CN221252961U - Clamping device and conveying equipment - Google Patents

Abstract

The application discloses a clamping device and carrying equipment. The first clamping module comprises a first clamping piece, a second clamping piece and a first driving assembly, the first driving assembly is mounted on the connecting seat, the first clamping piece and the second clamping piece are both positioned on the first side of the connecting seat, and the first clamping piece and the second clamping piece are distributed at intervals along the first direction; the first driving assembly is used for driving the first clamping piece and the second clamping piece to be close to each other so that the first clamping piece and the second clamping piece clamp a product; the first driving assembly is further used for driving the first clamping piece and the second clamping piece to be far away from each other so that the first clamping piece and the second clamping piece release the product. The clamping device can effectively reduce the probability of collision of part of clamping pieces in the process of clamping the battery module.

Description

Clamping device and conveying equipment

Technical Field

The application relates to the technical field of automation equipment, in particular to a clamping device and carrying equipment.

Background

With the rapid development of new energy industries, the size of newly designed battery modules is increasingly large. In an automated production line of battery modules, it is necessary to carry the battery modules from one station to another. In handling the battery module, a clamping device is generally required to clamp or release the battery module.

In the related art, for a rectangular battery module, four clamping members are used to clamp the battery module. In the process that the clamping device clamps the battery module, part of the clamping pieces are easy to collide with the jig for bearing the battery module, so that the clamping device and the jig are damaged, and the maintenance cost of the clamping device and the jig is increased.

Disclosure of utility model

The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides the clamping device which can effectively reduce the probability of collision of part of clamping pieces in the process of clamping the battery module.

The application further provides carrying equipment with the clamping device.

An embodiment of a clamping device according to the first aspect of the application comprises:

A connecting seat;

The first clamping module comprises a first clamping piece, a second clamping piece and a first driving assembly, wherein the first driving assembly is arranged on the connecting seat, the first clamping piece and the second clamping piece are both positioned on the first side of the connecting seat, and the first clamping piece and the second clamping piece are distributed at intervals along the first direction; the first driving assembly is used for driving the first clamping piece and the second clamping piece to be close to each other so that the first clamping piece and the second clamping piece clamp a product; the first driving assembly is further used for driving the first clamping piece and the second clamping piece to be far away from each other so that the first clamping piece and the second clamping piece release the product; the first driving component is also used for driving the first clamping piece and the second clamping piece to be close to or far away from the connecting seat;

The second clamping module comprises a third clamping piece, a fourth clamping piece and a second driving assembly, the second driving assembly is arranged on the connecting seat, the third clamping piece and the fourth clamping piece are both positioned on the first side of the connecting seat, the third clamping piece and the fourth clamping piece are distributed at intervals along a second direction, and an included angle between the second direction and the first direction is larger than zero; the second driving assembly is used for driving the third clamping piece and the fourth clamping piece to be close to each other so that the third clamping piece and the fourth clamping piece clamp the product; the second driving assembly is further used for driving the third clamping piece and the fourth clamping piece to be far away from each other so that the third clamping piece and the fourth clamping piece release the product.

The clamping device provided by the embodiment of the application has at least the following beneficial effects: in the process that the battery module is clamped by the second clamping module, the first driving assembly can drive the first clamping piece and the second clamping piece to be close to the connecting seat, so that the first clamping piece and the second clamping piece are prevented from being away from the jig, after the battery module is lifted by the second clamping module under the cooperation of other moving modules (such as robots), the first clamping piece and the second clamping piece are driven by the first driving assembly to be away from the connecting seat, and the battery module is clamped by the first clamping piece and the second clamping piece by the first driving assembly, so that the probability of collision of the first clamping piece and the second clamping piece in the process of clamping the battery module is reduced.

According to some embodiments of the application, the direction of the first clamping member approaching or separating from the connecting seat is set as a third direction, and the first driving assembly includes:

The first connecting piece is in sliding connection with the connecting seat, the sliding direction of the first connecting piece relative to the connecting seat is the third direction, and the first connecting piece is positioned between the first clamping piece and the second clamping piece;

One end of the first connecting rod is rotationally connected with the first connecting piece, and the other end of the first connecting rod is rotationally connected with the first clamping piece;

The first elastic piece is respectively connected with the first connecting piece and the first clamping piece, and when the first elastic piece is deformed, the first clamping piece has a tendency of moving along the direction close to the connecting seat relative to the first connecting piece;

the first cylinder comprises a first cylinder body and a first piston rod, and the first cylinder body is rotationally connected with the connecting seat; one end of the first piston rod is connected with the first clamping piece through a first floating joint, or one end of the first piston rod is fixedly connected with the first clamping piece.

