms move to a clamping state, the two groups of clamping mechanisms can clamp the battery together along the X axis and support the battery along the Z bearing, so that the battery is limited on the X axis and the Z axis respectively, the clamping devices have stronger clamping force on the battery, the battery can be prevented from falling in the clamping process as much as possible, and potential safety hazards in the battery carrying process can be reduced; and the two groups of clamping mechanisms can also move to a release state relative to the rack under the drive of the driving mechanism, so that the two clamping mechanisms are respectively separated from the battery along the X axis and the Z axis to realize the release operation of the battery. Therefore, the clamping device provided by the embodiment of the application can clamp the battery or release the battery through a larger clamping force. Correspondingly, the trade electric system that this application embodiment provided owing to adopted above clamp to get the device, also correspondingly has to have great clamp dynamics of getting to the battery, also has the advantage that can avoid the battery to drop as far as possible.

Drawings

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

Fig. 1 is a schematic perspective view illustrating a battery clamping apparatus according to an embodiment of the present disclosure;

fig. 2 is a schematic perspective view of the grasping apparatus provided in fig. 1;

FIG. 3 is an enlarged view taken at A in FIG. 2;

fig. 4 is a schematic perspective view illustrating a battery clamping apparatus according to a second embodiment of the present disclosure;

fig. 5 is a schematic perspective view of the grasping apparatus provided in fig. 4;

FIG. 6 is an enlarged view at B in FIG. 5;

FIG. 7 is a cross-sectional view of FIG. 4;

fig. 8 is an enlarged view at C in fig. 7.

Wherein, in the figures, the respective reference numerals:

10-a frame; 11-a frame body; 12-a limiting part; 20-a drive mechanism; 21-a driver; 22-screw rod; 221-a helix; 222-an intermediate portion; 30-a gripping mechanism; 31-a gripper arm; 32-a first holding part; 33-a transmission mechanism; 34-a rotating part; 35-a second material supporting part; 36-a transmission assembly; 361-a transmission member; 362-linkage mechanism; 3621-a first link; 3622-a second link; 40-a traveling mechanism; m-battery.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise, wherein two or more includes two.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The following detailed description is made with reference to the accompanying drawings and examples:

example one

Referring to fig. 1 and fig. 2, the clamping device provided in the embodiment of the present application is mainly used for clamping the battery m, and certainly, according to practical application requirements, the clamping device may also be used for clamping other objects to be clamped.

Specifically, the gripping device includes a frame 10, a driving mechanism 20, and two sets of gripping mechanisms 30. The driving mechanism 20 is provided to the chassis 10. The two groups of clamping mechanisms 30 are respectively movably connected to the frame 10; the two gripping mechanisms 30 are connected to the output end of the driving mechanism 20 and can move to a gripping state or a releasing state under the driving of the driving mechanism 20. In the clamping state, as shown in fig. 1, the two groups of clamping mechanisms 30 clamp the object to be clamped together along the X axis and support the object to be clamped along the Z bearing; in the released state, as shown in fig. 2, the two sets of gripping mechanisms 30 are disengaged from the object to be gripped along the X axis and the Z axis, respectively.

As can be understood, in the clamping state, as shown in fig. 1, the two groups of clamping mechanisms 30 respectively abut against two opposite sides of the object to be clamped along the X axis, so as to jointly realize the clamping function of the object to be clamped; meanwhile, the two groups of gripping mechanisms 30 have a structure that is partially located below the object to be gripped, so that the object to be gripped can be supported upward. Wherein the X-axis is substantially perpendicular to the Z-axis, which is an axis parallel to the vertical direction.

As can be appreciated, in the released state, as shown in fig. 2, both sets of gripping mechanisms 30 are disengaged from the object to be gripped along the X axis to release the gripping action of the object to be gripped; meanwhile, the two groups of clamping mechanisms 30 are also separated from the object to be clamped along the Z axis so as to remove the supporting function of the object to be clamped.

It should be noted that each group of the gripping mechanism 30 may include one gripping mechanism 30, or may include a plurality of gripping mechanisms 30, and the plurality of gripping mechanisms 30 of each group are distributed along the Y axis in sequence, so as to grip a plurality of different positions of the object to be gripped along the Y axis, so as to enhance the gripping force of the object to be gripped.

