WO2020057496A1 - 电池夹爪及电池抓取方法 - Google Patents

电池夹爪及电池抓取方法 Download PDF

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Publication number
WO2020057496A1
WO2020057496A1 PCT/CN2019/106171 CN2019106171W WO2020057496A1 WO 2020057496 A1 WO2020057496 A1 WO 2020057496A1 CN 2019106171 W CN2019106171 W CN 2019106171W WO 2020057496 A1 WO2020057496 A1 WO 2020057496A1
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WO
WIPO (PCT)
Prior art keywords
battery
clamping
gripper
clamping jaw
base
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Application number
PCT/CN2019/106171
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English (en)
French (fr)
Inventor
周新宇
徐华勇
张锐
Original Assignee
宁德时代新能源科技股份有限公司
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Publication of WO2020057496A1 publication Critical patent/WO2020057496A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/04—Construction or manufacture in general
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Definitions

  • the present application relates to the technical field of energy storage devices, and in particular, to a battery gripper and a battery gripping method.
  • Battery grippers are essential auxiliary equipment.
  • the current battery gripper uses a servo motor or a cylinder as a power source, and is provided with a plate-like structure to grip the battery from both sides of the battery, but the gripping force between the gripper and the battery is relatively small Moreover, the grasping force is a tangential force, which may cause the battery to be damaged due to falling off from the clamping jaws during the transfer process.
  • the purpose of this application is to provide a battery gripper and a battery gripping method, so as to solve the problem that the gripper grips the battery unreliably and the battery is easy to fall.
  • the present application provides a battery gripper including a base
  • a driving part mounted on the base
  • a plurality of clamping jaws at least one of the plurality of clamping jaws includes a clamping portion and a bottom supporting portion connected to each other, and the bottom supporting portion is configured to support a battery to be clamped in a direction of gravity; At least one of the clamping jaws is connected to the driving portion to clamp the battery through the clamping portion.
  • the battery gripper provided in the present application further includes an auxiliary drive portion, the auxiliary drive portion is mounted on the drive portion, the gripper is connected to the auxiliary drive portion, and the auxiliary drive portion is connected to the drive
  • the driving directions of the parts are the same.
  • each of the plurality of clamping jaws includes the clamping portion and the bottom rest portion.
  • the clamping claw further includes a side stopper, and the side stopper is connected to one side of the clamping portion.
  • the side stoppers are provided on both sides of the clamping portion.
  • the clamping claw further includes an elastic pad, and the elastic pad is provided inside the clamping portion.
  • the clamping claw further includes a reinforcing rib, and the reinforcing rib is convexly connected to the outside of the clamping portion in a clamping direction.
  • the driving part includes a motor, a lead screw, and a bearing housing
  • the lead screw extends in a clamping direction and is connected to the motor
  • the lead screw is mounted on the bearing housing
  • the clamping jaws are respectively disposed on both sides of the base, and the base is provided with a connection hole.
  • the clamping jaws extend into the connection hole and are relatively fixed with the screw in the clamping direction.
  • the battery gripper provided in the present application further includes a slide rail and a connecting block, the slide rail extending in the clamping direction and connected to a side of the base facing away from the bearing seat, the A connecting block is connected to both the clamping jaw and the lead screw, and the connecting block and the slide rail are slidably fitted along the clamping direction.
  • the battery gripper provided in the present application further includes a rail lock, and the rail lock is fixedly connected to one end of the slide rail.
  • This application also provides a battery grabbing method, including:
  • the driving part drives at least one first clamping jaw to move toward the second clamping jaw until the clamping part of the first clamping jaw and the clamping part of the second clamping jaw clamp the battery, and the first clamp The bottom portion of the claw and / or the second clamping claw supports the bottom of the battery.
  • At least one of the plurality of grippers is connected to the driving part to generate a gripping and releasing action on the battery under the action of the driving part, and at least one gripper is provided There is a clamping part and a bottom support part which are connected during the gripping process of the battery.
  • the clamping part applies a certain clamping force to the battery to lift the battery.
  • the bottom part can The gravitational direction has a certain supporting effect on the battery being gripped, thereby further preventing the battery from falling during the gripping and transferring process.
