Carbon felt flexible grabbing manipulator

Abstract

The invention discloses a carbon felt flexible grabbing mechanical arm and a carbon felt assembling method. The carbon felt flexible grabbing mechanical arm comprises a carbon felt guiding side pressing assembly and a carbon felt transferring positive pressing assembly. The carbon felt guiding and side pressing assembly comprises a guiding plate frame, a side pressing plate and a side pressing driving device; the inner side of the periphery of the guide plate frame is provided with a guide inclined surface which is gradually shrunk from top to bottom, a necking opening is not larger than the size of a liquid flow plate groove, and a flaring opening is not smaller than the size of a carbon felt. The tops of the four guide slopes of the guide plate frame are each provided with a side pressing plate capable of sliding along the corresponding guide slope. The carbon felt transferring positive pressure assembly is coaxially embedded in the guide plate frame and comprises a positive pressure plate, a positive pressure driving assembly and a carbon felt grabbing assembly; the positive pressing plate can automatically penetrate through the necking opening of the guide plate frame, and positive pressing leveling of the carbon felt is achieved. The carbon felt grabbing assembly can be used for grabbing and positioning the carbon felt layer by layer, and the carbon felt guiding and side pressing assembly can press the periphery of the carbon felt into a liquid flow plate groove; and the carbon felt transfer positive pressure assembly is pressed downwards, so that the carbon felt can be flattened, and interference fit between the carbon felt and the carbon felt assembly groove is realized.

Description

Technical Field

[0001] The invention relates to the technical field of battery stack mechanical automation, in particular to a carbon felt flexible grasping manipulator. Background Art

[0002] Liquid flow batteries have the advantages of good current conversion capability, flexible structural design, good safety, and easy operation. They are a new type of green secondary battery suitable for large-scale energy storage. Carbon felt is an anisotropic three-dimensional structure, which is conducive to the flow and mass transfer of electrolytes. It also has the advantages of low price, good conductivity, and large surface area. It is the most widely used electrode material in commercial liquid flow batteries.

[0003] With the miniaturization of battery stacks, carbon felt, as an important component of the battery stack system, plays a decisive role in the conductivity of the battery stack. In the battery stack system, carbon felt is usually assembled in the groove of the liquid flow plate, so interference fit is often used during assembly to ensure the close contact and stability between the carbon felt and the surface of the liquid flow plate groove to prevent electrolyte leakage from causing battery performance degradation and other problems.

[0004] At present, this assembly process is usually done manually, which is not only time-consuming and laborious, but also has fine fibers on its surface due to the structural characteristics of carbon felt, which can easily affect the health of workers. At the same time, due to the anisotropic three-dimensional structure of carbon felt, it is soft and breathable, and it is not easy to be sucked up by a vacuum suction cup. Summary of the invention

[0005] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned prior art and to provide a carbon felt flexible grasping robot, which can locate the grasped carbon felt. After the position is determined, the carbon felt guide side pressure assembly is first used to move the carbon felt downward along the guide slope, thereby pressing the carbon felt around into the carbon felt assembly groove of the liquid flow plate; then, the carbon felt transfer positive pressure assembly is pressed downward to flatten the carbon felt, thereby achieving an interference fit between the carbon felt and the carbon felt assembly groove.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A carbon felt flexible grasping manipulator comprises a carbon felt guide side pressure component and a carbon felt transfer positive pressure component.

[0008] Assuming that the length and width of the carbon felt are L and W respectively, and the length and width of the carbon felt assembly groove in the liquid flow plate are L0 and W0 respectively, then L>L0, W>W0.

[0009] The carbon felt guide side pressure assembly comprises a guide plate frame, a side pressure plate and a side pressure driving device.

[0010] The guide plate frame can be coaxially covered on the outer periphery of the carbon felt assembly groove, and the inner wall surfaces around the guide plate frame are all provided with guide inclined surfaces which gradually shrink from top to bottom; the guide plate frame includes an expansion opening at the top and a contraction opening at the bottom.

[0011] Assuming that the length and width of the expanded opening are L1 and W1 respectively, and the length and width of the contracted opening are L2 and W2 respectively, then L1≥L, W1≥W, L2≤L0, W2≤W0.

[0012] A side pressure plate is arranged on the top of each of the four guide inclined surfaces of the guide plate frame, and each side pressure plate is provided with at least one side pressure driving device. Each side pressure plate can slide along the guide inclined surface under the drive of the corresponding side pressure driving device.

