Gripping device, transfer equipment and lamination stacking machine

Abstract

The utility model belongs to the technical field of battery manufacturing, and discloses a gripping device, transfer equipment and a lamination stacking machine. The grabbing device comprises a grabbing frame, a plurality of mounting plates and a rotary driving assembly. The grabbing frames are rotationally connected to the grabbing frames, the multiple mounting plates are distributed at intervals, each mounting plate is slidably connected with a grabbing mechanism and a translation driving part connected with the grabbing mechanism, and the translation driving parts are used for driving the grabbing mechanisms to translate so as to adjust the distance between every two adjacent grabbing mechanisms; the rotary driving assembly is arranged on the grabbing frame and connected with the mounting plates so as to drive the mounting plates to rotate. When the grabbing device is used, corresponding adjustment can be rapidly completed according to the size, the shape and the lamination requirement of an actual product, it is ensured that the grabbing mechanism can grab and stack the product smoothly, the adjustment difficulty of the grabbing mechanism is effectively simplified, and the time and labor are saved; therefore, the overall production efficiency of the battery module can be improved, and the production stability is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of battery manufacturing, in particular to a grabbing device, a transfer device and a stacking machine. Background Art

[0002] In the field of battery manufacturing, lamination is a key step in which battery cells are stacked together through special transfer equipment to form a battery module or battery pack.

[0003] In the prior art, the transfer equipment has a robot for clamping products and a drive module for driving the robot to move. The robot can grab products from the feeding system, and the drive module drives the robot to move according to a predetermined order and spacing to stack the products at a specified position on the stacking table.

[0004] However, the manipulator and the drive module are mainly connected by a fixed connection structure, so the position of the manipulator itself and the distance between adjacent manipulators are difficult to adjust in real time. When the size, shape or stacking direction of the battery cell changes, the manipulator needs to be adjusted over a large range to achieve product transportation, which is time-consuming and labor-intensive, resulting in reduced production efficiency and poor production stability. Utility Model Content

[0005] The purpose of the utility model is to provide a gripping device, a transfer device and a stacking machine, which solves the problem in the prior art that when the size, shape or stacking direction of the battery cell changes, the robot needs to be adjusted on a large scale to meet the handling requirements, resulting in reduced overall production efficiency and poor production stability.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] In a first aspect, the utility model provides a gripping device, which comprises:

[0008] Grab rack;

[0009] A plurality of mounting plates, each of which is rotatably connected to the grabbing frame, wherein the plurality of mounting plates are spaced apart, each of the mounting plates is slidably connected to a grabbing mechanism and a translational driving member connected to the grabbing mechanism, wherein the translational driving member is used to drive the grabbing mechanism to translate so as to adjust the spacing between two adjacent grabbing mechanisms; and

[0010] A rotation driving assembly is arranged on the grabbing frame and connected to each of the mounting plates to drive the plurality of mounting plates to rotate.

[0011] Optionally, each of the mounting plates is provided with a transmission member, the plurality of transmission members include a main transmission member and a plurality of slave transmission members, and the rotation drive assembly includes:

[0012] A transmission assembly, disposed on the grab frame and connected to each of the transmission members; and

[0013] The rotary driving member is connected with the main transmission member to drive the main transmission member to rotate, and drives the plurality of slave transmission members to rotate through the transmission assembly.

[0014] Optionally, each of the mounting plates is provided with a transmission member, and the rotation drive assembly comprises:

[0015] A transmission assembly, disposed on the grab frame and connected to each of the transmission members; and

[0016] A rotating driving member is connected to the transmission assembly to drive each of the transmission members to rotate.

[0017] Optionally, the transmission member is a transmission wheel, and the transmission assembly includes:

[0018] The transmission belt is wound around the outer sides of the plurality of transmission wheels, and a tensioning roller is arranged between two adjacent transmission wheels. The outer side wall of the tensioning roller squeezes the transmission belt so that the transmission belt abuts against each of the transmission wheels.

[0019] Optionally, the gripping mechanism comprises:

[0020] A grab plate, slidably connected to the mounting plate and connected to the translation drive member;

[0021] two oppositely disposed gripping assemblies, slidably connected to the gripping plate and used to grip products; and

[0022] A first driving member is disposed on the grabbing plate and connected to the two grabbing assemblies to drive the two grabbing assemblies to move closer to or farther from each other.