The clamping device provided by the embodiment of the application, in operation, when the clamping device is located to press from both sides and get the station, two sets of clamping mechanisms 30 can move relative to frame 10 under the drive of actuating mechanism 20, thereby move to the clamping state earlier, specifically as shown in fig. 1, two sets of clamping mechanisms 30 at this moment support respectively and hold in treating to press from both sides the relative both sides of getting the object along the X axle, thereby it waits to press from both sides and get the object to follow the common centre gripping of X axle, and simultaneously, two sets of clamping mechanisms 30 all hold along the Z bearing and wait to press from both sides the object, and thus, under the clamping state, two sets of clamping mechanisms 30 have not only realized treating the centre gripping of getting the object, and realized treating to press from both sides the bearing of getting the object, also realized treating to press from both sides and get the object spacing on X axle and Z axle respectively, so make the clamping device treat to press from both sides and get the object and have stronger clamping dynamics, thereby can improve and wait to press from both sides the stability and get the object in clamping process and reliability. Based on this, when the clamp of this embodiment gets the device and is applied to the clamp of battery m and get the work, equally can effectively strengthen the dynamics of getting to battery m, and then improve battery m and get stability and the reliability of in-process at the clamp to can avoid the condition that battery m dropped in the centre gripping process as far as possible, help reducing the potential safety hazard of battery m in handling. In addition, the two groups of gripping mechanisms 30 can also move relative to the frame 10 under the driving of the driving mechanism 20 to move to the release state, specifically, as shown in fig. 2, at this time, the two groups of gripping mechanisms 30 both separate from the object to be gripped along the X axis and the Z axis, so as to release the object to be gripped, and thus, when the gripping device of the present embodiment is applied to the gripping work of the battery m, the releasing operation of the battery m can also be realized. Therefore, the clamping device provided by the embodiment of the application can smoothly realize the taking and placing operation of the object to be clamped, has stronger clamping force when the object to be clamped is clamped, can stably and reliably realize the clamping and moving of the object to be clamped, and can avoid the battery m from falling in the carrying process as much as possible.

In one embodiment, referring to fig. 1 to 3, the gripping mechanism 30 includes a gripping arm 31 and a first material supporting portion 32. The clamping arm 31 is connected to the output end of the driving mechanism 20, the clamping arm 31 is movably arranged on the frame 10 and can make reciprocating linear motion along the X axis, and the first material supporting part 32 is arranged on the clamping arm 31 and is configured to support the object to be clamped along the Z bearing. In the clamping state, the clamping arms 31 of the two groups of clamping mechanisms 30 respectively abut against two opposite sides of the object to be clamped along the X axis, so that the object to be clamped is clamped; meanwhile, the first material supporting part 32 supports the object to be gripped below the object to be gripped along the Z axis.

It will be appreciated that the gripper arms 31 are movable relative to the frame 10 along the X-axis under the drive of the drive mechanism 20, and in particular, the drive mechanism 20 can drive the two gripper arms 31 to move towards each other along the X-axis to move to the gripping state, and the drive mechanism 20 can drive the two gripper arms 31 to move away from each other along the X-axis to move to the releasing state.

So set up, two centre gripping arms 31 are close to each other and move to the clamping state along the X axle under actuating mechanism 20's drive, two centre gripping arms 31 support respectively and hold in waiting to press from both sides the relative both sides of getting the object along the X axle to wait to press from both sides and get the object along the common centre gripping of X axle, simultaneously, first material portion 32 that holds in the palm also moves to waiting to press from both sides the below of getting the object along the X axle under the drive of centre gripping arm 31, thereby wait to press from both sides the object of getting along Z bearing support, as shown in fig. 1, so, it waits to press from both sides the object of getting to press from both sides the mechanism 30 centre gripping of getting. When the two holding arms 31 move back to the releasing state along the X axis under the driving of the driving mechanism 20, the two holding arms 31 move away from each other along the X axis and disengage from the object to be gripped along the X axis, and at the same time, the first material supporting portion 32 also moves along the X axis under the driving of the holding arms 31 to disengage from the object to be gripped, as shown in fig. 2, so that the gripping mechanism 30 releases the object to be gripped. In this way, in the clamping state, when the two clamping arms 31 clamp the object to be clamped together, the first material supporting part 32 simultaneously supports the object to be clamped without driving the first material supporting part 32; in the release state, the two clamping arms 31 are separated from the object to be clamped, and the first material supporting part 32 is also synchronously separated from the object to be clamped, so that the first material supporting part 32 does not need to be additionally driven, the clamping and releasing actions of the clamping device on the object to be clamped are very efficient, and the operation is very simple.