  • FIG. 1 is a schematic structural diagram of a battery gripper provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a battery gripper in another direction provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a clamping jaw in a battery clamping jaw according to an embodiment of the present application
  • FIG. 4 is another schematic structural diagram of a clamping jaw in a battery clamping jaw according to an embodiment of the present application.
  • the terms “first” and “second” are used for descriptive purposes only and should not be construed to indicate or imply relative importance unless otherwise specified or defined; unless otherwise specified or stated.
  • the term “multiple” means two or more; the terms “connected” and “fixed” should be understood in a broad sense.
  • “connected” can be a fixed connection, a detachable connection, or an integral unit. Connection, or electrical connection; can be directly connected or indirectly connected through an intermediate medium; the term “battery” should also be understood in a broad sense, and can be a battery cell, a battery pack, a battery module, or a battery pack.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • an embodiment of the present application provides a battery gripper to grip a battery during production, transportation, and installation of the battery.
  • the use of the battery gripper can prevent the battery from being gripped and transferred.
  • Dropped during the process it includes a base 1, a driving part 2, and a plurality of clamping jaws 3.
  • the base 1 is a mounting base for the driving part 2 and the clamping jaws 3. It can be a plate shape made of hard materials such as metal.
  • the driving part 2 may be provided with a driving force by a component such as an air cylinder, a hydraulic cylinder, or a servo motor, which may be installed on the base 1 through a connection member or the like; Relative movement can be generated between the plurality of clamping claws 3 so as to have a function of grasping and releasing the battery.
  • a component such as an air cylinder, a hydraulic cylinder, or a servo motor, which may be installed on the base 1 through a connection member or the like; Relative movement can be generated between the plurality of clamping claws 3 so as to have a function of grasping and releasing the battery.
  • at least one of the plurality of clamping jaws 3 may include a clamping portion 31 and a bottom supporting portion 32 connected to each other.
  • the driving part 2 drives at least one clamping jaw 3 to move toward the other clamping jaw 3, so as to clamp the battery under the action of the multiple clamping parts 31;
  • the bottom support portion 32 and the battery cooperate with each other.
  • the bottom support portion 32 can support the bottom of the battery to provide a certain supporting effect for the battery in the direction of gravity, thereby preventing the battery from falling during the movement.
  • the distance between the bottom support portion 32 and the base 1 can be determined according to the actual size of the battery to be grasped.
  • the battery gripper provided in the embodiment of the present application, at least one of the plurality of grippers 3 is connected to the driving part 2 to generate a grasping and releasing action on the battery under the action of the driving part 2, and at least A clamping claw 3 is provided with a clamping portion and a bottom supporting portion 32.
  • the driving portion 2 operates, and the clamping portion applies a certain clamping force to the battery to lift the battery;
  • the bottom support portion 32 can have a certain supporting effect on the gripped battery in the direction of gravity, thereby further preventing the battery from falling during the gripping and transferring process.
  • one of the two clamping jaws 3 It can be directly connected to the base 1 and the other can be connected to the driving part 2. Under the action of the driving part 2, the two clamping jaws 3 can be close to each other or away from each other, thereby achieving the purpose of clamping and releasing the battery. .
  • one clamping jaw 3 may be connected to the base 1 through a detachable connecting member.
  • the other clamping jaw 3 may be connected to the telescopic head of the driving part 2, and one of the clamping parts 31 faces or faces directly.
  • the other clamping portion 31 increases the total contact area between all the clamping claws 3 and the battery, and improves the clamping effect on the battery.
  • the battery gripper provided in the embodiment of the present application may further include an auxiliary driving part 4, the auxiliary driving part 4 is mounted on the driving part 2, the gripping claw 3 is connected to the auxiliary driving part 4, and the driving part 2
  • the driving direction is the same as that of the auxiliary driving part 4. Both can drive the jaw 3 to move.
  • the driving part 2 drives the auxiliary driving part 4 and the jaw 3 to move.
  • the auxiliary driving part 4 operates, and the jaw 3 can also generate the same direction.
  • the auxiliary driving unit 4 can be moved to ensure that the battery is clamped by the clamping jaw 3 Will not fall.