According to some embodiments of the application, the first connecting piece, the first connecting rod, the first elastic piece and the first cylinder are provided as a first working group, and the first working group is provided with two or more.

According to some embodiments of the application, the direction of the second clamping member approaching or separating from the connecting seat is set as a fourth direction, and the first driving assembly further includes:

The second connecting piece is in sliding connection with the connecting seat, the sliding direction of the second connecting piece relative to the connecting seat is the fourth direction, and the second connecting piece is positioned between the first clamping piece and the second clamping piece;

One end of the second connecting rod is rotationally connected with the second connecting piece, and the other end of the second connecting rod is rotationally connected with the second clamping piece;

The second elastic piece is respectively connected with the second connecting piece and the second clamping piece, and when the second elastic piece is deformed, the second clamping piece has a tendency of moving along the direction approaching to the connecting seat relative to the second connecting piece;

The second cylinder comprises a second cylinder body and a second piston rod, and the second cylinder body is rotationally connected with the connecting seat; one end of the second piston rod is connected with the second clamping piece through a second floating joint, or one end of the second piston rod is fixedly connected with the second clamping piece.

According to some embodiments of the application, the second connecting piece, the second connecting rod, the second elastic piece and the second cylinder are provided as a second working group, and the second working group is provided with two or more.

According to some embodiments of the application, a region directly under the product clamped by the first clamping member and the second clamping member is set as a first region, and the first clamping module further includes:

The first bearing piece is connected with the first clamping piece; the first drive assembly is further configured to drive the first carrier toward the second clamp such that at least a portion of the first carrier enters the first region; the first driving assembly is further used for driving the first bearing piece away from the second clamping piece so as to enable the first bearing piece to leave the first area.

According to some embodiments of the application, the first carrier is fixedly connected to the first clamp.

According to some embodiments of the application, the first clamping module further comprises:

the second bearing piece is connected with the second clamping piece; the first drive assembly is further configured to drive the second carrier adjacent the first clamp such that at least a portion of the second carrier enters the first region; the first driving assembly is also used for driving the second bearing piece away from the first clamping piece so as to enable the second bearing piece to leave the first area.

According to some embodiments of the application, the second carrier is fixedly connected to the second clamp.

The handling device according to an embodiment of the second aspect of the present application includes:

the clamping device;

And the robot is connected with the connecting seat and is used for driving the connecting seat to move.

The carrying equipment provided by the embodiment of the application has at least the following beneficial effects: through using foretell clamping device, can effectively reduce first holder and second holder and get the probability that the in-process of battery module produced the collision at the clamp, be favorable to reducing cost of maintenance from this.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The application is further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a perspective view of a clamping device according to an embodiment of the present application;

FIG. 2 is a right side view of the mounting plate and second clamping module of the clamping device of FIG. 1;

FIG. 3 is an exploded view of the mounting plate and second clamping module of FIG. 2;

FIG. 4 is a perspective view of a mounting plate and a first clamping module of the clamping device of FIG. 1;

FIG. 5 is an exploded view of the first clamp and first drive assembly of FIG. 4;

FIG. 6 is a schematic view of the first clamping member and the first drive assembly of FIG. 4;

Fig. 7 is a schematic view of a handling apparatus according to an embodiment of the present application.

Reference numerals: a connecting seat 100, a mounting plate 110 and a connecting frame 120;

The second clamping module 200, the third clamping member 210, the second driving assembly 220, the first driving unit 221, the third cylinder 222, the sliding assembly 223, the connecting plate 224, the third floating joint 225, the sliding block 226, the sliding rail 227, the second driving unit 228, the motor 229, the fourth clamping member 230, the first fixed plate 241, the driving wheel 242, the synchronous belt 243, the driven wheel 244, the fixed seat 245, the nut 246, the first bearing seat 247, and the screw 248;

The first clamping module 300, the first clamping member 310, the fourth rotating shaft 311, the second clamping member 320, the first driving assembly 330, the first cylinder 331, the first cylinder 332, the first piston rod 333, the first floating joint 334, the second bearing seat 335, the second fixing plate 336, the first connecting block 337, the first connecting rod 338, the second connecting block 339, the first bearing member 340, and the second bearing member 350;

A first connection member 411, a third rotation shaft 412, a first elastic member 413, a vertical plate 414, an insulating member 415, a linear bearing 416, a guide rod 417, and a hydraulic buffer 418;

A battery module 500, a first region 510;

Robot 600.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

In the description of the present application, the meaning of a plurality means one and more, the meaning of a plurality means two and more, and greater than, less than, exceeding, etc. are understood to exclude the present number, and the meaning of above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

In the description of the present application, the descriptions of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It should be noted that, the product clamped by the clamping device in the following embodiments of the present application is the battery module 500, but the product clamped by the clamping device is not limited to the battery module 500, and may be other products such as a packaging box.