Specifically, as shown in fig. 2 and fig. 3, the first material supporting portion 32 is disposed on one side of the clamping arm 31 for abutting against the object to be clamped, that is, the first material supporting portion 32 is disposed on the opposite side portions of the two clamping arms 31, and the first material supporting portion 32 can move along the X axis synchronously along with the clamping arm 31, so that when the two clamping arms 31 abut against the two opposite sides of the object to be clamped along the X axis respectively to clamp the object to be clamped together, the first material supporting portion 32 can move smoothly to the position below the object to be clamped, so as to support the object to be clamped.

Optionally, as shown in fig. 2, the clamping mechanism 30 includes two clamping arms 31 and one first material supporting portion 32, the two clamping arms 31 are arranged at intervals along the Y axis, so as to be capable of clamping two positions of the object to be clamped along the Y axis, that is, the clamping mechanism 30 is capable of clamping multiple positions of the object to be clamped along the Y axis, so as to improve clamping force of the clamping mechanism 30 on the object to be clamped, and the clamping mechanism is lighter in weight compared with a clamping plate. Simultaneously, set up first material portion 32 of holding in the palm and connect in two centre gripping arms 31 for first material portion 32 of holding in the palm has great size along the Y axle, thereby can the better bearing treat to press from both sides and get the object, thereby make first material portion 32 of holding in the palm treat to press from both sides and get the object and have higher bearing dynamics and stability. Of course, each gripping mechanism 30 may further include more than three gripping arms 31, and the more than three gripping arms 31 are spaced along the Y axis according to the actual application requirement.

In one embodiment, referring to fig. 2 and 3, the first material supporting portion 32 is provided with a transmission mechanism 33, and the transmission mechanism 33 is configured to support the object to be gripped along the Z-bearing in the gripping state and is configured to transmit the object to be gripped along the Y-axis. It can be understood that, in the clamping state, the first material supporting part 32 indirectly realizes the supporting function of the object to be clamped through the transmission mechanism 33 thereon, and the transmission mechanism 33 can also transmit the object to be clamped along the Y axis. Therefore, the transmission mechanism can adjust the specific position of the object to be clamped on the clamping device along the Y axis on one hand, so that the clamping device has higher clamping stability and accuracy on the object to be clamped; on the other hand, can also realize waiting to press from both sides the transmission of getting between device and the target location of getting, also realize waiting to press from both sides the transport work of getting the object promptly.

In practical application, when the clamping device is applied to clamping work of the battery m, the clamping device can move to one side of the battery cabinet along the Y axis under external force, the transmission mechanism 33 can directly transmit the battery m into the battery cabinet so as to realize transmission work of the battery m at the battery cabinet, and thus the clamping device is prevented from entering the battery cabinet as far as possible, and the size of each battery compartment in the battery cabinet can be effectively reduced.

Alternatively, as shown in fig. 3, the transmission mechanism 33 is a belt transmission mechanism, however, the transmission mechanism 33 can also be provided as a chain transmission mechanism, or even as a transmission wheel, the rotation axis of which is parallel to the X-axis.

Optionally, the transmission mechanisms 33 of each of the clamping mechanisms 30 may be provided in plurality, and the plurality of transmission mechanisms 33 are distributed in the first material supporting portion 32 at intervals along the X axis, so that the clamping mechanism 30 can support the object to be clamped and transmit the object to be clamped through the plurality of transmission mechanisms 33, and the clamping stability and the transmission strength of the clamping mechanism 30 to the object to be clamped can be improved. In addition, a plurality of transmission mechanisms 33 can also be distributed at intervals along the Y axis in the first material supporting part 32.

In one embodiment, referring to fig. 1 and 2, the driving mechanism 20 includes a driver 21 and a screw 22, and the screw 22 is connected to an output end of the driver 21 and extends along the X-axis. The opposite ends of the screw 22 along the X axis have opposite thread directions and are respectively in threaded connection with the two sets of gripping mechanisms 30.