  • the auxiliary driving unit 4 may be provided with a driving force by a component such as an air cylinder, a hydraulic cylinder, or a servo motor.
  • the drive unit 2 may be provided with a servo motor 21, and the auxiliary drive unit 4 may be provided with an air cylinder, so that the battery gripper can be compatible with batteries of different sizes, and a more reliable clamping effect can also be produced.
  • each clamping jaw 3 includes a clamping portion 31 and a bottom supporting portion 32, so that during the process of clamping the battery, the plurality of clamping claws 3 can be lifted by using a plurality of bottom supporting portions 32 respectively disposed at different positions on the bottom of the battery.
  • the specific structures of the plurality of clamping jaws 3 may be the same or different, and the specific structures of the plurality of clamping jaws 3 having different installation positions may be the same or different. In the design process of the clamping jaws 3, they can be corresponding according to actual needs.
  • the specific shape of the clamping jaw 3 is designed, and the size and structure of each base portion 32 can also be flexibly changed.
  • the bottom bracket portion 32 may be provided in a right-angled structure; when the number of the clamping jaws 3 is two, the bottom bracket portion 32 may be provided in a flat plate-like structure. The personnel can choose flexibly according to the actual situation.
  • the clamping claw 3 may further include a side stopper 33, and the side stopper 33 is connected to one side of the clamping part 31, so that during the battery transfer process, the side part 33
  • the stopper 33 prevents the battery from being deflected or dropped from one side of the jaw 3.
  • the side stopper 33 may be a flat plate-shaped structure, and it is protruded and extended toward the inner side of the clamping portion 31, and the side stopper 33 may have a set size in the height direction of the battery to increase The size of the area that has a limiting effect on the battery, thereby further improving the limiting effect on the battery.
  • the side stopper 33 may be fixedly connected to one side of the clamping portion 31, and in the limit direction of the side stopper 33, the distance between the side stopper 33 and the clamping portion 31 may be determined according to
  • the actual size of the battery in the aforementioned limiting direction is flexible; more preferably, a plurality of side stops 33 may be provided, and a plurality of side stops 33 may be respectively provided on both sides of the clamping portion 31 to further prevent In the process of transferring the battery, the battery deflects to the side of the holding portion 31 and even drops from the side of the holding portion 31.
  • the height direction of the battery can be basically equal to the direction of gravity.
  • the clamping claw 3 further includes an elastic pad 34, which may be a sheet-like structure made of a flexible material such as rubber, which may be bonded or otherwise connected. It is fixedly arranged on the inner side of the clamping portion 31, so that during the process of grasping the battery, the elastic pad 34 can be elastically deformed under the effect of the clamping force, thereby increasing the contact area between the battery and the battery, thereby improving the entire area.
  • the clamping effect of the clamping portion 31 on the battery; at the same time, the surface roughness of the elastic pad 34 is relatively large, which can further improve the clamping effect on the battery.
  • the clamping claw 3 may be included, and the reinforcing rib 35 may be convexly connected to the outside of the clamping portion 31 in the aforementioned clamping direction.
  • the reinforcing rib 35 and the clamping portion 31 may be formed by integrally forming a metal material, and a plurality of reinforcing ribs 35 may be provided, and multiple reinforcing ribs 35 may be connected to the clamping portion 31, and the reinforcing rib 35 It can be perpendicular to the clamping portion 31 so as to further enhance the effect of the reinforcement rib 35 on the structural strength of the clamping portion 31.
  • the driving part 2 may include a motor 21, a lead screw 22, and a bearing seat 23.
  • the lead screw 22 extends in the aforementioned clamping direction, and the lead screw 22 may be connected to the motor 21 by means of a coupling 24 or the like.
  • On the bearing seat 23, the bearing seat 23 and the clamping jaw 3 can be arranged on both sides of the base 1, so as to provide a larger operating space for the clamping work of the clamping jaw 3, so as to prevent the existence of the driving part 2 from blocking the clamping jaw 3 Perform crawling.
  • a connection hole 11 is provided on the base 1.