Referring to fig. 1 to 4, the clamping device according to the first aspect of the present application includes a connection base 100, a first clamping module 300, and a second clamping module 200. The first clamping module 300 includes a first clamping member 310, a second clamping member 320, and a first driving assembly 330 (refer to fig. 4). The first driving assembly 330 is mounted on the connection base 100, and the first clamping member 310 and the second clamping member 320 are located on a first side of the connection base 100 (refer to fig. 4, for example, the first side is a lower side of the connection base 100), and the first clamping member 310 and the second clamping member 320 are arranged at intervals along a first direction (refer to fig. 4, for example, the first direction is a left-right direction). The first driving assembly 330 is used for driving the first clamping member 310 and the second clamping member 320 to close to each other, so that the first clamping member 310 and the second clamping member 320 clamp the battery module 500. The first driving assembly 330 is also used to drive the first clamping member 310 and the second clamping member 320 away from each other so that the first clamping member 310 and the second clamping member 320 release the battery module 500. The first driving assembly 330 is further used for driving the first clamping member 310 and the second clamping member 320 to approach or depart from the connecting seat 100.

The second clamping module 200 includes a third clamping member 210, a fourth clamping member 230, and a second driving assembly 220 (refer to fig. 2 and 3). The second driving assembly 220 is mounted on the connection base 100, the third clamping member 210 and the fourth clamping member 230 are located on a first side of the connection base 100 (refer to fig. 2, for example, the first side is a lower side of the connection base 100), the third clamping member 210 and the fourth clamping member 230 are arranged at intervals along a second direction (refer to fig. 2, for example, the second direction is a front-rear direction), and an included angle between the second direction and the first direction is greater than zero. The second driving assembly 220 serves to drive the third clamping member 210 and the fourth clamping member 230 toward each other such that the third clamping member 210 and the fourth clamping member 230 clamp the battery module 500. The second driving assembly 220 is also used to drive the third clamping member 210 and the fourth clamping member 230 away from each other so that the third clamping member 210 and the fourth clamping member 230 release the battery module 500.

The clamping device provided by the embodiment of the application has at least the following beneficial effects: in the process of clamping the battery module 500 by the second clamping module 200, the first driving component 330 can drive the first clamping member 310 and the second clamping member 320 to approach the connecting seat 100, so that the first clamping member 310 and the second clamping member 320 avoid the jig, after the second clamping module 200 acquires the battery module 500, under the cooperation of other moving modules (for example, the robot 600 (refer to fig. 7)), the first driving component 330 drives the first clamping member 310 and the second clamping member 320 to depart from the connecting seat 100, and the first driving component 330 drives the first clamping member 310 and the second clamping member 320 to clamp the battery module 500, thereby being beneficial to reducing the probability of collision generated by the first clamping member 310 and the second clamping member 320 in the process of clamping the battery module 500.

Specifically, the included angle between the first direction and the second direction is preferably 90 °, and at this time, the first clamping member 310, the second clamping member 320, the third clamping member 210 and the fourth clamping member 230 enclose a rectangular area, and the first clamping member 310, the second clamping member 320, the third clamping member 210 and the fourth clamping member 230 all have a larger contact area with the battery module 500, so that the clamping device can clamp the battery module 500 more stably. In other embodiments, the included angle between the first direction and the second direction may be 89 °, 85 °, 80 °, or other angles.

Specifically, referring to fig. 1, the connection base 100 includes a mounting plate 110 and a connection frame 120, the connection frame 120 is positioned at an upper side of the mounting plate 110, the connection frame 120 is fixed to the mounting plate 110 by a fastener, the connection frame 120 is used to be connected with an output end of the robot 600 by the fastener, and the mounting plate 110 is used to mount the first driving assembly 330 and the second driving assembly 220.

Specifically, referring to fig. 2 and 3, in order to drive the third clamping member 210 and the fourth clamping member 230 toward or away from each other, the second driving assembly 220 includes a first driving unit 221, and the first driving unit 221 includes a third cylinder 222, a sliding assembly 223, a connection plate 224, and a third floating joint 225. The sliding assembly 223 is located on the lower side of the mounting plate 110, the sliding assembly 223 comprises a sliding block 226 and a sliding rail 227, the sliding block 226 is slidably connected with the sliding rail 227, and the sliding rail 227 is fixed on the mounting plate 110 through a fastener. The third cylinder 222 includes a third cylinder body and a third piston rod, the third cylinder body is fixedly connected with the third clamping member 210 and the sliding block 226 through fasteners, and the third piston rod is connected with the mounting plate 110 through a third floating joint 225. The fourth clamp 230 is secured to the mounting plate 110 by fasteners.