[0023] Optionally, the grabbing component comprises:

[0024] A grabbing rod, slidably connected to the grabbing plate;

[0025] a grab hook, disposed on the grab bar and having an abutment portion capable of abutting against the product; and

[0026] The second driving member is arranged on the grabbing rod, and a grabbing space for grabbing the product is formed between the output end of the second driving member and the abutting portion. The second driving member is used to push the product to abut against the abutting portion to grab the product.

[0027] Optionally, a plurality of the grab hooks are spaced apart along the length direction of the grab rod.

[0028] Optionally, the grabbing component further includes:

[0029] A pad is arranged at the output end of the second driving member, and the pad is arranged opposite to the abutting portion of the grab hook.

[0030] In a second aspect, the utility model provides a transfer device, which includes:

[0031] The gripping device as described in the first aspect, wherein the gripping device is used to grip a product; and

[0032] A transfer device is connected to the grabbing device to drive the grabbing device to transport the product.

[0033] In a third aspect, the utility model provides a laminating machine, which comprises:

[0034] Lamination table; and

[0035] The transfer device as described in the second aspect is used to grab the product to the stacking table.

[0036] Beneficial effects of the utility model:

[0037] On the one hand, by setting a translation drive and a rotation drive assembly, when grabbing products, the spacing between adjacent grabbing mechanisms can be adjusted according to the requirements of the stacking, and the angles of multiple mounting plates can be adjusted to ensure that each grabbing mechanism can face the product. When the size, shape and stacking requirements of the product change, the spacing between two adjacent grabbing mechanisms and the direction of each grabbing mechanism can also be flexibly adjusted. In this way, when the grabbing device is in use, it can quickly complete the corresponding adjustments according to the size, shape and stacking requirements of the actual product, ensuring that the grabbing mechanism can smoothly complete the grabbing and stacking of the product, effectively simplifying the difficulty of adjusting the grabbing mechanism, achieving the effect of saving time and effort. When the product is a battery, it can improve the overall production efficiency of the battery module and enhance the stability of production.

[0038] Secondly, when the transfer equipment is in use, it can grab products of various sizes and shapes through the grasping device, and can also adjust the stacking direction of the products according to different stacking requirements, so that the transfer equipment can adapt to various scenarios, effectively improving the transfer efficiency of the products and thereby improving the overall production efficiency.

[0039] Thirdly, when the stacking machine is in use, the transfer equipment can stack products of different sizes and shapes on the stacking table, so that the stacking machine can adapt to the production and processing of a variety of products, effectively improving the use scope of the stacking machine and helping to reduce the impact of product replacement on production efficiency and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of a grabbing device in an embodiment of the utility model;

[0041] Figure 2 It is a structural schematic diagram of the transmission member of the grabbing device in the embodiment of the utility model;

[0042] Figure 3 It is a structural schematic diagram of a grabbing mechanism of a grabbing device in an embodiment of the utility model;

[0043] Figure 4 It is a partial enlarged structural schematic diagram of the grabbing assembly of the grabbing device in the embodiment of the utility model.

[0044] In the figure:

[0045] 1. Grab rack;

[0046] 2. Mounting plate; 21. Transmission member; 211. Main transmission member; 212. Slave transmission member;

[0047] 3. Rotation drive assembly; 31. Transmission assembly; 311. Transmission belt; 312. Tensioning roller; 32. Rotation drive member;

[0048] 4. Grabbing mechanism; 41. Grabbing plate; 42. First driving member; 43. Grabbing assembly; 431. Grabbing rod; 4311. Mounting hole; 4312. Adjusting hole; 4313. Adjusting block; 432. Grabbing hook; 4321. Abutting portion; 4322. Connecting portion; 4323. Connecting countersunk hole; 433. Second driving member; 434. Pad;

[0049] 5. Translation drive components. DETAILED DESCRIPTION

[0050] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0051] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0053] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0054] The utility model embodiment discloses a grabbing device, a transfer device and a laminating machine.

