Electrolyte tank grabbing device

Abstract

The application discloses an electrolyte barrel grabbing device, aiming at providing a grabbing device with reliable structure and low maintenance cost. The device comprises a rack, a grabbing power unit, a grabbing power transmission mechanism, a plurality of clamping jaw mechanisms, a linear translation mechanism and an adapter plate; the grabbing power unit is used for providing grabbing power; the grabbing power transmission mechanism is used for outputting the power of the grabbing power unit to each clamping jaw mechanism, and comprises a primary synchronous transmission mechanism and a secondary synchronous transmission mechanism; the primary synchronous transmission mechanism is used for outputting the power of the grabbing power unit to the secondary synchronous transmission mechanism and part of the clamping jaw mechanisms; the secondary synchronous transmission mechanism is used for outputting the power output by the primary synchronous transmission mechanism to the remaining clamping jaw mechanisms; and the plurality of clamping jaw mechanisms are used for clamping or hooking electrolyte barrels. The device is driven by a single power source, the primary synchronous transmission mechanism and the secondary synchronous transmission mechanism drive different clamping jaw mechanisms respectively, and has the advantages of reliable structure, convenient maintenance and high transmission efficiency.

Description

Technical Field

[0001] This invention relates to the field of lithium battery manufacturing technology, and more specifically, to a gripping device for handling electrolyte containers during the lithium battery manufacturing process. Background Technology

[0002] Electrolyte is a commonly used raw material in lithium battery manufacturing. Lithium-ion battery electrolytes are mainly composed of organic solvents, additives, and lithium salts. Ion tanks are typically used to supply electrolyte to batteries. Newly laid electrolyte pipelines, pipelines before production line resumption, and pipelines after shutdown all require alternating flushing and maintenance using dimethyl carbonate (DMC) solution and electrolyte. 200 kg electrolyte tanks and DMC tanks are also used during equipment commissioning. There are two main types of electrolyte tanks: 200 kg electrolyte tanks and Ion tanks with square steel frames. For handling, Ion tanks are typically moved using forklifts or pallet jacks by manipulating the square steel frame at the bottom. 200 kg electrolyte tanks and DMC tanks have the same shape and are handled in the same way: the electrolyte tanks are placed on pallets and moved using forklifts or pallet jacks. When transferring ton containers and 200-kilogram electrolyte containers in the electrolyte workshop, manual handling is required. The cross-traffic of vehicles and personnel, as well as the accidental tipping of electrolyte containers during transportation, can all lead to safety accidents.

[0003] As the manufacturing industry increasingly pursues less manpower and more automated production methods, various devices capable of automating the handling of electrolyte tanks have emerged. During the electrolyte filling process, gantry robot systems or stacker crane systems are generally used to schedule and move the electrolyte tanks. When using gantry robot systems to move electrolyte tanks, traditional electrolyte tank grippers can only handle one type of tank, leading to increased equipment manufacturing costs. Furthermore, downtime for replacing electrolyte tank grippers reduces equipment uptime, consumes manpower, and impacts production capacity. Summary of the Invention

[0004] The purpose of this invention is to address the technical deficiencies in the existing technology by providing an electrolyte tank gripping device that is structurally reliable, easy to maintain, and has low manufacturing and maintenance costs.

[0005] The technical solution adopted to achieve the purpose of this invention is:

[0006] An electrolyte tank gripping device includes a frame, a gripping power unit, a gripping power transmission mechanism, multiple gripper mechanisms, a linear translation mechanism, and a transfer plate;

[0007] The frame is used to mount and fix the various parts and mechanisms of the electrolyte gripping device;

[0008] The gripping power unit is mounted on the frame and is used to provide gripping power;

[0009] The grabbing power transmission mechanism is used for outputting power of the grabbing power unit to each of the gripper mechanisms respectively; the grabbing power transmission mechanism comprises a primary synchronous transmission mechanism and a secondary synchronous transmission mechanism; the primary synchronous transmission mechanism is used for outputting power of the grabbing power unit to the secondary synchronous transmission mechanism and part of the gripper mechanisms; the secondary synchronous transmission mechanism is used for outputting power output by the primary synchronous transmission mechanism to the remaining gripper mechanisms.