  • the clamping jaw 3 extends into the connecting hole 11 and is directly or indirectly connected to the lead screw 22, and completes the alignment under the action of the driving part 2. Grab and release the battery.
  • the battery gripper provided in the embodiment of the present application may further include a slide rail 51 and a connection block 52.
  • the slide rail 51 extends along the aforementioned clamping direction and is fixedly connected to the side of the base 1 facing away from the bearing seat 23.
  • the jaw 3 can be connected to a connection block 52 connected to the lead screw 22.
  • the connection block 52 is also connected to the slide rail. 51 is slidably connected, thereby further improving the stability of the clamping claw 3 during the movement under the action of the connecting block 52 and the slide rail 51 to prevent the battery from falling.
  • the slide rail 51 can be fixedly connected to the base 1 by welding or by using a connecting member, etc.
  • the length of the slide rail 51 can be set according to actual needs.
  • the connection block 52 can be passed through the base 1 by The connection hole 11 is connected to the lead screw 22.
  • two slide rails 51 can be provided, and the connection block 52 can slide and cooperate with the two slide rails 51 at the same time, which can further improve the stability of the gripper 3 during operation.
  • the auxiliary driving part 4 can be connected to the lead screw 22 through the connecting block 52, and the driving head of the auxiliary driving part 4 can be connected to one clamping jaw 3.
  • the gripper 3 can move under the action of the driving part 2 and the action of the auxiliary drive part 4 to ensure the clamping effect on the batteries of various sizes. Accordingly, in order to prevent the gripper 3 from During the moving process, the chuck 3 can be slidably connected with the slide rail 51 through the slider 53 to improve the stability when the chuck 3 moves.