[0055] Reference Figure 1 The grabbing device comprises a grabbing frame 1, a plurality of mounting plates 2 and a rotation drive assembly 3. The plurality of mounting plates 2 are all rotationally connected to the grabbing frame 1, and the plurality of mounting plates 2 are spaced apart along a first direction. Each mounting plate 2 is slidably connected to a grabbing mechanism 4 and a translation drive member 5 connected to the grabbing mechanism 4, and the translation drive member 5 is used to drive the grabbing mechanism 4 to translate to adjust the spacing between two adjacent grabbing mechanisms 4; the rotation drive assembly 3 is arranged on the grabbing frame 1 and connected to each mounting plate 2 to drive the plurality of mounting plates 2 to rotate.

[0056] Specifically, the grabbing frame 1 is in the shape of a long strip, and a plurality of mounting plates 2 are rotatably connected to the grabbing frame 1 through a rotating shaft, and the plurality of mounting plates 2 are spaced apart along the length direction of the grabbing frame 1. The mounting plate 2 extends along the length direction of the grabbing frame 1, and a grabbing mechanism 4 is slidably connected to the top wall of the mounting plate 2. The sliding connection can be achieved by a slide rail and a slider, and the sliding direction is the length direction of the mounting plate 2, so as to change the spacing between two adjacent grabbing mechanisms 4. The translation drive 5 can be a cylinder or a motor screw mechanism, which can be specifically designed according to the actual installation space.

[0057] A rotation drive assembly 3 is provided on the lower side of the grab frame 1. The rotation drive assembly 3 can drive multiple mounting plates 2 to rotate synchronously through structures such as belt drive, chain drive, or rack and pinion drive. The specific rotation angle and speed can be designed according to the actual application scenario, and the utility model does not limit this.

[0058] By setting the translation drive 5 and the rotation drive assembly 3, when grabbing the product, the spacing between adjacent grabbing mechanisms 4 can be adjusted according to the requirements of the stacking, and the angles of the multiple mounting plates 2 can be adjusted to ensure that each grabbing mechanism 4 can face the product, and when the size, shape and stacking requirements of the product change, the spacing between two adjacent grabbing mechanisms 4 and the direction of each grabbing mechanism 4 can also be flexibly adjusted. In this way, when the grabbing device is in use, it can quickly complete the corresponding adjustment according to the size, shape and stacking requirements of the actual product, ensuring that the grabbing mechanism 4 can smoothly complete the grabbing and stacking of the product, effectively simplifying the difficulty of adjusting the grabbing mechanism 4, achieving the effect of saving time and effort, and when the product is a battery, it can improve the overall production efficiency of the battery module and enhance the stability of production.

[0059] Reference Figure 1 and Figure 2 Optionally, each mounting plate 2 is provided with a transmission member 21, the plurality of transmission members 21 include a main transmission member 211 and a plurality of slave transmission members 212, and the rotation drive assembly 3 includes a transmission assembly 31 and a rotation drive member 32. The transmission assembly 31 is provided on the grab frame 1 and is connected to each transmission member 21; the rotation drive member 32 is connected to the main transmission member 211 to drive the main transmission member 211 to rotate, and drives the plurality of slave transmission members 212 to rotate through the transmission assembly 31.

[0060] Specifically, the transmission member 21 can be a pulley, a gear or a sprocket, and the transmission assembly 31 is adaptably configured as a belt, a rack or a chain, etc., which can transmit and connect the main transmission member 211 with the slave transmission member 212. The output end of the rotary drive member 32 is directly fixedly connected to the main transmission member 211. In this embodiment, five mounting plates 2 are provided, and the transmission member 21 corresponding to the mounting plate 2 in the middle is used as the main transmission member 211, and the remaining transmission members 21 are slave transmission members 212.

[0061] When the orientation of the grabbing mechanism 4 needs to be adjusted, the rotation driving member 32 is started to drive the main transmission member 211 to rotate, and the main transmission member 211 drives the transmission assembly 31 to move, which can drive the multiple slave transmission members 212 to rotate, so as to smoothly adjust the orientation of the grabbing mechanism 4. By connecting the rotation driving member 32 with the main transmission member 211, it is no longer necessary to set up a separate driving part to drive the transmission assembly 31 to move, which effectively simplifies the transmission structure, reduces the manufacturing cost, and also reduces the space occupied.

[0062] In another embodiment, each mounting plate 2 is provided with a transmission member 21, and the rotation drive assembly 3 includes a transmission assembly 31 and a rotation drive member 32. The transmission assembly 31 is provided on the grab frame 1 and is connected to each transmission member 21; the rotation drive member 32 is connected to the transmission assembly 31 to drive each transmission member 21 to rotate.