[0010] The plurality of gripper mechanisms are used for clamping or hooking electrolyte barrels; when the plurality of gripper mechanisms are close to each other, the electrolyte barrels are grabbed, and when the plurality of gripper mechanisms are away from each other, the electrolyte barrels are released.

[0011] The linear translation mechanism is used for converting rotational motion of the primary synchronous transmission mechanism and the secondary synchronous transmission mechanism into linear motion of the gripper mechanisms.

[0012] The adapter plate is installed at the top end of the rack and is used for being connected with the lifting power mechanism.

[0013] The grabbing power unit is composed of a servo motor, a planetary reducer and a double-row driving sprocket installed on an output shaft of the planetary reducer; the grabbing power unit is installed at the geometric center of the rack and provides power output for each of the gripper mechanisms.

[0014] The linear translation mechanism adopts a gear and rack transmission mechanism corresponding to each of the gripper mechanisms; a transmission gear is correspondingly installed at the output end of the primary synchronous transmission mechanism and the secondary synchronous transmission mechanism of each gripper mechanism.

[0015] The rack comprises a driving fixed plate and a gripper fixed plate, and the driving fixed plate and the gripper fixed plate are connected and supported by a plurality of support plates and a plurality of support rods.

[0016] The adapter plate is installed at the geometric center position of the driving fixed plate through a mounting frame.

[0017] The primary synchronous transmission mechanism and the secondary synchronous transmission mechanism are chain transmission mechanisms or synchronous belt transmission mechanisms.

[0018] The primary synchronous transmission mechanism comprises at least one set of primary chain transmission mechanisms connected with the output shaft of the grabbing power unit; the secondary synchronous transmission mechanism comprises at least one set of secondary chain transmission mechanisms connected with the primary chain transmission mechanisms.

[0019] Each of the gripper mechanisms comprises a mechanical arm, a sliding pair and a profiled pad or / and a ton barrel hook matched with the barrel wall; the mechanical arm is composed of a crossbeam and a column, in T shape, connected with the frame through the sliding pair; the sliding pair is a linear motion mechanism composed of a slide rail and a slide block; the rack is installed on the crossbeam of the mechanical arm, engaged with the transmission gears of the output ends of the first and second synchronous transmission mechanisms, for outputting the power from the output end of the grabbing power transmission mechanism to the mechanical arm; the profiled pad or / and the ton barrel hook is installed on the column of the mechanical arm.

[0020] When four groups of gripper mechanisms are adopted, the first chain transmission mechanisms are two groups; the double-row driving sprocket and the first transmission sprocket installed on the first transmission shaft are connected through the first transmission chain to form the first chain transmission mechanism; the transmission gears are respectively installed on the lower ends of the first transmission shafts; the two groups of first chain transmission mechanisms are arranged in an array of 180° along the axis of the output shaft of the planetary reducer; the first coaxial sprocket is installed on each of the first transmission shafts; the first coaxial sprocket and the second transmission sprocket installed on the second transmission shaft are connected through the second transmission chain to form the second chain transmission mechanism; the transmission gears are respectively installed on the lower ends of the second transmission shafts; the transmission gears on the first and second transmission shafts are respectively engaged with the transmission racks of the corresponding gripper mechanisms, to drive the corresponding linear translation mechanisms and drive the corresponding mechanical arms to reciprocate linearly along the sliding pairs; the two groups of second chain transmission mechanisms are arranged in an array of 180° along the axis of the output shaft of the planetary reducer; the four groups of gripper mechanisms are arranged in an array of 90° along the axis of the output shaft of the planetary reducer; the two groups of first chain transmission mechanisms and the two groups of second chain transmission mechanisms respectively drive the four groups of gripper mechanisms.

[0021] The first and second chain transmission mechanisms are respectively provided with an adjusting mechanism for adjusting the tightness of the chains.

[0022] The first chain transmission mechanism is installed on the upper end face of the driving fixed plate; the second chain transmission mechanism is installed in the space between the driving fixed plate and the gripper fixed plate; the first transmission chain of the first chain transmission mechanism and the second transmission chain of the second chain transmission mechanism are respectively provided with protective covers.