[0013] The carbon felt transfer positive pressure component is coaxially embedded in the guide plate frame and connected with the guide plate frame.

[0014] The carbon felt transfer positive pressure assembly comprises a positive pressure plate, a positive pressure drive assembly and a carbon felt grabbing assembly.

[0015] Assuming that the length and width of the positive pressure plate are L3 and W3 respectively, then L3<L2, W3<W2.

[0016] The positive pressure plate clamping assembly can drive the positive pressure plate to rise and fall in height.

[0017] The carbon felt grabbing assembly is arranged on the positive pressure plate and can be used for layered positioning and grabbing of the carbon felt.

[0018] Each side pressure plate is provided with at least two side pressure driving devices; wherein the two side pressure driving devices are symmetrically arranged at two ends of the corresponding side pressure plate.

[0019] The carbon felt grabbing assembly is a plurality of pneumatic pins arranged on the positive pressure plate, and each pneumatic pin includes a needle seat and a needle rod; wherein, the needle seat is arranged on the top of the positive pressure plate, and the needle rod head can pass through the bottom surface of the positive pressure plate, and the passing length does not exceed the thickness of a layer of carbon felt.

[0020] The length of the needle bar head protruding from the bottom surface of the positive pressure plate is one half to two thirds of the thickness of the carbon felt.

[0021] The pneumatic pins are evenly arranged along the two long sides of the positive pressure plate.

[0022] The positive pressure driving assembly includes a clamping mounting plate, a lifting plate and a lifting driving device.

[0023] The lifting plate is coaxially installed just above the positive pressure plate and placed on the top of the needle seat of the pneumatic pin. The lifting plate can drive the positive pressure plate to rise and fall synchronously.

[0024] The clamping installation plate is coaxially arranged just above the lifting plate and is connected to the guide plate frame through a connecting column.

[0025] The lifting drive device is arranged on the clamping mounting plate and is used for driving the lifting plate to move up and down in height.

[0026] The positive pressure driving component also includes a lifting guide column, which passes through the clamping mounting plate and the lifting plate in sequence; the top and bottom ends of the lifting guide column are both provided with lifting limit components.

[0027] It also includes a carbon felt detection component, which can be used to detect whether carbon felt is grabbed by the carbon felt grabbing component.

[0028] A method for assembling carbon felt by using a carbon felt flexible grasping manipulator comprises the following steps.

[0029] Step 1: Grab the carbon felt, which specifically includes the following steps:

[0030] Step 1-1, one-time transfer of the carbon felt flexible grasping manipulator: a robot equipped with the carbon felt flexible grasping manipulator moves the carbon felt flexible grasping manipulator to just above the carbon felt grasping station.

[0031] Step 1-2, carbon felt bonding: the carbon felt transfer positive pressure assembly in the carbon felt flexible grasping manipulator is lowered in height, and the bottom surface of the positive pressure plate is bonded with the top surface of the carbon felt at the top of the carbon felt grasping station.

[0032] Step 1-3, carbon felt grabbing: the pneumatic pin passes through the bottom surface of the positive pressure plate and is inserted into the top layer of carbon felt; by controlling the length of the pneumatic pin passing through the bottom surface of the positive pressure plate so that it does not exceed the thickness of a layer of carbon felt, a single layer of carbon felt can be grabbed.

[0033] Step 2, carbon felt detection: the carbon felt flexible grasping manipulator rises in height, and the carbon felt detection component detects whether the pneumatic pin has grasped the carbon felt;

[0034] Step 3, carbon felt positioning: when there is carbon felt on the pneumatic pin, the carbon felt transfer positive pressure assembly carries the grabbed carbon felt and rises in height synchronously until the positive pressure plate passes through the guide plate frame in the carbon felt guide side pressure assembly from bottom to top; at this time, the carbon felt will pass through the shrinkage of the four guide bevels on the inner side of the guide plate frame, and be located at the flared position of the four guide bevels, and the top surface is in contact with the top surfaces of the four side pressure plates, thereby realizing the positioning of the carbon felt; then, the pneumatic pin is reset to release the plug-in contact with the carbon felt.

[0035] Step 4, secondary transfer by the carbon felt flexible grasping manipulator: the carbon felt flexible grasping manipulator transfers the positioned carbon felt to just above the carbon felt assembly station, and sets the guide plate frame coaxial cover in the carbon felt guide side pressure assembly on the outer periphery of the carbon felt assembly groove.