[0063] Specifically, the above-mentioned rotating shaft is arranged on the bottom wall of the mounting plate 2, and the rotating shaft passes through the grabbing frame 1 and is rotationally connected with the grabbing frame 1, and the rotational connection can be realized by a bearing. A transmission member 21 is coaxially fixed at one end of the rotating shaft passing through the mounting plate 2, and the transmission member 21 can be a pulley, a gear, a sprocket, etc. The transmission assembly 31 can be a belt, a rack, or a chain. The rotating drive member 32 can be a motor, and a driving part connected to the transmission assembly 31 can be arranged at its output end, and the driving part can drive the transmission member to move. The rotating drive member 32 can be a motor with a reduction module, or it can be other driving structures, which can drive multiple transmission members 21 to rotate synchronously.

[0064] When the orientation of the grabbing mechanism 4 needs to be adjusted, the rotating drive member 32 is started, and the rotating drive member 32 drives the transmission assembly 31 to move. The transmission assembly 31 can drive multiple transmission members 21 to move synchronously, and each transmission member 21 can drive the corresponding mounting plate 2 to rotate, thereby realizing the adjustment of the angle of the grabbing mechanism 4.

[0065] Optionally, the transmission member 21 is a transmission wheel, and the transmission assembly 31 includes a transmission belt 311. The transmission belt 311 is wound around the outer sides of the plurality of transmission wheels, and a tensioning roller 312 is provided between two adjacent transmission wheels, and the outer side wall of the tensioning roller 312 squeezes the transmission belt 311 so that the transmission belt 311 abuts against each transmission wheel.

[0066] Specifically, the transmission wheel is coaxially fixed to one end of the rotating shaft passing through the grab frame 1, and the transmission belt 311 can use a synchronous belt. The inner side of the transmission belt 311 is in contact with each transmission wheel, and a tensioning roller 312 is arranged on the outer side of the transmission belt 311. The tensioning rollers 312 can be grouped in pairs, and the two tensioning rollers 312 in each group are arranged opposite to each other and are respectively located on both sides of the transmission belt 311. The tensioning rollers 312 can be slidably connected to the bottom wall of the grab frame 1 so that the two can be close to each other, thereby ensuring that the tensioning rollers 312 can press against the transmission belt 311.

[0067] When the rotary drive member 32 drives one of the transmission wheels to rotate, the transmission wheel can drive the transmission belt 311 to move. Under the action of the tensioning roller 312, the transmission belt 311 is pressed against each transmission wheel, thereby driving multiple transmission wheels to rotate synchronously to achieve the adjustment of the angle of the grabbing mechanism 4.

[0068] Reference Figure 3 and Figure 4Optionally, the grabbing mechanism 4 includes a grabbing plate 41, a first driving member 42, and two oppositely arranged grabbing components 43. The grabbing plate 41 is slidably connected to the mounting plate 2 and connected to the translation driving member 5; the two oppositely arranged grabbing components 43 are slidably connected to the grabbing plate 41 and used to grab the product; the first driving member 42 is disposed on the grabbing plate 41 and connected to the two grabbing components 43 to drive the two grabbing components 43 to move closer to or away from each other.

[0069] Specifically, the grab plate 41 is slidably connected to the mounting plate 2 through a slide rail and a slider, and the sliding direction is the length direction of the mounting plate 2. A slide rail is also provided on the top wall of the grab plate 41, and the grab assembly 43 is connected to the slide rail through a slider. The first driving member 42 can be a clamping finger cylinder, which can be connected to two grab assemblies 43 at the same time to drive the two grab assemblies 43 to move closer to or away from each other. A grabbing part can be provided on the side of the grab assembly 43 away from the grab plate 41. The grabbing part can be a clamping claw or other structures that can smoothly clamp and release the product.

[0070] When clamping a product, the first driving member 42 is controlled to drive the two grabbing components 43 away from each other to facilitate the insertion of the product between the two grabbing components 43. When the product is fully inserted, the first driving member 42 is used to control the two grabbing components 43 to move closer to each other to clamp the product.