[0023] The adjusting mechanism is a idler assembly engaged with the chain.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] 1. The electrolyte gripping device of the present invention transmits gripping power through a gripping power unit, combined with a primary synchronous transmission mechanism and a secondary synchronous transmission mechanism. The primary and secondary synchronous transmission mechanisms respectively drive different linear translation mechanisms, driving the robotic arm to reciprocate linearly along the sliding pair, thereby realizing the grabbing and dispensing of the electrolyte tank. It has a reliable structure, is easy to maintain, has low manufacturing and maintenance costs, high transmission efficiency, and low failure rate.

[0026] 2. The electrolyte gripping device of the present invention, by setting up a primary synchronous transmission mechanism, a secondary synchronous transmission mechanism, a linear translation mechanism, and a sliding pair, realizes the synchronous reciprocating linear motion of multiple robotic arms to pick up and drop electrolyte tanks; the grippers have strong load-bearing capacity and high reliability.

[0027] 3. The electrolyte grabbing device of the present invention can grab 200 kg electrolyte barrels, DMC barrels and electrolyte ton barrels, which is highly practical, saves manpower and material resources and improves production efficiency. Attached Figure Description

[0028] Figure 1 This is an overall schematic diagram of the electrolyte tank gripping device of the present invention;

[0029] Figure 2 A schematic diagram of a single-stage synchronous transmission mechanism and its transmission method;

[0030] Figure 3 A schematic diagram for grasping the power unit;

[0031] Figure 4 This is a schematic diagram of the installation structure of the primary drive shaft;

[0032] Figure 5 This is a schematic diagram of a two-stage synchronous transmission mechanism and its transmission method;

[0033] Figure 6 This is a schematic diagram of the mounting structure of the secondary drive shaft;

[0034] Figure 7 This is a schematic diagram of the gripper mechanism;

[0035] Figure 8 A schematic diagram of grabbing a 200 kg electrolyte container;

[0036] Figure 9 This is a schematic diagram of grabbing an electrolyte container. Detailed Implementation

[0037] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0038] In the description of this invention patent, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", "middle", "point", "end", "surface", "side", "center", "ring", "array", "edge", "near", etc., indicating orientation or positional relationships, are only for the convenience of describing this invention patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention patent.

[0039] In the description of this invention patent, it should be noted that, unless otherwise explicitly specified and limited, the terms "matching," "allocation," "setting," "arranging," "adjusting," "installing," "set," "composition," "fixing," "connecting," "locking," "locking in," "tightening," "pressing," "engaging," "inheriting," "transmitting," "tightness," "in place," and "disengaging" should be interpreted broadly. Those skilled in the art can understand the specific meaning of the above terms in this patent according to the specific circumstances.

[0040] Furthermore, the terms "first-level" and "second-level" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0041] A schematic diagram of the electrolyte tank gripping device of the present invention is shown below. Figures 1-7 As shown, it includes a frame 5, a gripping power unit 4, a gripping power transmission mechanism 2, multiple gripper mechanisms 3, a linear translation mechanism 302, and an adapter plate 1.

[0042] The frame 5 is used to install and fix the various parts and mechanisms of the electrolyte gripping device; it includes a drive fixing plate 501 and a gripper fixing plate 502, which are connected and supported by multiple support plates 503 and multiple support rods 504.

[0043] The gripping power unit 4 is mounted on the frame 5 and is used to provide gripping power. In this embodiment, a schematic diagram of the gripping power unit 4 is shown below. Figure 3 As shown: It consists of a servo motor 401, a planetary reducer 402, and a double-row drive sprocket 2011 mounted on the output shaft of the planetary reducer. The gripping power unit 4 is mounted at the geometric center of the frame 5, providing power output to each gripper mechanism 3.

[0044] The gripping power transmission mechanism 2 is used to output the power of the gripping power unit 4 to each of the gripping jaw mechanisms 3. The gripping power transmission mechanism 2 includes a primary synchronous transmission mechanism 201 and a secondary synchronous transmission mechanism 202. The primary synchronous transmission mechanism 201 is used to output the power of the gripping power unit 4 to the secondary synchronous transmission mechanism 202 and some of the gripping jaw mechanisms 3; the secondary synchronous transmission mechanism 202 is used to output the power output by the primary synchronous transmission mechanism 201 to the remaining gripping jaw mechanisms 3.