  • the battery gripper provided in the embodiment of the present application may further include a rail lock 54 that may be fixedly connected to one end of the slide rail 51, thereby preventing the connection block 52 from sliding out of the slide rail 51 and falling.
  • the guide rail lock 54 may be a component having a limit capacity, and is fixedly installed on one end of the slide rail 51.
  • the guide rail 2 may be limited in its expansion and contraction range, or a guide rail may also be provided on the other end of the slide rail 51.
  • the lock 54 and other structures prevent the connecting block 52 from sliding out from the other end of the slide rail 51.
  • the embodiment of the present application also provides a battery grabbing method for grabbing a battery.
  • the method includes the following steps:
  • the driving part 2 drives at least one first clamping jaw to move toward the second clamping jaw until the clamping part of the first clamping jaw and the clamping part of the second clamping jaw grip the battery, and the first clamping jaw and / or the second clamping jaw The bottom of the claw supports the bottom of the battery. .
  • the above battery grabbing method can grab the battery pack and then transfer it.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
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  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
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  • Battery Mounting, Suspending (AREA)

Abstract

一种电池夹爪及电池抓取方法，其包括基座（1）、驱动部（2）和多个夹爪（3），驱动部（2）安装在基座（1）上；多个夹爪（3）中，至少一个夹爪（3）包括相连接的夹持部（31）和底托部（32），底托部（32）设置成在重力方向上承托待夹取的电池；至少一个夹爪（3）与驱动部（2）连接，以通过夹持部（31）夹取电池。采用此种电池夹爪及电池抓取方法使得夹取电池较为可靠，电池不易在被夹取转运过程中掉落。

Description

电池夹爪及电池抓取方法
本申请要求于2018年09月17日提交中国专利局、申请号为201821518335.2、发明名称为“电池夹爪”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及储能器件技术领域，尤其涉及一种电池夹爪及电池抓取方法。
背景技术
随着节能环保意识的逐步增强，可充放电的电池的应用范围越来越广泛，且无论是在电池的生产过程中，还是在电池的转运及安装过程中，用于夹取并带动电池移动的电池夹爪均是必不可少的辅助设备。目前的电池夹爪采用伺服电机或气缸等作为动力源，并设置有板状结构以从电池的两侧对电池进行夹取动作，但是这种夹爪与电池之间的抓取力相对较小，且该抓取力为切向力，这使得电池在转运过程中可能会因从夹爪中脱落而损坏。
申请内容
本申请的目的在于提供一种电池夹爪及电池抓取方法，以解决目前夹爪抓取电池不可靠，电池易掉落的问题。