Thus, when the position of the third floating joint 225 is fixed relative to the mounting plate 110, the third cylinder 222 can drive the third clamping member 210 and the fourth clamping member 230 to approach each other or to separate from each other after the ventilation operation.

Further, referring to fig. 2 and 3, in order to adjust the minimum distance between the third clamping member 210 and the fourth clamping member 230 to accommodate the battery modules 500 of different lengths, the second driving assembly 220 further includes a second driving unit 228, and the second driving unit 228 includes a motor 229, a first fixing plate 241, a driving wheel 242, a timing belt 243, a driven wheel 244, a fixing seat 245, a nut 246, a first bearing housing 247, and a screw 248. The motor 229 is fixed to the mounting plate 110 by a first fixing plate 241, and a first rotation shaft of the motor 229 is fixedly connected to the driving wheel 242 by a key. The synchronous belt 243 is sleeved on the driving wheel 242 and the driven wheel 244, and the synchronous belt 243 is meshed with the driving wheel 242 and the driven wheel 244.

The first bearing seats 247 are provided in two, the two first bearing seats 247 are fixed to the mounting plate 110 by fasteners, and both ends of the screw 248 are respectively penetrated in inner rings of the first bearings in the two first bearing seats 247, whereby the screw 248 is rotatably connected to the mounting plate 110. The rear end of the screw rod 248 is fixedly connected with the driven wheel 244 through a key, a nut 246 is in threaded fit with the screw rod 248, the nut 246 is fixed on a fixed seat 245 through a fastener, and the fixed seat 245 is connected with the third floating joint 225.

Therefore, when the motor 229 is energized, power can be transmitted to the third floating joint 225 through the driving wheel 242, the synchronous belt 243, the driven wheel 244, the screw rod 248 and the nut 246 in sequence, so that the position of the third floating joint 225 along the front-rear direction can be adjusted, and the minimum distance between the third clamping member 210 and the fourth clamping member 230 can be adjusted.

In addition, referring to fig. 3, two slide blocks 226 are provided on one slide rail 227 in order to restrict the rotational movement of the nut 246 and the third floating joint 225 about the axis in the front-rear direction. One slide block 226 is used for restricting the movement direction of the third cylinder body of the third cylinder 222 to the front-rear direction, the other slide block 226 is fixedly connected with the connecting plate 224 through a fastener, and the connecting plate 224 is fixedly connected with the fixing seat 245 through a fastener.

Referring to fig. 4 to 6, in a modification of the above embodiment, assuming that the direction in which the first clamping member 310 approaches or moves away from the connection base 100 is the third direction, the first driving assembly 330 includes a first connection member 411, a first connection rod 338, a first elastic member 413, and a first cylinder 331. The first connecting piece 411 is slidably connected to the connecting base 100, and the sliding direction of the first connecting piece 411 relative to the connecting base 100 is a third direction (refer to fig. 5, for example, the third direction is an up-down direction), and the first connecting piece 411 is located between the first clamping piece 310 and the second clamping piece 320 (refer to fig. 4, for example, the first clamping piece 310 is located at the left side of the first connecting piece 411, and the second clamping piece 320 is located at the right side of the first connecting piece 411).

One end of the first link 338 is rotatably connected to the first connector 411, and the other end of the first link 338 is rotatably connected to the first clamping member 310. The first elastic member 413 is connected to the first connecting member 411 and the first clamping member 310, respectively, and when the first elastic member 413 is deformed, the first clamping member 310 has a tendency to move in a direction approaching the connecting seat 100 relative to the first connecting member 411.

The first cylinder 331 includes a first cylinder 332 and a first piston rod 333, and the first cylinder 332 is rotatably connected to the connection base 100. One end of the first piston rod 333 is connected to the first clamping member 310 through a first floating joint 334, or one end of the first piston rod 333 is fixedly connected to the first clamping member 310.

Therefore, after the first cylinder 331 is ventilated, the first clamping member 310 can be directly driven to approach or separate from the connecting seat 100 along the third direction, so as to achieve the purpose of adjusting the distance between the first clamping member 310 and the connecting seat 100.

Since the first connecting rod 338 is rotatably connected to the first connecting member 411 and the first clamping member 310, the first clamping member 310 drives the first connecting rod 338 to move closer to or further away from the connecting seat 100. When the first connecting member 411 moves to the limit position in the direction away from the connecting seat 100 (refer to fig. 6, for example, the first connecting member 411 moves downward to the limit position), since the first connecting member 411 can no longer move in the direction away from the connecting seat 100, if the first piston rod 333 continues to drive the first clamping member 310 away from the connecting seat 100 (refer to fig. 6, for example, the first piston rod 333 continues to drive the first clamping member 310 to move downward), the first connecting rod 338 rotates around the end connected to the first connecting member 411 (refer to fig. 6, for example, the first connecting rod 338 rotates around the right end thereof in the counterclockwise direction (viewed in the direction perpendicular to the paper), thereby driving the first clamping member 310 to rotate in the direction close to the second clamping member 320 (refer to fig. 6, for example, driving the first clamping member 310 to move rightward and downward), and further realizing the function of clamping the battery module 500 by the first clamping member 310 and the second clamping member 320.