Specifically, as shown in fig. 4 and 5, the screw 22 has two screw portions 221 with opposite screw directions, the two screw portions 221 are respectively provided at opposite ends of the screw 22 along the X axis, and the two sets of gripping mechanisms 30 are respectively screwed with the two screw portions 221 in a one-to-one correspondence. Thus, when the screw 22 is driven by the driver 21 to rotate in the forward direction, the two sets of gripping mechanisms 30 move in the opposite direction by the two screw parts 221, and when the screw 22 rotates in the reverse direction, the two sets of gripping mechanisms 30 move in the reverse direction. Based on this, the two groups of clamping mechanisms 30 can move under the driving of one driver 21, which is beneficial to the clamping and releasing operation of the object to be clamped.

Specifically, as shown in fig. 1 and 2, the screw 22 and the holding arms 31 are connected by screw threads, so that when the screw 22 is driven by the driver 21 to rotate, the holding arms 31 of the two sets of gripping mechanisms 30 can move along the X axis in the opposite direction or in the opposite direction.

Alternatively, the drive mechanism 20 is provided as one; alternatively, as shown in fig. 4 and 5, the two driving mechanisms 20 are provided, and the two driving mechanisms 20 are used for synchronously driving the gripping mechanism 30, so that the stability and reliability of the gripping work of the gripping device on the object to be gripped can be improved. Of course, the number of the driving mechanisms 20 may be three or more according to actual conditions.

Alternatively, as shown in fig. 4 and 5, the screw 22 further includes an intermediate portion 222, and the intermediate portion 222 is disposed between the two spiral portions 221 and connected to the output end of the driver 21.

The driver 21 may be a combination of a motor and a belt transmission mechanism, or may be a motor or other mechanisms, specifically, the belt transmission mechanism is connected to an output end of the motor, and the screw 22 is connected to the belt transmission mechanism. In other alternative embodiments, the driving mechanism 20 may be an electric cylinder, an air cylinder, etc., and the gripping mechanism 30 is connected to an output end of the electric cylinder, the air cylinder, etc., which are not listed here.

In one embodiment, referring to fig. 1 and fig. 2, the frame 10 includes a frame body 11 and a limiting portion 12, the limiting portion 12 is disposed on at least one side of the frame body 11 along a Y-axis, and the limiting portion 12 is configured to limit an object to be gripped along the Y-axis; the driving mechanism 20 is disposed on the frame 11, and the gripping mechanism 30 is movably disposed on the frame 11. With such an arrangement, in the clamping state, the clamping mechanisms 30 are abutted against two opposite sides of the object to be clamped along the X axis, so as to clamp the object to be clamped along the X axis, that is, the object to be clamped is limited between the two clamping mechanisms 30 along the X axis; the clamping mechanism 30 also supports the object to be clamped along the Z bearing, namely, the object to be clamped is limited along the Z axis; and treat to press from both sides and get the object and still follow the Y axle spacing in the spacing portion 12 of one side or spacing in the spacing portion 12 of both sides to the realization is treated to press from both sides and is got the object and follow the spacing of Y axle, and based on this, when pressing from both sides and getting mechanism 30 clamp and get and treat to press from both sides and get the object, can realize respectively treating to press from both sides and get the object and be spacing in Y axle, Z axle and X epaxial, so help improving and press from both sides the device and treat to press from both sides the dynamics and the stability of getting the object.

A second aspect of the embodiments of the present application provides a battery swapping system, which includes a clamping device, a battery swapping device, and a carrying device. The gripping device is configured to take and place the battery m.

The clamping device in this embodiment is the same as the clamping device described above, and for details, reference is made to the related description of the clamping device described above, which is not repeated herein. Based on this, trade electric system that this application embodiment provided owing to adopted above clamp to get the device, also correspondingly has to have great clamp dynamics of getting to battery m, also has the advantage that can avoid battery m to drop as far as possible. Wherein the gripping device is configured to take and place the battery m at the gripping station.

The battery replacing device is configured at a battery replacing station to install the battery m on the automobile or detach the battery m from the automobile; the carrying device is configured to carry the battery m between the gripping station and the battery replacement station. When the battery replacement system works, the clamping device can move into the battery cabinet under the action of self power or other power mechanisms, clamp a battery m in the battery cabinet, then move to the clamping station, the carrying device carries the battery m on the clamping device to the battery replacement station at the clamping station, and the battery m is mounted on an automobile by the battery replacement device; or the battery m of the automobile is detached from the battery replacing station by the battery replacing device, the battery m of the battery replacing station is conveyed to the clamping station by the conveying device, the battery m is clamped by the clamping device at the clamping station, then the clamping device moves to one side of the battery cabinet under the action of self power or other power mechanisms, and the conveyed battery m is placed in the battery cabinet for charging. So set up, trade the electric system and can realize installing battery m in the battery cabinet on the car, can also dismantle the operation that charges in the battery cabinet with battery m on the car to realize trading the electric operation of car.