本申请提供了一种电池夹爪，其包括基座；
驱动部，所述驱动部安装在所述基座上；
多个夹爪，多个所述夹爪中，至少一个所述夹爪包括相连接的夹持部和底托部，所述底托部设置成在重力方向上承托待夹取的电池；至少一个所述夹爪与所述驱动部连接，以通过所述夹持部夹取所述电池。
优选地，本申请所提供的电池夹爪还包括辅助驱动部，所述辅助驱动部安装于所述驱动部，所述夹爪与所述辅助驱动部连接，所述辅助驱动部与所述驱动部的驱动方向相同。
优选地，多个所述夹爪均包括所述夹持部和所述底托部。
优选地，所述夹爪还包括侧部挡块，所述侧部挡块连接于所述夹持部的一侧。
优选地，所述夹持部的两侧均设置有所述侧部挡块。
优选地，所述夹爪还包括弹性垫，所述夹持部的内侧设置有所述弹性垫。
优选地，所述夹爪还包括加强筋，所述加强筋沿夹紧方向凸出连接于所述夹持部的外侧。
优选地，所述驱动部包括电机、丝杠和轴承座，所述丝杠沿夹紧方向延伸，且与所述电机连接，所述丝杠安装在所述轴承座上，所述轴承座和所述夹爪分别设置在所述基座两侧，所述基座上设置有连接孔，所述夹爪伸入所述连接孔且与所述丝杠在所述夹紧方向上相对固定。
优选地，本申请所提供的电池夹爪还包括滑轨和连接块，所述滑轨沿所述夹紧方向延伸，且连接在所述基座上背离所述轴承座的一侧，所述连接块与所述夹爪和所述丝杠均连接，所述连接块和所述滑轨沿所述夹紧方向滑动配合。
优选地，本申请所提供的电池夹爪还包括导轨锁，所述导轨锁固定连接在所述滑轨一端。
本申请还提供了一种电池抓取方法，包括：
驱动部带动至少一个第一夹爪朝向第二夹爪运动，直至所述第一夹爪的夹持部与所述第二夹爪的夹持部夹住所述电池，且所述第一夹爪和/或所述第二夹爪的底托部托住所述电池底部。
本申请提供的技术方案可以达到以下有益效果：
本申请所提供的电池夹爪和电池抓取方法中，多个夹爪中的至少一个与驱动部连接，以在驱动部的作用下对电池产生抓取及释放动作，且至少一个夹爪设置有相连接的夹持部和底托部，在电池的抓取过程中，驱动部动作，夹持部向电池施加一定的夹持力，以抬升该电池；与此同时，底托部能在重力方向上对被夹取的电池产生一定的承托作用，从而进一步防止电池在被夹取转运过程中掉落。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并 不能限制本申请。
附图说明
图1为本申请实施例所提供的电池夹爪的结构示意图；
图2为本申请实施例所提供的电池夹爪在另一方向上的结构示意图；
图3为本申请实施例所提供的电池夹爪中夹爪的一种结构示意图；
图4为本申请实施例所提供的电池夹爪中夹爪的另一种结构示意图。
附图标记：
1-基座；
11-连接孔；
2-驱动部；
21-电机；
22-丝杠；
23-轴承座；
24-联轴器；
3-夹爪；
31-夹持部；
32-底托部；
33-侧部挡块；
34-弹性垫；
35-加强筋；
4-辅助驱动部；
51-滑轨；
52-连接块；
53-滑块；
54-导轨锁。
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。
具体实施方式
下面通过具体的实施例并结合附图对本申请做进一步的详细描述。
在本申请的描述中，除非另有明确的规定和限定，术语“第一”、“第二”仅用于描述的目的，而不能理解为指示或暗示相对重要性；除非另有规定或说明，术语“多个”是指两个或两个以上；术语“连接”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接，或电连接；可以是直接相连，也可以通过中间媒介间接相连；术语“电池”也应做广义理解，可以是电池单体、电池组、电池模块、电池包。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
本说明书的描述中，需要理解的是，本申请实施例所描述的“上”、“下”、“左”、“右”等方位词是以附图所示的角度来进行描述的，不应理解为对本申请实施例的限定。此外，在上下文中，还需要理解的是，当提到一个元件连接在另一个元件“上”或者“下”时，其不仅能够直接连接在另一个元件“上”或者“下”，也可以通过中间元件间接连接在另一个元件“上”或者“下”。
如图1和图2所示，本申请实施例提供一种电池夹爪，以在电池的生产、转运及安装等过程中抓取电池，采用该电池夹爪可以防止电池在被抓取及转运的过程中掉落，其包括基座1、驱动部2和多个夹爪3，基座1为驱动部2和夹爪3的安装基础，其可以为金属等硬质材料制成的板状结构，驱动部2可以由气缸、液压缸或伺服电机等部件提供驱动力，其可以通过连接件等安装在基座1上；多个夹爪3中的至少一个安装在驱动部2上，从而使多个夹爪3之间能产生相对运动，以具备抓取及释放电池的功能。为了保证电池在被抓取及转运的过程中不会掉落，如图3和图4所示，多个夹爪3中的至少一个可以包括相互连接的夹持部31和底托部32，在电池的抓取过程中，驱动部2带动至少一个夹爪3朝向另一夹爪3运动，以在多个夹持部31的作用下，将电池夹住；与此同时，在转运电池的过程中，底托部32与电池之间相互配合，底托部32可以托住电池的底部，以在重力方向上为电池提供一定的承托作用，从而防止电池在移动过程中掉落。另外，底托部32与基座1之间的距离可以根据待抓取的电池的实 际尺寸确定。