[0071] Optionally, the grab assembly 43 includes a grab rod 431, a grab hook 432, and a second driving member 433. The grab rod 431 is slidably connected to the grab plate 41; the grab hook 432 is disposed on the grab rod 431 and has an abutment portion 4321 that can abut against the product; the second driving member 433 is disposed on the grab rod 431, and a grabbing space for grabbing the product is formed between the output end of the second driving member 433 and the abutment portion 4321, and the second driving member 433 is used to push the product to abut against the abutment portion 4321 to grab the product.

[0072] Specifically, the grabbing rod 431 extends in the vertical direction, and one end of the grabbing rod 431 is provided with a mounting plate 2, and the bottom wall of the mounting plate 2 is provided with a slider matched with the slide rail, and a reinforcing rib is also provided on the top wall of the mounting plate 2 to strengthen the connection strength between the grabbing rod 431 and the mounting plate 2. The other end of the grabbing rod 431 is provided with a grab hook 432 and a second driving member 433, and the grab hook 432 includes a connecting portion 4322 and an abutting portion 4321, and the connecting portion 4322 is connected with the abutting portion 4321 to form an L-shaped structure, and a connecting counterbore 4323 is provided at one end of the connecting portion 4322 away from the abutting portion 4321, and a plurality of mounting holes 4311 are provided on the side of the grabbing rod 431, and the plurality of mounting holes 4311 are spaced apart along the length direction of the grabbing rod 431, and a locking portion (not shown in the figure) that can be connected with any mounting hole 4311 can be provided in the connecting counterbore 4323 to lock the connecting portion 4322 on the grabbing rod 431.

[0073] An adjustment hole 4312 is provided on the side of the grabbing rod 431. The adjustment hole 4312 extends in the vertical direction. An adjustment block 4313 is slidably connected in the adjustment hole 4312. The adjustment block 4313 can be selectively locked in the adjustment hole 4312. The locking method can be achieved by a locking bolt or an insert rod. The second driving member 433 can be a cylinder, and its cylinder body is fixed on the adjustment block 4313. A space for accommodating the product is formed between its piston rod and the abutment portion 4321. The second driving member 433 can be directly opposite to the abutment portion 4321, or it can be staggered with the abutment portion 4321. It can be specifically designed according to the actual force conditions of the product during grabbing, and the utility model does not limit it.

[0074] Before grabbing the product, the positions of the grab hook 432 and the second driving member 433 are adjusted according to the shape of the product and the requirements for grabbing. When the product is inserted into the grabbing space, the second driving member 433 is activated to push the product against the abutment portion 4321 of the grab hook 432, thereby fixing the product in the grabbing space. The two grabbing components 43 can fix the product from both sides of the product by synchronously moving, thereby ensuring that the product is evenly stressed during the grabbing process.

[0075] Specifically, a plurality of grab hooks 432 are spaced apart and distributed along the length direction of the grab rod 431 .

[0076] Specifically, a plurality of grab hooks 432 may be distributed at intervals along the length direction of the grab rod 431 to form a plurality of abutment portions 4321 . The specific number and interval distance of the grab hooks 432 may be adjusted according to the size and shape of the product.

[0077] By distributing multiple hooks 432 at intervals, it is possible to form abutments on multiple locations of the product when grabbing the product, so that the force on the product as a whole is more uniform, ensuring stable grabbing of the product while reducing the possibility of damage to the product. Similarly, multiple second drive members 433 can also be distributed at intervals.

[0078] Optionally, the grab assembly 43 further includes a pad 434. The pad 434 is disposed at the output end of the second driving member 433, and the pad 434 is disposed opposite to the abutment portion 4321 of the grab hook 432.

[0079] Specifically, the pads 434 extend along the length direction, and each pad 434 corresponds to the abutment portions 4321 of at least two grab hooks 432. The pads 434 can be made of nylon material, which can effectively protect the product while ensuring that it has a certain hardness.

[0080] By providing the pad 434, the contact area between the second driving member 433 and the product can be increased when the product is grasped, thereby ensuring that the product is evenly stressed when being grasped.

[0081] The transfer device comprises a transfer device and a grabbing device as in the above embodiment. The grabbing device is used to grab the product; the transfer device is connected to the grabbing device to drive the grabbing device to carry the product.