In addition, when the first clamping member 310 and the second clamping member 320 need to release the battery module 500, the first piston rod 333 drives the first clamping member 310 to approach the connection holder 100. At this time, the first clamping member 310 has a tendency to move in a direction approaching the connection holder 100 with respect to the first connection member 411 by the first elastic member 413, and at the same time, the first link 338 also acts, and the first link 338 rotates about its right end in a clockwise direction (as viewed in a plane perpendicular to the paper), and the first clamping member 310 moves away from the second clamping member 320, thereby releasing the battery module 500.

In summary, the first driving component 330 not only achieves the purpose of driving the first clamping member 310 to approach or separate from the connecting seat 100, but also achieves the purpose of driving the first clamping member 310 to approach or separate from the second clamping member 320, and the first driving component 330 has two functions with the same structure, thereby being beneficial to simplifying the structure of the first driving component 330.

In other embodiments, the first driving assembly 330 may also include two driving members, one driving member for driving the first clamping member 310 toward or away from the connecting seat 100, and the other driving member for driving the first clamping member 310 toward or away from the second clamping member 320. The driving piece can be selected from a cylinder, an oil cylinder, a linear motor, a gear rack, a synchronous wheel synchronous belt or a screw nut and other structures.

It should be noted that, when the first clamping member 310 is away from the connecting seat 100, in order to avoid that the first clamping member 310 approaches the second clamping member 320 in advance, the distance between the first clamping member 310 and the second clamping member 320 is reduced, and then the first clamping member 310 collides with the battery module 500 in the process that the first clamping member 310 approaches the battery module 500, so that the first elastic member 413 is provided.

During the process that the first piston rod 333 drives the first clamping member 310 away from the connecting seat 100 (refer to fig. 6, for example, during the process that the first piston rod 333 drives the first clamping member 310 to move downward), the first elastic member 413 is in a deformed state, and the first clamping member 310 has a tendency to move relative to the first connecting member 411 in a direction approaching the connecting seat 100 (refer to fig. 6, for example, the first clamping member 310 has a tendency to move upward relative to the first connecting member 411). As can be seen from the above description, when the first clamping member 310 moves relative to the first connecting member 411 in a direction away from the connecting seat 100, the first clamping member 310 approaches the second clamping member 320. However, under the action of the first elastic member 413, the first clamping member 310 has a movement tendency of moving in a direction approaching the connection holder 100 with respect to the first connection member 411, that is, the first clamping member 310 may be maintained in a state of being far away from the second clamping member 320, thereby effectively solving the problem that the first clamping member 310 collides with the battery module 500 in the process of approaching the battery module 500.

Specifically, referring to fig. 5, to achieve the rotational connection of the first cylinder 332 with the connection base 100, the first driving assembly 330 further includes a second bearing 335 and a second fixing plate 336. The second fixing plate 336 is fixed to the mounting plate 110 by fasteners, two second bearing seats 335 are provided at intervals, and two second bearing seats 335 are fixed to the second fixing plate 336 by fasteners. The first cylinder 332 is fixed with a second rotating shaft, and two ends of the second rotating shaft are respectively inserted into inner rings of second bearings in the two second bearing seats 335, so that the first cylinder 332 is rotatably connected with the connecting seat 100.

Specifically, referring to fig. 5, to achieve the connection of the first floating joint 334 with the first clamping member 310, the first driving assembly 330 further includes a first connection block 337. The first connection block 337 is screw-coupled with the first floating joint 334, and the first connection block 337 is fixed to the first clamping member 310 by a fastener, thereby achieving connection of the first floating joint 334 with the first clamping member 310.

Specifically, referring to fig. 5, to implement the rotational connection of the first connecting rod 338 with the first connecting member 411 and the first clamping member 310, the first driving assembly 330 further includes a third rotating shaft 412, and the first clamping member 310 is provided with a fourth rotating shaft 311. The first connecting rod 338 is provided with two through holes (or two fixed third bearings), and the third rotating shaft 412 and the fourth rotating shaft 311 are respectively penetrated in the two through holes (or penetrated in the inner rings of the two third bearings), so that the first connecting rod 338 is respectively connected with the first connecting piece 411 and the first clamping piece 310 in a rotating way.