Example two

The difference between this embodiment and the first embodiment is: the gripping mechanism 30 is different in structure.

Specifically, referring to fig. 4 to 8, the clamping mechanism 30 includes a rotating portion 34, a second material supporting portion 35 and a transmission assembly 36; the rotating portion 34 is rotatably connected to the frame 10 and configured to be rotatable with respect to the frame 10 to rotate to a clamping position or a releasing position; the second material holding portion 35 is provided in the rotating portion 34. When the clamping mechanism 30 is in the clamping state, the rotating part 34 is located at the clamping position, the rotating part 34 abuts against the object to be clamped along the X axis, and the second material supporting part 35 supports the object to be clamped along the Z bearing; in the releasing state of the gripping mechanism 30, the rotating part 34 is located at the releasing position, and both the rotating part 34 and the second material supporting part 35 are separated from the object to be gripped. The transmission assembly 36 is connected to the output end of the driving mechanism 20 in a transmission manner, and the rotating part 34 is arranged at the output end of the transmission assembly 36.

It can be understood that, under the driving of the driving mechanism 20, the transmission assembly 36 can perform transmission work, so that the rotating part 34 at the output end of the transmission assembly 36 rotates relative to the frame 10, and at this time, the second material supporting part 35 rotates synchronously with the rotating part 34; thus, the rotating portion 34 can be rotated to the clamping position or the releasing position with respect to the frame 10 by the driving of the driving mechanism 20. When the rotating part 34 rotates to the clamping position, the clamping mechanisms 30 are in a clamping state, at this time, the rotating parts 34 of the two groups of clamping mechanisms 30 respectively abut against two opposite sides of the object to be clamped along the X axis to clamp the object to be clamped along the X axis together, and meanwhile, the second material supporting part 35 supports the object to be clamped along the Z bearing; when the rotating parts 34 rotate to the release state, the gripping mechanisms 30 are in the release state, at this time, the rotating parts 34 of the two sets of gripping mechanisms 30 are separated from the object to be gripped along the X axis, and at the same time, the second material supporting parts 35 are separated from the object to be gripped along the Z axis.

For example, as shown in fig. 8, when the rotating portion 34 rotates clockwise relative to the frame 10, the rotating portion 34 drives the second material supporting portion 35 to be separated from the object to be gripped, when the rotating portion 34 rotates counterclockwise relative to the frame 10, the rotating portion 34 supports the object to be gripped along the X axis, and the second material supporting portion 35 supports the object to be gripped along the Z bearing. So set up for the rotation of rotation portion 34 can realize simultaneously that press from both sides and get the centre gripping and the bearing effect that the mechanism 30 was treated to press from both sides and get the object, perhaps realizes simultaneously that rotation portion 34 and second hold in the palm material portion 35 and break away from to treat to press from both sides and get the object, need not additionally to drive the second and hold in the palm material portion 35, so on strengthen pressing from both sides the device and treat to press from both sides the basis of getting the dynamics of pressing from both sides the object, can also make the clamp press from both sides the device and treat to press from both sides the clamp of getting the object and put down the operation very high efficiency, and the operation is very simple and convenient.

In practical applications, when the driving mechanism 20 is the driver 21 and the screw 22, the transmission assemblies 36 of the two sets of gripping mechanisms 30 are respectively and correspondingly screwed to the two opposite ends of the screw 22 to move in the opposite directions or in the opposite directions along the X-axis under the transmission of the screw 22, that is, the transmission assemblies 36 convert the rotation of the screw 22 into the rotation of the rotating part 34; when the screw 22 is driven by the driver 21 to rotate forward, the transmission assemblies 36 of the two clamping mechanisms 30 enable the rotation parts 34 to rotate in opposite directions, so that the rotation parts 34 clamp the object to be clamped, the second material supporting parts 35 swing in opposite directions, and the object to be clamped is supported along the Z bearing, and when the screw 22 is driven by the driver 21 to rotate in opposite directions, the rotation parts 34 of the two clamping mechanisms 30 rotate back to disengage from the object to be clamped, and the second material supporting parts 35 of the two clamping mechanisms 30 also rotate back to disengage from the object to be clamped.