[0045] The linear translation mechanism 302 is used to convert the rotational motion of the secondary synchronous transmission mechanism 202 into linear motion that drives the gripper mechanism 3. In this embodiment, the linear translation mechanism 302 adopts a gear and rack transmission mechanism corresponding to each gripper mechanism 3, consisting of a transmission gear 3021 and a rack 3022; the transmission gear 3021 is installed at the output end of the primary and secondary synchronous transmission mechanisms of each gripper mechanism, and the rack 3022 is installed on the corresponding gripper mechanism.

[0046] The multiple gripper mechanisms 3 are used to grip or hook the electrolyte container; when the multiple gripper mechanisms are close to each other, they grip the electrolyte container, and when they are far apart, they release the electrolyte container.

[0047] A schematic diagram of each gripper mechanism 3 is shown below. Figure 7As shown, the system includes a robotic arm 301 consisting of a crossbeam and a column, a sliding pair 303, a contouring pad 304 that mates with the barrel wall, and a barrel hook 305. A rack 3022 is mounted on the crossbeam of the robotic arm 301 and meshes with the transmission gears 3021 at the output ends of the primary and secondary synchronous transmission mechanisms, used to output the power from the output end of the gripping power transmission mechanism 2 to the robotic arm 301. The robotic arm 301 is slidably mounted on the frame 5 via the sliding pair 303. In this embodiment, the robotic arm 301 is connected to the gripper fixing plate 502 via the sliding pair 303. The contouring pad 304 and the barrel hook 305 are mounted on the column of the robotic arm 301. The crossbeam and column of the robotic arm 301 are connected in a T-shape. The contouring pad 304 and the barrel hook 305 can be configured according to usage requirements, and the contact surface between the contouring pad 304 and the barrel wall is designed with an arc surface. A contour pad 304 is used to grip a 200 kg electrolyte container, and a container hook 305 is used to grip the container. In this embodiment, to prevent the slider from detaching, limit blocks 306 are installed at both ends of the crossbeam of the robotic arm 301. The sliding pair is a linear motion mechanism composed of a slide rail and a slider. Multiple gripper mechanisms 3 provide power to the linear translation mechanism 302 through the rotational movement of the primary synchronous transmission mechanism 201 and the secondary synchronous transmission mechanism 202, driving the robotic arm 301 to reciprocate linearly along the sliding pair 303; the gripper mechanisms 3 grip the electrolyte container when they approach each other and release it when they move away from each other.

[0048] The primary synchronous transmission mechanism 201 and the secondary synchronous transmission mechanism 202 can be either chain drive or synchronous belt drive. Taking chain drive as an example, the primary synchronous transmission mechanism 201 includes at least one set of primary chain drive mechanisms connected to the drive shaft of the gripping power unit, and the secondary synchronous transmission mechanism 202 includes at least one set of secondary chain drive mechanisms connected to the primary chain drive mechanisms. The number of primary and secondary chain drive mechanisms is determined according to the number of gripper mechanisms 3. To adjust the chain tension, the primary and secondary chain drive mechanisms are respectively provided with adjustment mechanisms 203 for adjusting the chain tension. In this embodiment, the adjustment mechanism 203 is an idler wheel assembly that meshes with the chain.

[0049] The primary synchronous transmission mechanism 201 is mounted on the upper surface of the drive fixing plate 501. The secondary synchronous transmission mechanism 202 is mounted in the space between the drive fixing plate 501 and the gripper fixing plate 502. The adapter plate 1 is used to connect to a lifting power mechanism, such as the Z-axis of a gantry or the Z-axis of a power assist arm. In this embodiment, it is used to connect to the Z-axis of a gantry robot. The adapter plate 1 is mounted at the geometric center of the drive fixing plate 501 via a mounting bracket.