It should be noted that, in order to make the rotation of the first link 338 and the first connecting piece 411, and the first clamping piece 310 more stable, the first driving assembly 330 includes two first links 338, the two first links 338 are respectively connected with the rotation of the first connecting piece 411 and the first clamping piece 310, the two first links 338, the first connecting piece 411 and the first clamping piece 310 form a parallelogram linkage mechanism, and the relative movement of the first connecting piece 411 and the first clamping piece 310 is more stable.

Specifically, to achieve a sliding connection of the first connector 411 with the connector 100, the first drive assembly 330 further includes a second connector block 339, a linear bearing 416, a guide rod 417 and a hydraulic buffer 418. The linear bearing 416 is fixed to the second fixing plate 336 by a fastener, and the guide rod 417 is slidably connected to the linear bearing 416. The lower end of the guide rod 417 is fixedly coupled to the second connection block 339 by a fastener, and the second connection block 339 is fixedly coupled to the first connection member 411 by a fastener. The hydraulic damper 418 is fixed to the upper end of the guide rod 417, and the hydraulic damper 418 is used to define the limit position of the movement of the first connection member 411 in the direction away from the connection seat 100, and the hydraulic damper 418 can also play a role in damping.

In other embodiments, linear bearings 416 and guide bars 417 may be replaced with slides and rails.

Specifically, referring to fig. 5 or 6, the first elastic member 413 includes an extension spring, the first driving assembly 330 further includes a vertical plate 414, the lower end of the vertical plate 414 is fixed to the upper end of the first connecting member 411 by a fastener, the upper end of the extension spring is hung on the upper end of the vertical plate 414, and the lower end of the extension spring is hung on the upper end of the first clamping member 310. When the first link 338 is rotated about its right end in a clockwise direction (looking inward into the page) to an extreme position, the extension spring is also in tension (i.e., the extension spring provides an initial preload). Thus, the first clamping member 310 has a movement tendency to move in a direction approaching the connection seat 100 with respect to the first connection member 411 under the action of the tension spring.

In other embodiments, the first elastic member 413 may also include other elastic members such as an elastic column, a bellows, and a compression spring, and the elastic column and the bellows are installed in the same manner as the tension spring, which will not be repeated here.

Specifically, referring to fig. 5 or 6, in place of the first clamping member 310 contacting the battery module 500, the first driving assembly 330 further includes an insulating member 415. The insulating member 415 is fixed to the first clamping member 310, and the insulating member 415 is located at a side of the first clamping member 310 facing the second clamping member 320. The material of insulator 415 may be bakelite, steel, plastic, rubber, or other materials. The first clamping member 310 contacts the battery module 500 through the insulating member 415, which is advantageous in that the clamping device maintains insulation from the battery module 500, thereby protecting the battery module 500.

Referring to fig. 4, in the modification of the above embodiment, the first connection member 411, the first connection rod 338, the first elastic member 413, and the first cylinder 331 are provided as a first working group, and two or more first working groups are provided.

By using two or more first working groups, more uniform and larger force can be applied to the first clamping member 310, thereby stably clamping the battery module 500.

In particular, the number of first work groups may be two (refer to fig. 5), three, or other numbers. It should be noted that, when the first working groups are provided with two or more first connectors 411 of each first working group may be fixed together (or each first working group uses the same first connector 411), and the insulating members 415 of each first working group may be fixed together (or each first working group uses the same insulating member 415).

With reference to fig. 4 to 6, in a modification of the above embodiment, the direction in which the second clamping member 320 approaches or departs from the connection seat 100 is set to be the fourth direction, and the first driving assembly 330 further includes a second connecting member, a second connecting rod, a second elastic member, and a second air cylinder. The second connecting piece is slidably connected with the connecting seat 100, and the sliding direction of the second connecting piece relative to the connecting seat 100 is a fourth direction, and the second connecting piece is located between the first clamping piece 310 and the second clamping piece 320.

One end of the second link is rotatably connected to the second connector, and the other end of the second link is rotatably connected to the second holder 320. The second elastic member is connected with the second connecting member and the second clamping member 320, respectively, and when the second elastic member is deformed, the second clamping member 320 has a tendency to move along a direction approaching the connecting seat 100 relative to the second connecting member.

The second cylinder comprises a second cylinder body and a second piston rod, and the second cylinder body is rotationally connected with the connecting seat 100. One end of the second piston rod is connected with the second clamping piece 320 through a second floating joint, or one end of the second piston rod is fixedly connected with the second clamping piece 320.

Similarly, the first driving component 330 achieves the purpose of driving the second clamping member 320 to approach or separate from the connecting seat 100, and also achieves the purpose of driving the second clamping member 320 to approach or separate from the first clamping member 310, and the first driving component 330 achieves two functions by using the same structure, thereby being beneficial to simplifying the structure of the first driving component 330.