由上可知，本申请实施例所提供的电池夹爪中，多个夹爪3中的至少一个与驱动部2连接，以在驱动部2的作用下对电池产生抓取及释放动作，且至少一个夹爪3设置有相连接的夹持部和底托部32，在电池的抓取过程中，驱动部2动作，夹持部向电池施加一定的夹持力，以抬升该电池；与此同时，底托部32能在重力方向上对被夹取的电池产生一定的承托作用，从而进一步防止电池在被夹取转运过程中掉落。
进一步地，夹爪3可以仅设置有两个，两个夹爪3相互运动，即可完成对电池的抓取及转运工作，为了简化电池夹爪的整体结构，两个夹爪3中，一个可以直接与基座1连接，另一个可以与驱动部2连接，在驱动部2的作用下，两个夹爪3既可以相互靠近，也可以相互远离，从而实现对电池的夹取及释放目的。具体地，一个夹爪3可以通过可拆连接件与基座1连接，相应地，另一个夹爪3可以连接在驱动部2的伸缩头上，且一者的夹持部31朝向或者正对另一者的夹持部31，以增大所有的夹爪3与电池之间的接触总面积，提升对电池的夹持效果。
更进一步地，由于驱动部2单次驱动长度可能为定值，或者，因驱动部2驱动夹爪3所移动的距离与设定值之间存在误差，而造成夹爪3不能夹紧电池，以及为了适应不同尺寸的电池，本申请实施例所提供的电池夹爪还可以包括辅助驱动部4，辅助驱动部4安装在驱动部2上，夹爪3与辅助驱动部4连接，驱动部2和辅助驱动部4的驱动方向相同，二者均可以驱动夹爪3移动，驱动部2带动辅助驱动部4和夹爪3移动，辅助驱动部4动作，也可以使夹爪3产生相同方向的运动，从而在电池的夹取过程中，如果驱动部2动作后，电池仍不能与夹爪3产生可靠的夹持关系，可以使辅助驱动部4动作，从而保证电池被夹爪3夹紧而不会掉落。具体地，辅助驱动部4也可以由气缸、液压缸或伺服电机等部件提供驱动力。优选地，驱动部2中可以设置有伺服电机21，辅助驱动部4内可以设置有气缸，以使电池夹爪能兼容不同尺寸的电池，也可以产生更为可靠的夹持效果。
优选地，各夹爪3均包括夹持部31和底托部32，从而在夹取电池的过程中，借助分别设置在电池底部不同位置的多个底托部32，可以提升夹爪3对电池的承托及夹持效果，以进一步防止电池在被转运的过程中出现 掉落的情况。具体地，多个夹爪3的具体结构可以相同，也可以不同，安装位置不同的多个夹爪3的具体结构可以相同也可以不同，在夹爪3的设计过程中，可以根据实际需求对应设计夹爪3的具体形状，且各底托部32的尺寸及结构也可以灵活改变。如夹爪3的数量为四个，则底托部32可以设置成直角状结构；夹爪3的数量为两个时，则底托部32可以设置成平板状结构，对此，本领域技术人员可以根据实际情况灵活选择。
进一步地，如图3和图4所示，夹爪3还可以包括侧部挡块33，侧部挡块33连接在夹持部31的一侧，以在电池的转运过程中，借助侧部挡块33防止电池出现偏斜或从夹爪3的一侧掉落。具体地，侧部挡块33可以为平板状结构，且其朝向夹持部31的内侧凸出延伸设置，并且，可以使侧部挡块33在电池的高度方向上具有设定尺寸，以增加其对电池产生限位效果的区域的大小，从而进一步提升对电池的限位效果。更具体地，侧部挡块33可以固定连接在夹持部31的一侧，且在侧部挡块33的限位方向上，侧部挡块33与夹持部31之间的距离可以根据电池在前述限位方向上的实际尺寸灵活选择；更优选地，侧部挡块33可以设置有多个，多个侧部挡块33可以分别设置在夹持部31的两侧，以进一步防止电池在被转运的过程中，向夹持部31的一侧偏斜甚至从夹持部31的一侧掉落。需要说明的是，电池的高度方向基本可以等同于重力方向。
为了进一步提升夹持部31对电池的夹持效果，优选地，夹爪3还包括弹性垫34，弹性垫34可以为橡胶等柔性材料制成的片状结构，其可以通过粘接或其他连接方式固定设置在夹持部31的内侧，从而在抓取电池的过程中，弹性垫34可以在夹持力的作用下产生弹性变形，从而增大其与电池之间的接触面积，进而提升整个夹持部31对电池的夹持效果；同时，弹性垫34的表面粗糙度相对较大，这也可以进一步提升对电池的夹持效果。
由于夹持力与电池的重力方向呈一定的夹角，为了防止在夹持部31向电池施加夹紧作用力时，夹持部31受反作用力的影响而产生形变，优选地，夹爪3可以包括加强筋35，加强筋35可以沿前述夹紧方向凸出连接在夹持部31的外侧。具体地，加强筋35与夹持部31可以由金属材料经一体成型的方式形成，且加强筋35可以设置有多个，多个加强筋35均 可以与夹持部31连接，且加强筋35可以与夹持部31互相垂直，以进一步提升加强筋35的设置对夹持部31结构强度的加强效果。