[0050] The number of gripper mechanisms is at least four sets, but can be multiple as needed. This application takes four sets of gripper mechanisms 3 as an example. The gripping power unit 4 is installed at the geometric center of the frame 5, providing power output to each gripper mechanism. There are two sets of primary chain drive mechanisms. A double-row drive sprocket 2011 is installed on the output shaft of the planetary reducer 402 of the gripping power unit 4. The double-row drive sprocket 2011 and the primary drive sprocket 2013 on the primary drive shaft 2012 are connected by a primary drive chain 2014 to form a primary chain drive mechanism. A transmission gear 3021 is installed at the lower end of each primary drive shaft 2012. The two sets of primary chain drive mechanisms are arranged in a 180° array along the axis of the output shaft of the planetary reducer 402. Each primary drive shaft 2012 is equipped with a primary coaxial sprocket 2021. The primary coaxial sprocket 2021 and the secondary drive sprocket 2023 mounted on the secondary drive shaft 2022 form a secondary chain drive mechanism via a secondary drive chain 2024. A drive gear 3021 is mounted at the lower end of each secondary drive shaft 2022. The drive gears 3021 on the primary and secondary drive shafts 2012 and 2022 respectively mesh with the racks 3022 of the corresponding gripper mechanisms 3, driving the corresponding robotic arms 301 to reciprocate linearly along the sliding pair 303. The four gripper mechanisms 3 are arranged at 90° intervals along the axis of the planetary reducer 402 output shaft. The two secondary chain drive mechanisms are arranged at 180° intervals along the axis of the planetary reducer 402 output shaft. The two primary chain drive mechanisms and the two secondary chain drive mechanisms respectively drive the four gripper mechanisms 3. The gripping power unit 4, consisting of a servo motor 401, a planetary reducer 402, and a double-row drive sprocket 2011, drives the first-level synchronous transmission mechanism 201 to rotate, which in turn drives the second-level synchronous transmission mechanism 202 to rotate. Together, they drive the robotic arm 301 of the four gripper mechanisms 3 to translate along the sliding pair 303, thereby realizing the gripping action.

[0051] A schematic diagram of the primary drive shaft 2012 is shown below. Figure 4As shown, a primary drive sprocket 2013, a primary coaxial sprocket 2021, a drive gear 3021, an adjusting and fixing plate 2015, a seated bearing 2016, and a fixing ring 2017 are mounted on the primary drive shaft 2012. The primary drive sprocket 2013 is located at the upper end of the primary drive shaft 2012, and the primary coaxial sprocket 2021 is mounted on the upper part of the lower seated bearing 2016. The mounting components of the primary drive sprocket 2013 and the primary coaxial sprocket 2021 are the same, including the adjusting and fixing plate 2015, the seated bearing 2016, and the fixing ring 2017. The fixing ring 2017 is fastened to the primary drive shaft 2012 with screws, restricting the axial freedom of the seated bearing 2016. The seated bearing 2016 is fixedly mounted on the adjusting and fixing plate 2015. The adjusting and fixing plate 2015 is U-shaped and is connected and fixed to the frame 5 and the gripper fixing plate 502 respectively, facilitating disassembly and assembly. The transmission gear 3021 is installed on the lower end of the primary transmission shaft 2012.

[0052] A schematic diagram of the 2022 secondary drive shaft is shown below. Figure 6 As shown, a fixed seat 205, a secondary transmission sprocket 2023, a fixed end cover 2025, a bearing end cover 2026, a deep groove ball bearing 2028, a bearing washer 2029, a transmission gear 3021, and a bearing nut 2027 are mounted on the secondary transmission shaft 2022. Two fixed end covers 2025 are respectively installed on the upper and lower end faces of the secondary transmission shaft 2022 to prevent the transmission gear 3021 and the secondary transmission sprocket 2023 from falling off. The transmission gear 3021 is installed on the lower end of the secondary transmission shaft 2022. Two bearing end covers 2026 are fixed to the upper and lower end faces of the fixed seat 205, respectively fastening the outer rings of the two deep groove ball bearings 2028. Two bearing nuts 2027 are used together to lock into the external threads on the secondary transmission shaft 2022, pressing against the inner rings of the deep groove ball bearings 2028. The outer rings of two deep groove ball bearings 2028 are fitted into the bearing mounting holes at the upper and lower ends of the fixed seat 205. The inner rings of the deep groove ball bearings 2028 are fitted onto both ends of the secondary drive shaft 2022, respectively abutting against the shoulders of the secondary drive shaft 2022. Bearing washers 2029 contact and press against the inner rings of the deep groove ball bearings 2028. The secondary drive sprocket 2023 is installed on the upper end of the secondary drive shaft 2022 and contacts the bearing washer 2029, together pressing against the inner rings of the deep groove ball bearings 2028. The fixed seat 205 is connected and fixed to the clamp fixing plate 502.