The connection relationship between the second connector, the second link, the second elastic member, and the second cylinder is the same as the connection relationship between the first connector 411, the first link 338, the first elastic member 413, and the first cylinder 331, and will not be repeated here.

In the improvement of the above embodiment, the second connecting piece, the second connecting rod, the second elastic piece and the second cylinder are provided as the second working group, and the second working group is provided with two or more.

By using two or more second working groups, more uniform and larger force can be applied to the second clamping member 320, thereby stably clamping the battery module 500.

In particular, the number of second work groups may be two (refer to fig. 5), three, or other numbers.

Referring to fig. 2 and 4, in some embodiments of the present application, a region directly under the battery module 500 clamped by the first clamping member 310 and the second clamping member 320 is provided as a first region 510, and the first clamping module 300 further includes a first carrier 340, and the first carrier 340 is connected to the first clamping member 310. The first drive assembly 330 is further configured to drive the first carrier 340 toward the second clamping member 320 such that at least a portion of the first carrier 340 enters the first region 510. The first driving assembly 330 is further configured to drive the first carrier 340 away from the second clamping member 320, so as to move the first carrier 340 away from the first region 510.

By making at least a portion of the first carrier 340 enter the first region 510, the first carrier 340 can support the battery module 500, and when an accident occurs, the first carrier 340 can support the battery module 500, thereby reducing the falling risk. When the first carrier 340 leaves the first region 510, the first clamping member 310, the second clamping member 320, the third clamping member 210 and the fourth clamping member 230 can normally release the battery module 500 without being blocked by the first carrier 340.

In a modification of the above embodiment, the first carrier 340 is fixedly connected to the first clamping member 310.

At this time, the first driving assembly 330 can drive the first carrier 340 and the first clamping member 310 simultaneously, thereby facilitating the simplification of the structure of the first driving assembly 330.

In other embodiments, a driving member may be separately mounted on the first clamping member 310 to drive the first carrier member 340 into or out of the first region 510, and the driving member may be a cylinder, an oil cylinder, a linear motor, a rack and pinion, a synchronous wheel synchronous belt, a screw nut, or the like.

Referring to fig. 2 and 4, in a modification of the above embodiment, the first clamping module 300 further includes a second carrier 350, and the second carrier 350 is connected to the second clamping member 320. The first drive assembly 330 is further configured to drive the second carrier 350 toward the first clamping member 310 such that at least a portion of the second carrier 350 enters the first region 510. The first driving assembly 330 is further configured to drive the second carrier 350 away from the first clamping member 310, so as to move the second carrier 350 away from the first region 510.

Similarly, by allowing at least a portion of the second carrier 350 to enter the first region 510, the second carrier 350 can support the battery module 500, and when an accident occurs, the second carrier 350 can support the battery module 500, thereby reducing the falling risk. When the second carrier 350 leaves the first region 510, the first, second, third and fourth holders 310, 320, 210 and 230 can normally release the battery module 500 without being blocked by the second carrier 350.

In a modification of the above embodiment, the second carrier 350 is fixedly connected to the second clamping member 320.

At this time, the first driving assembly 330 can drive the second carrier 350 and the second clamping member 320 simultaneously, thereby facilitating the simplification of the structure of the first driving assembly 330.

It should be noted that the second carrier 350 is similar to the first carrier 340 in shape, and the second carrier 350 is located on a side of the second clamping member 320 facing the first clamping member 310, and the second carrier 350 is fixed to a lower end of the second clamping member 320.

In other embodiments, a driving member may be separately mounted to the second clamping member 320 to drive the second carrier member 350 into or out of the first region 510, and the driving member may be selected from a cylinder, an oil cylinder, a linear motor, a rack and pinion, a synchronous wheel timing belt, a screw-nut, and the like.

The handling device according to the embodiment of the second aspect of the present application comprises a gripping means and a robot 600. The robot 600 is connected to the connection socket 100, and the robot 600 is used to drive the connection socket 100 to move.

The carrying equipment provided by the embodiment of the application has at least the following beneficial effects: by using the clamping device, the probability of collision of the first clamping member 310 and the second clamping member 320 in the process of clamping the battery module can be effectively reduced, thereby being beneficial to reducing the maintenance cost.

Specifically, the robot 600 may be a multi-axis manipulator, or may be a motion platform such as a three-axis motion platform or a four-axis motion platform.

The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application. Furthermore, embodiments of the application and features of the embodiments may be combined with each other without conflict.