[0036] Step 5, side pressure on the edge of the carbon felt: the four side pressure plates in the carbon felt guide side pressure assembly slide downward along the corresponding guide slopes in batches or synchronously, and move the carbon felt down along the four guide slopes to the shrinkage; as the four side pressure plates continue to move downward, the carbon felt is sealed and side-pressed around the carbon felt assembly groove of the liquid flow plate below; then, the four side pressure plates are reset.

[0037] Step 6, positive pressure on carbon felt: driven by the positive pressure plate assembly, the positive pressure plate is lowered in height and positively presses the carbon felt located directly below to the carbon felt assembly groove, thereby achieving an interference fit between the carbon felt and the carbon felt assembly groove.

[0038] In step 5, the four side pressure plates include two long-side side pressure plates or two short-side side pressure plates; wherein, the two long-side side pressure plates or the two short-side side pressure plates first perform synchronous side pressure on two opposite sides of the carbon felt, and then the remaining two side pressure plates are used to perform synchronous side pressure on the other two opposite sides.

[0039] The present invention has the following beneficial effects:

[0040] 1. The present invention can automatically assemble the interference-fit carbon felt and liquid flow plate, solves the assembly and positioning problem of the carbon felt, which is a key component of the battery stack, realizes the automation of the grasping and assembly of the carbon felt, and also solves the problems of the difficulty, time-consuming and low efficiency of manual assembly, thereby improving the assembly efficiency.

[0041] 2. The present invention can locate the gripped carbon felt. After the position is determined, the carbon felt guide side pressure assembly is first used to move the carbon felt downward along the guide slope, thereby pressing the carbon felt around into the carbon felt assembly groove of the liquid flow plate; then, the carbon felt transfer positive pressure assembly is pressed downward to flatten the carbon felt, thereby achieving an interference fit between the carbon felt and the carbon felt assembly groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A structural schematic diagram of a carbon felt flexible grasping manipulator of the present invention is shown.

[0043] Figure 2 A three-dimensional simulation schematic diagram of a carbon felt flexible grasping manipulator grasping carbon felt according to the present invention is shown.

[0044] Figure 3 A schematic diagram of the three-dimensional structure of the carbon felt guide side pressure assembly of the present invention is shown.

[0045] Figure 4 The schematic diagram of the pressing principle of the carbon felt through the guide slope in the present invention is shown; wherein (a) is a schematic diagram of side pressure; and (b) is a schematic diagram of the carbon felt after positive pressure.

[0046] Figure 5 A schematic diagram showing the flattened carbon felt before assembly with the liquid flow plate in the present invention.

[0047] Figure 6 A schematic diagram showing the bending state of the carbon felt when the carbon felt is assembled with the liquid flow plate in the present invention.

[0048] Figure 7 A schematic diagram showing the assembly of the carbon felt and the liquid flow plate in the present invention is shown.

[0049] Among them are:

[0050] 10. Carbon felt;

[0051] 20. Liquid flow plate; 21. Carbon felt assembly groove;

[0052] 30. Carbon felt guide side pressure assembly;

[0053] 31. Guide plate frame; 311. Guide slope;

[0054] 32. Side pressure plate; 33. Side pressure cylinder; 331. Side pressure support plate; 332. Triangular support;

[0055] 40. Carbon felt transfer positive pressure assembly;

[0056] 41. Press the mounting plate; 411. Connect the column;

[0057] 42. Lifting plate; 421. Lifting cylinder; 422. Lifting guide column; 423. Linear bearing; 424. Limiting ring;

[0058] 43. Positive pressure plate; 431. Pressure plate connecting column;

[0059] 44. Pneumatic pin;

[0060] 50. Carbon felt detection component; 51. Sensor bracket; 52. Laser perforation; 53. Laser detection line. DETAILED DESCRIPTION

[0061] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0062] In the description of the present invention, it should be understood that the terms "left side", "right side", "upper part", "lower part" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second" and the like do not indicate the importance of the components, and therefore cannot be understood as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the scope of protection of the present invention.

[0063] like Figures 5 to 7As shown, the carbon felt 10 is interference fit with the carbon felt assembly groove 21 (also called the liquid flow plate groove) of the liquid flow plate 20. The carbon felt 10 is an anisotropic rectangular flexible structure. Assuming the length and width are L and W respectively, and the length and width of the carbon felt assembly groove are L0 and W0 respectively, then L>L0, W>W0.

[0064] like Figure 1 and Figure 2 As shown, a carbon felt flexible grasping manipulator includes a carbon felt guiding side pressure component 30, a carbon felt transfer positive pressure component 40 and a carbon felt detection component 50.