[0053] The primary transmission chain 2014 of the primary chain transmission mechanism 201 and the secondary transmission chain 2024 of the secondary chain transmission mechanism are respectively provided with protective covers 204.

[0054] Example 1: Solution for handling a 200 kg electrolyte tank

[0055] Solution for handling a 200 kg electrolyte container, such as Figure 8As shown, the adapter plate is connected to the gantry robot. The vision system on the gantry robot identifies and calibrates the coordinate position, size parameters, height, and other parameters of the 200 kg electrolyte tank 6, and feeds the data back to the gantry robot's PLC. The PLC controls the servo motor to rotate, driving multiple gripper mechanisms 3 to synchronously move towards the center of the 200 kg electrolyte tank 6. The contour pads of the gripper mechanisms 3 contact the outer wall of the 200 kg electrolyte tank, and the servo motor feeds back the gripping torque value. After the program determines that the gripping torque value has reached the set parameter, the servo motor stops rotating and transmits the gripping signal to the gantry robot's PLC. The PLC determines the next step of the equipment's operation logic and moves the 200 kg electrolyte tank 6 to the corresponding position.

[0056] Example 2: Tonneau-shaped container grabbing solution

[0057] Electrolyte ton container grabbing solution as follows Figure 9 As shown, the adapter plate is connected to the gantry robot. The vision system on the gantry robot identifies and calibrates the position coordinates, size, and height of the ton container 7 frame, and feeds the data back to the gantry robot's PLC. The PLC controls the servo motor to rotate, driving multiple gripper mechanisms 3 to move synchronously toward the ton container frame. The ton container hooks installed on the gripper mechanisms 3 hook onto the square steel pipe on the upper part of the ton container frame. The ton container hooks 3036 are equipped with reflective photoelectric sensors. When the reflective photoelectric sensors detect that the ton container hooks are in place with the ton container frame, the servo motors stop rotating and transmit the gripping signal to the gantry robot's PLC. The PLC determines the next step of the equipment's operation logic and moves the electrolyte ton container 7 to the corresponding position.

[0058] The gripping device of this invention is driven by a single servo motor, using a sprocket and chain combined with a primary synchronous transmission mechanism 201 and a secondary synchronous transmission mechanism 202 to transmit rotational torque. The gripper mechanism 3 is driven by a gear and rack 3022, reciprocating linearly along the slide rail direction of the sliding pair 303. It is also compatible with gripping electrolyte containers weighing up to 200 kg and electrolyte ton containers. It features high transmission efficiency, low failure rate, reliable structure, convenient maintenance, and reduced manufacturing and maintenance costs.

[0059] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An electrolyte tank gripping device, characterized in that, Includes a frame, a gripping power unit, a gripping power transmission mechanism, multiple gripper mechanisms, a linear translation mechanism, and an adapter plate; The frame is used to install and fix the various parts and mechanisms of the electrolyte tank gripping device; The gripping power unit is mounted on the frame and is used to provide gripping power; The gripping power transmission mechanism is used to output the power of the gripping power unit to each of the gripping jaw mechanisms; the gripping power transmission mechanism includes a primary synchronous transmission mechanism and a secondary synchronous transmission mechanism; the primary synchronous transmission mechanism is used to output the power of the gripping power unit to the secondary synchronous transmission mechanism and some of the gripping jaw mechanisms; the secondary synchronous transmission mechanism is used to output the power output by the primary synchronous transmission mechanism to the remaining gripping jaw mechanisms; The multiple gripper mechanisms are used to grip or hook the electrolyte container; when the multiple gripper mechanisms are close to each other, they grip the electrolyte container, and when they are far apart, they release the electrolyte container. The linear translation mechanism is used to convert the rotational motion of the primary synchronous transmission mechanism and the secondary synchronous transmission mechanism into linear motion that drives the gripper mechanism. The adapter plate is installed on the top of the frame and is used to connect with the lifting power mechanism; The primary synchronous transmission mechanism and the secondary synchronous transmission mechanism are chain transmission mechanisms; The primary synchronous transmission mechanism includes at least one set of primary chain transmission mechanisms connected to the output shaft of the gripping power unit; the secondary synchronous transmission mechanism includes at least one set of secondary chain transmission mechanisms connected to the primary chain transmission mechanism. The gripper mechanism is configured in four groups, and the primary chain drive mechanism is configured in two groups; The two sets of the primary chain drive mechanisms are arranged in a 180° array along the axis of the output shaft; The two sets of the secondary chain drive mechanisms are arranged in a 180° array along the axis of the output shaft; The four sets of gripper mechanisms are evenly distributed at 90° intervals along the axis of the output shaft; the two sets of primary chain drive mechanisms and the two sets of secondary chain drive mechanisms respectively drive the four sets of gripper mechanisms.