Optionally, as shown in fig. 6 and 8, a side surface of the rotating portion 34 for abutting against the object to be gripped is an arc surface, and based on this, in the clamping state, when the rotating portion 34 abuts against the object to be gripped along the X axis, at least a part of the rotating portion 34 may also abut against the object to be gripped along the Z axis, so as to assist the second material supporting portion 35 to realize a supporting effect on the object to be gripped, thereby helping to improve the gripping force and balance of the gripping device on the object to be gripped.

Alternatively, as shown in fig. 4 and 5, each set of gripping mechanisms 30 includes at least two gripping mechanisms 30, and the at least two gripping mechanisms 30 are spaced apart along the Y-axis.

In one embodiment, referring to fig. 4-8, the transmission assembly 36 includes a transmission member 361 and a linkage 362; the transmission member 361 is connected to the output end of the driving mechanism 20; the link mechanism 362 is connected to the transmission member 361, and the rotating portion 34 is disposed at an end of the link mechanism 362 away from the transmission member 361. So set up, when actuating mechanism 20 drives, driving medium 361 carries out transmission work under actuating mechanism 20's drive to make link mechanism 362 make rotation portion 34 rotate for frame 10 under the transmission effect of driving medium 361, thereby make rotation portion 34 centre gripping treat to press from both sides and get the object, and the second holds in the palm material portion 35 and the bearing simultaneously treats to press from both sides and gets the object, or makes rotation portion 34 and second hold in the palm material portion 35 all break away from and treat to press from both sides and get the object. Of course, in other embodiments, the transmission assembly 36 may not be provided as the link mechanism 362, but may be provided as a belt transmission mechanism, a chain transmission mechanism or other mechanism capable of realizing the rotation of the rotating portion 34, and the rotating portion 34 is provided on one of the transmission wheels of the belt transmission mechanism and the chain transmission mechanism.

In one embodiment, referring to fig. 4 to 8 together, the transmission member 361 is configured to move along the X axis, for example, as shown in fig. 8, the transmission member 361 is a nut and is threadedly connected to the spiral part 221 of the screw 22 of the driving mechanism 20, so as to move along the X axis under the transmission of the screw 22, so as to achieve the rotation of the rotating part 34 relative to the frame 10 through the link mechanism 362.

The link mechanism 362 includes a first link 3621 and a second link 3622, one end of the first link 3621 is rotatably connected to the transmission member 361, one end of the second link 3622 is rotatably connected to the other end of the first link 3621, the rotating portion 34 is disposed at the other end of the second link 3622, and a rotation axis of the first link 3621, a rotation axis of the second link 3622, and a rotation axis of the rotating portion 34 are parallel. So set up, when driving medium 361 rotates along the X-axis under the drive of actuating mechanism 20, first connecting rod 3621 rotates for driving medium 361, and second connecting rod 3622 rotates for first connecting rod 3621, and rotation portion 34 and second hold in the palm material portion 35 also rotate to the work of getting of the object of waiting to press from both sides is realized or put down and wait to press from both sides the object of getting. For example, as shown in fig. 8, the drive mechanism 20 includes a screw 22; when the transmission member 361 of the two clamping mechanisms 30 moves along the X-axis in the opposite direction under the driving of the screw 22, that is, the transmission member 361 in fig. 8 moves to the right, the first connecting rod 3621 and the second connecting rod 3622 in fig. 8 both rotate clockwise, so that the rotating part 34 and the second material supporting part 35 are disengaged from the object to be clamped; when the transmission members 361 of the two gripping mechanisms 30 move back to back along the X-axis under the driving of the screw 22, that is, the transmission members 361 in fig. 8 move left, the first connecting rod 3621 and the second connecting rod 3622 in fig. 8 both rotate counterclockwise, so that the rotating portion 34 rotates counterclockwise to abut against the object to be gripped along the X-axis, and the second material supporting portion 35 also rotates counterclockwise to support the object to be gripped along the Z-bearing.

The first connecting rod 3621 and the second connecting rod 3622 are arranged to convert the linear motion of the driving part 361 along the X axis into the rotation of the rotating part 34 and the second material supporting part 35, so that the object to be clamped can be quickly and efficiently taken and placed by the clamping device.

Alternatively, as shown in fig. 4 and 5, each group of the gripping mechanisms 30 includes two gripping mechanisms 30, and the two gripping mechanisms 30 are spaced along the Y axis, so that the gripping operation can be performed on two positions of the object to be gripped along the Y axis, and the gripping force and stability of the object to be gripped can be improved. Of course, the gripping mechanisms 30 of each set of gripping mechanisms 30 may also be provided in three or more.