[0082] When the transfer equipment is in use, the grabbing device can grab products of various sizes and shapes, and can also adjust the stacking direction of the products according to different stacking requirements, so that the transfer equipment can be adapted to various scenarios, effectively improving the transfer efficiency of the products and thereby improving the overall production efficiency.

[0083] The laminating machine comprises a laminating platform and a transfer device as in the above-mentioned embodiment. The transfer device is used to grab the product to the laminating platform.

[0084] When the stacking machine is in use, the transfer equipment can stack products of different sizes and shapes on the stacking table, so that the stacking machine can adapt to the production and processing of various products, effectively improving the use scope of the stacking machine and helping to reduce the impact of product replacement on production efficiency and stability.

[0085] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A gripping device, characterized in that: include: Grab rack (1); A plurality of mounting plates (2) are rotatably connected to the grabbing frame (1), the plurality of mounting plates (2) are spaced apart, each mounting plate (2) is slidably connected to a grabbing mechanism (4) and a translation driving member (5) connected to the grabbing mechanism (4), the translation driving member (5) being used to drive the grabbing mechanism (4) to translate so as to adjust the distance between two adjacent grabbing mechanisms (4); and A rotation drive assembly (3) is arranged on the grabbing frame (1) and connected to each of the mounting plates (2) to drive the plurality of mounting plates (2) to rotate.

2. The gripping device according to claim 1, characterized in that: Each of the mounting plates (2) is provided with a transmission member (21), the plurality of transmission members (21) comprising a main transmission member (211) and a plurality of slave transmission members (212), and the rotation drive assembly (3) comprises: A transmission assembly (31), arranged on the grabbing frame (1) and connected to each of the transmission members (21); and A rotating driving member (32) is connected to the main transmission member (211) to drive the main transmission member (211) to rotate, and drives the plurality of slave transmission members (212) to rotate through the transmission assembly (31).

3. The gripping device according to claim 1, characterized in that: Each of the mounting plates (2) is provided with a transmission member (21), and the rotation drive assembly (3) comprises: A transmission assembly (31), arranged on the grabbing frame (1) and connected to each of the transmission members (21); and A rotating driving member (32) is connected to the transmission assembly (31) to drive each of the transmission members (21) to rotate.

4. The gripping device according to claim 2 or 3, characterized in that: The transmission member (21) is a transmission wheel, and the transmission assembly (31) comprises: A transmission belt (311) is wound around the outside of the plurality of transmission wheels, a tensioning roller (312) is provided between two adjacent transmission wheels, and an outer side wall of the tensioning roller (312) squeezes the transmission belt (311) so that the transmission belt (311) abuts against each of the transmission wheels.

5. The gripping device according to any one of claims 1 to 3, characterized in that: The grabbing mechanism (4) comprises: A grab plate (41) slidably connected to the mounting plate (2) and connected to the translation drive member (5); Two gripping assemblies (43) arranged opposite to each other, slidably connected to the gripping plate (41) and used for gripping products; and A first driving member (42) is disposed on the grabbing plate (41) and connected to the two grabbing assemblies (43) to drive the two grabbing assemblies (43) to move closer to or farther from each other.

6. The gripping device according to claim 5, characterized in that: The grabbing assembly (43) comprises: A grabbing rod (431) slidably connected to the grabbing plate (41); a grab hook (432), which is disposed on the grab bar (431) and has an abutment portion (4321) capable of abutting against the product; and The second driving member (433) is arranged on the grabbing rod (431), and a grabbing space for grabbing the product is formed between the output end of the second driving member (433) and the abutting portion (4321). The second driving member (433) is used to push the product to abut against the abutting portion (4321) to grab the product.

7. The gripping device according to claim 6, characterized in that: A plurality of the grab hooks (432) are distributed at intervals along the length direction of the grab rod (431).

8. The gripping device according to claim 6, characterized in that: The grabbing assembly (43) further comprises: A pad (434) is arranged at the output end of the second driving member (433), and the pad (434) is arranged opposite to the abutment portion (4321) of the grab hook (432).

9. A transfer device, characterized in that: include: The gripping device according to any one of claims 1 to 8, wherein the gripping device is used to grip a product; and A transfer device is connected to the grabbing device to drive the grabbing device to transport the product.

10. A lamination machine, characterized in that: include: Lamination table; as well as The transfer device as described in claim 9 is used to grab the product to the stacking table.

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