2. The electrolyte tank gripping device according to claim 1, characterized in that, The gripping power unit consists of a servo motor, a planetary reducer, and a double-row drive sprocket mounted on the output shaft of the planetary reducer; the gripping power unit is mounted at the geometric center of the frame and provides power output to each gripper mechanism.

3. The electrolyte tank gripping device according to claim 2, characterized in that, The linear translation mechanism adopts a gear and rack transmission mechanism corresponding to each gripper mechanism; the transmission gears are installed at the output ends of the primary synchronous transmission mechanism and the secondary synchronous transmission mechanism of each gripper mechanism.

4. The electrolyte tank gripping device according to claim 1, characterized in that, The frame includes a drive fixing plate and a gripper fixing plate, which are connected and supported by multiple support plates and multiple support rods.

5. The electrolyte tank gripping device according to claim 4, characterized in that, The adapter plate is mounted on the geometric center of the drive fixing plate via a mounting bracket.

6. The electrolyte tank gripping device according to claim 1, characterized in that, The primary chain drive mechanism and the secondary chain drive mechanism are respectively equipped with adjustment mechanisms for adjusting the chain tension.

7. The electrolyte tank gripping device according to claim 3, characterized in that, Each of the gripper mechanisms includes a robotic arm, a sliding pair, and a contoured pad that engages with the barrel wall and / or a ton hook; The robotic arm consists of a crossbeam and a column, forming a T-shape, and is connected to the frame via a sliding pair. The sliding pair is a linear motion mechanism composed of a slide rail and a slider. The contour pad and / or the ton hook are installed on the column of the robotic arm.

8. The electrolyte tank gripping device according to claim 7, characterized in that, A rack is mounted on the crossbeam of the robotic arm and meshes with the transmission gears at the output ends of the primary and secondary synchronous transmission mechanisms to output the power from the output end of the gripping power transmission mechanism to the robotic arm.

9. The electrolyte tank gripping device according to claim 8, characterized in that, The double-row drive sprockets and the primary drive sprockets mounted on the primary drive shafts are connected by a primary drive chain to form a primary chain drive mechanism; each primary drive shaft has a drive gear mounted at its lower end; and each set of primary drive shafts has a primary coaxial sprocket mounted on it. The primary coaxial sprocket and the secondary transmission sprocket mounted on the secondary transmission shaft are connected by a secondary transmission chain to form a secondary chain transmission mechanism; each secondary transmission shaft has a transmission gear mounted at its lower end. The transmission gears on the primary and secondary transmission shafts mesh with the transmission racks of the corresponding gripper mechanisms, thereby driving the corresponding linear translation mechanisms and propelling the corresponding robotic arms to reciprocate linearly along the sliding pair.

10. The electrolyte tank gripping device according to claim 4, characterized in that, The primary chain drive mechanism is mounted on the upper surface of the drive fixing plate; the secondary chain drive mechanism is mounted in the space between the drive fixing plate and the gripper fixing plate; protective covers are respectively provided on the primary drive chain of the primary chain drive mechanism and the secondary drive chain of the secondary chain drive mechanism.

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