In one embodiment, referring to fig. 4 and 5, the gripping device further includes a traveling mechanism 40, and the traveling mechanism 40 is disposed on the frame 10 to drive the frame 10 to travel along at least the Y-axis. Wherein, the traveling mechanism 40 is formed by combining a plurality of traveling wheels, thereby realizing the movement of the frame 10 along the Y-axis. So set up for press from both sides and get the device and wait to press from both sides along the transportation of Y axle and get the object, thereby can realize waiting to press from both sides the transport work of getting the object between two positions.

The rest of this embodiment is the same as the first embodiment, and the unexplained features in this embodiment are explained by the first embodiment, which is not described herein again.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A gripping apparatus, comprising:

a frame;

the driving mechanism is arranged on the rack;

the two groups of clamping mechanisms are respectively movably connected to the rack; the two groups of clamping mechanisms are connected to the output end of the driving mechanism so as to move to a clamping state or a releasing state under the driving of the driving mechanism; the two groups of the clamping mechanisms are configured to clamp the object to be clamped along the X axis together in the clamping state and hold the object to be clamped along the Z bearing, and the clamping mechanisms are further configured to separate from the object to be clamped along the X axis and the Z axis respectively in the releasing state.

2. The grasping apparatus according to claim 1, wherein the grasping mechanism comprises:

the clamping arm is connected to the output end of the driving mechanism and can be arranged on the rack in a moving mode along the X axis, and the clamping arm is configured to abut against an object to be clamped along the X axis in the clamping state;

the first material supporting part is arranged on the clamping arm and is configured to support an object to be clamped along the Z bearing in the clamping state.

3. The gripping apparatus according to claim 2, wherein the first material holding section is provided with a transmission mechanism configured to hold the object to be gripped along a Z-bearing in the gripping state and configured to transport the object to be gripped along a Y-axis.

4. The grasping apparatus according to claim 1, wherein the grasping mechanism comprises:

a rotating part rotatably connected to the frame and configured to be rotatable to a clamping position or a releasing position with respect to the frame;

the second material supporting part is arranged on the rotating part; in the clamping state, the rotating part is located at the clamping position and abuts against an object to be clamped along an X axis, and the second material supporting part supports the object to be clamped along a Z bearing; in the release state, the rotating part is located at the release position, and the rotating part and the second material supporting part are separated from the object to be clamped;

the transmission assembly is in transmission connection with the output end of the driving mechanism, and the rotating part is arranged at the output end of the transmission assembly.

5. The grasping device of claim 4, wherein the drive assembly includes:

the transmission part is in transmission connection with the output end of the driving mechanism;

the connecting rod mechanism is connected to the transmission part, and the rotating part is arranged at one end, far away from the transmission part, of the connecting rod mechanism.

6. The grasping apparatus according to claim 5, wherein the transmission member is configured to move along an X-axis, the link mechanism includes a first link and a second link, one end of the first link is rotatably connected to the transmission member, one end of the second link is rotatably connected to the other end of the first link, the rotating portion is provided at the other end of the second link, and a rotation axis of the first link, a rotation axis of the second link, and a rotation axis of the rotating portion are parallel.

7. The grasping apparatus according to claim 1, wherein the grasping apparatus further comprises a traveling mechanism provided to the frame to drive the frame to travel at least along the Y-axis.

8. The gripping apparatus according to any one of claims 1-7, wherein the drive mechanism includes a driver and screws connected to an output end of the driver, the screws extending along the X-axis, the screws being threaded in opposite directions along opposite ends of the X-axis and being respectively threaded to the two sets of gripping mechanisms.

9. The gripping apparatus according to any one of claims 1-7, wherein the frame includes a frame body and a position-limiting portion disposed on at least one side of the frame body along the Y-axis, the position-limiting portion configured to limit the object to be gripped along the Y-axis; the driving mechanism and the clamping mechanism are arranged on the frame body.

10. An electricity swapping system, comprising:

the grasping device of any one of claims 1-9, configured to pick and place a battery at a grasping station;

the battery replacing device is configured at a battery replacing station to install the battery on the automobile or to detach the battery from the automobile;

a handling device configured to handle a battery between the gripping station and the battery swapping station.

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