进一步地，驱动部2可以包括电机21、丝杠22和轴承座23，丝杠22沿前述夹紧方向延伸，且丝杠22可以借助联轴器24等与电机21连接，丝杠22安装在轴承座23上，轴承座23和夹爪3可以设置在基座1的两侧，从而为夹爪3进行夹取工作提供更大的动作空间，以防止驱动部2的存在可能阻碍夹爪3进行抓取工作。为了连接丝杠22与夹爪3，基座1上设置有连接孔11，夹爪3伸入至连接孔11内并直接或间接与丝杠22连接，且在驱动部2的作用下完成对电池的抓取及释放工作。
为了进一步提升夹爪3在移动过程中的稳定性，从而防止因夹爪3颤动或抖动造成电池掉落，优选地，本申请实施例所提供的电池夹爪还可以包括滑轨51和连接块52，滑轨51沿前述夹紧方向延伸，且固定连接在基座1背离轴承座23的一侧，夹爪3可以和与丝杠22连接的连接块52连接，连接块52还与滑轨51滑动连接，从而在连接块52和滑轨51的作用下，进一步提升夹爪3在运动过程中的稳定性，防止电池掉落。具体地，滑轨51可以通过焊接的方式或借助连接件等，固定连接在基座1上，滑轨51的长度可以根据实际需求设定，相应地，连接块52可以通过基座1上的连接孔11与丝杠22连接，更具体地，可以设置两条滑轨51，连接块52同时与两条滑轨51滑动配合，可以进一步提升夹爪3在动作时的稳定性。另外，电池夹爪在设置有前述实施例中的辅助驱动部4时，辅助驱动部4可以通过连接块52与丝杠22连接，辅助驱动部4的驱动头可以与一个夹爪3连接，从而使得该夹爪3既能在驱动部2的动作下运动，也能在辅助驱动部4的动作下运动，以保证对各种尺寸的电池的夹持效果；相应地，为了防止夹爪3在移动过程中颤动或抖动，夹爪3可以通过滑块53与滑轨51滑动连接，以提升夹爪3移动时的稳定性。
进一步地，本申请实施例所提供的电池夹爪还可以包括导轨锁54，其可以固定连接在滑轨51的一端，从而防止连接块52滑出滑轨51而掉落。具体地，导轨锁54可以为具备限位能力的部件，其固定安装在滑轨51的一端，可选地，可以通过限制驱动部2的伸缩范围，或在滑轨51的另一端也设置导轨锁54等结构，从而防止连接块52从滑轨51的另一端滑出。
本申请实施例还提供一种电池抓取方法，对电池进行抓取。该方法包 括以下步骤：
驱动部2带动至少一个第一夹爪朝向第二夹爪运动，直至第一夹爪的夹持部与第二夹爪的夹持部夹住电池，且第一夹爪和/或第二夹爪的底托部托住电池底部。。
上述电池抓取方法可以对电池组进行抓取进而转运。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (11)

  1. 一种电池夹爪，其特征在于，包括：
    基座；
    驱动部，所述驱动部安装在所述基座上；
    多个夹爪，多个所述夹爪中，至少一个所述夹爪包括相连接的夹持部和底托部，所述底托部设置成在重力方向上承托待夹取的电池；至少一个所述夹爪与所述驱动部连接，以通过所述夹持部夹取所述电池。
  2. 根据权利要求1所述的电池夹爪，其特征在于，还包括辅助驱动部，所述辅助驱动部安装于所述驱动部，所述夹爪与所述辅助驱动部连接，所述辅助驱动部与所述驱动部的驱动方向相同。
  3. 根据权利要求1所述的电池夹爪，其特征在于，多个所述夹爪均包括所述夹持部和所述底托部。
  4. 根据权利要求1所述的电池夹爪，其特征在于，所述夹爪还包括侧部挡块，所述侧部挡块连接于所述夹持部的一侧。
  5. 根据权利要求4所述的电池夹爪，其特征在于，所述夹持部的两侧均设置有所述侧部挡块。
  6. 根据权利要求1所述的电池夹爪，其特征在于，所述夹爪还包括弹性垫，所述夹持部的内侧设置有所述弹性垫。
  7. 根据权利要求1所述的电池夹爪，其特征在于，所述夹爪还包括加强筋，所述加强筋沿夹紧方向凸出连接于所述夹持部的外侧。
  8. 根据权利要求1所述的电池夹爪，其特征在于，所述驱动部包括电机、丝杠和轴承座，所述丝杠沿夹紧方向延伸，且与所述电机连接，所述丝杠安装在所述轴承座上，所述轴承座和所述夹爪分别设置在所述基座两侧，所述基座上设置有连接孔，所述夹爪伸入所述连接孔且与所述丝杠在所述夹紧方向上相对固定。
  9. 根据权利要求8所述的电池夹爪，其特征在于，还包括滑轨和连接块，所述滑轨沿所述夹紧方向延伸，且连接在所述基座上背离所述轴承座的一侧，所述连接块与所述夹爪和所述丝杠均连接，所述连接块和所述滑轨沿所述夹紧方向滑动配合。
  10. 根据权利要求9所述的电池夹爪，其特征在于，还包括导轨锁， 所述导轨锁固定连接在所述滑轨一端。
  11. 一种电池抓取方法，其特征在于，包括：
    驱动部带动至少一个第一夹爪朝向第二夹爪运动，直至所述第一夹爪的夹持部与所述第二夹爪的夹持部夹住所述电池，且所述第一夹爪和/或所述第二夹爪的底托部托住所述电池底部。
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