Claims (10)

1. Clamping device, its characterized in that includes:

A connecting seat;

The first clamping module comprises a first clamping piece, a second clamping piece and a first driving assembly, wherein the first driving assembly is arranged on the connecting seat, the first clamping piece and the second clamping piece are both positioned on the first side of the connecting seat, and the first clamping piece and the second clamping piece are distributed at intervals along the first direction; the first driving assembly is used for driving the first clamping piece and the second clamping piece to be close to each other so that the first clamping piece and the second clamping piece clamp a product; the first driving assembly is further used for driving the first clamping piece and the second clamping piece to be far away from each other so that the first clamping piece and the second clamping piece release the product; the first driving component is also used for driving the first clamping piece and the second clamping piece to be close to or far away from the connecting seat;

The second clamping module comprises a third clamping piece, a fourth clamping piece and a second driving assembly, the second driving assembly is arranged on the connecting seat, the third clamping piece and the fourth clamping piece are both positioned on the first side of the connecting seat, the third clamping piece and the fourth clamping piece are distributed at intervals along a second direction, and an included angle between the second direction and the first direction is larger than zero; the second driving assembly is used for driving the third clamping piece and the fourth clamping piece to be close to each other so that the third clamping piece and the fourth clamping piece clamp the product; the second driving assembly is further used for driving the third clamping piece and the fourth clamping piece to be far away from each other so that the third clamping piece and the fourth clamping piece release the product.

2. The clamping device as claimed in claim 1, wherein the direction in which the first clamping member approaches or moves away from the connecting base is a third direction, and the first driving assembly includes:

The first connecting piece is in sliding connection with the connecting seat, the sliding direction of the first connecting piece relative to the connecting seat is the third direction, and the first connecting piece is positioned between the first clamping piece and the second clamping piece;

One end of the first connecting rod is rotationally connected with the first connecting piece, and the other end of the first connecting rod is rotationally connected with the first clamping piece;

The first elastic piece is respectively connected with the first connecting piece and the first clamping piece, and when the first elastic piece is deformed, the first clamping piece has a tendency of moving along the direction close to the connecting seat relative to the first connecting piece;

the first cylinder comprises a first cylinder body and a first piston rod, and the first cylinder body is rotationally connected with the connecting seat; one end of the first piston rod is connected with the first clamping piece through a first floating joint, or one end of the first piston rod is fixedly connected with the first clamping piece.

3. The clamping device as claimed in claim 2, wherein the first connecting member, the first connecting rod, the first elastic member and the first cylinder are provided as a first working group, and the first working group is provided with two or more.

4. The clamping device as claimed in claim 2, wherein the direction in which the second clamping member approaches or moves away from the connecting seat is a fourth direction, and the first driving assembly further comprises:

The second connecting piece is in sliding connection with the connecting seat, the sliding direction of the second connecting piece relative to the connecting seat is the fourth direction, and the second connecting piece is positioned between the first clamping piece and the second clamping piece;

One end of the second connecting rod is rotationally connected with the second connecting piece, and the other end of the second connecting rod is rotationally connected with the second clamping piece;

The second elastic piece is respectively connected with the second connecting piece and the second clamping piece, and when the second elastic piece is deformed, the second clamping piece has a tendency of moving along the direction approaching to the connecting seat relative to the second connecting piece;

The second cylinder comprises a second cylinder body and a second piston rod, and the second cylinder body is rotationally connected with the connecting seat; one end of the second piston rod is connected with the second clamping piece through a second floating joint, or one end of the second piston rod is fixedly connected with the second clamping piece.

5. The clamping device as claimed in claim 4, wherein the second connecting piece, the second connecting rod, the second elastic piece and the second cylinder are provided as a second working group, and the second working group is provided with two or more.

6. The clamping device as recited in any one of claims 1 to 5, wherein a region directly below the product clamped by the first clamping member and the second clamping member is provided as a first region, the first clamping module further comprising:

The first bearing piece is connected with the first clamping piece; the first drive assembly is further configured to drive the first carrier toward the second clamp such that at least a portion of the first carrier enters the first region; the first driving assembly is further used for driving the first bearing piece away from the second clamping piece so as to enable the first bearing piece to leave the first area.

7. The clamping device of claim 6, wherein the first carrier is fixedly connected to the first clamping member.

8. The clamping device of claim 6, wherein the first clamping module further comprises:

the second bearing piece is connected with the second clamping piece; the first drive assembly is further configured to drive the second carrier adjacent the first clamp such that at least a portion of the second carrier enters the first region; the first driving assembly is also used for driving the second bearing piece away from the first clamping piece so as to enable the second bearing piece to leave the first area.

9. The clamping device of claim 8, wherein the second carrier is fixedly connected to the second clamping member.

10. Handling equipment, its characterized in that includes:

The clamping device of any one of claims 1 to 9;

And the robot is connected with the connecting seat and is used for driving the connecting seat to move.