[0065] like Figure 3 As shown, the carbon felt guide side pressure assembly includes a guide plate frame 31, a side pressure plate 32 and a side pressure driving device.

[0066] The guide plate frame can be coaxially covered on the outer periphery of the carbon felt assembly groove, and the inner wall surfaces around the guide plate frame are all provided with guide inclined surfaces 311 which gradually shrink from top to bottom; the guide plate frame includes an expansion opening at the top and a contraction opening at the bottom, as shown in FIG. Figure 4 shown.

[0067] Assuming that the length and width of the expanded opening are L1 and W1 respectively, and the length and width of the contracted opening are L2 and W2 respectively, then L1≥L, W1≥W, L2≤L0, W2≤W0.

[0068] A side pressure plate is arranged on the top of each of the four guide inclined surfaces of the guide plate frame, and each side pressure plate is provided with at least one side pressure driving device. Each side pressure plate can slide along the guide inclined surface under the drive of the corresponding side pressure driving device.

[0069] In this embodiment, each side pressure plate is provided with two side pressure driving devices, which are symmetrically arranged at the two ends of the corresponding side pressure plate. Each side pressure driving device is preferably a side pressure cylinder 33, which is mounted on an inclined side pressure support plate 331, and the side pressure support plate is mounted on a triangular support 332, which can be connected to the outer edge of the guide plate frame.

[0070] The carbon felt transfer positive pressure component is coaxially embedded in the guide plate frame and connected with the guide plate frame.

[0071] The carbon felt transfer positive pressure assembly comprises a positive pressure plate 43, a positive pressure drive assembly and a carbon felt grabbing assembly.

[0072] Assuming that the length and width of the positive pressure plate are L3 and W3 respectively, then L3<L2, W3<W2, that is, the positive pressure plate can freely pass through the shrinkage of the guide slope.

[0073] The carbon felt grabbing assembly is arranged on the positive pressure plate and can be used for layered positioning and grabbing of the carbon felt.

[0074] The carbon felt grabbing assembly is preferably a plurality of pneumatic pins 44 arranged on the two long sides of the positive pressure plate, each pneumatic pin comprising a needle seat and a needle rod; wherein the needle seat is arranged on the top of the positive pressure plate, the needle rod head can pass through the bottom surface of the positive pressure plate, and the passing length does not exceed the thickness of a layer of carbon felt, and is further preferably one half to two thirds of the thickness of the carbon felt.

[0075] The positive pressure plate clamping assembly can drive the positive pressure plate to rise and fall in height.

[0076] The positive pressure driving assembly includes a pressing mounting plate 41, a lifting plate 42, a lifting guide column 422 and a lifting driving device.

[0077] The lifting plate is preferably coaxially installed directly above the positive pressure plate through a plurality of pressure plate connecting columns 431 and placed on the top of the needle seat of the pneumatic pin. The lifting plate can drive the positive pressure plate to rise and fall synchronously.

[0078] The clamping mounting plate is coaxially arranged just above the lifting plate and is connected to the guide plate frame via a plurality of connecting columns 411 .

[0079] The lifting drive device is arranged on the clamping mounting plate, and is used to drive the height of the lifting plate to rise and fall, and is preferably a lifting cylinder 421.

[0080] The lifting guide column passes through the clamping mounting plate and the lifting plate in sequence; the top and bottom ends of the lifting guide column are provided with lifting limit assemblies, and the lifting limit assemblies are preferably limit rings 424, and the contact portion between the lifting guide column and the clamping mounting plate is preferably provided with linear bearings 423.

[0081] The carbon felt detection assembly can be used to detect whether the carbon felt is grabbed by the carbon felt grabbing assembly. In addition, the laser displacement sensor can also determine whether the carbon felt falls during the lifting process. In this embodiment, the carbon felt detection assembly is preferably a laser sensor mounted on the clamping mounting plate through a sensor bracket 51, and laser perforations 52 are provided on the lifting plate and the positive pressure plate for the laser detection line to pass through.

[0082] Furthermore, the detection method of the laser displacement sensor is specifically as follows: the laser displacement sensor is installed in a fixed position, and before the assembly begins, the laser displacement sensor records the distance when the carbon felt is inserted by the pneumatic pin under normal conditions. During the assembly process, the sensor continuously emits a laser beam and receives reflected light to measure the distance between the carbon felt and the sensor in real time. If the carbon felt has not fallen, the distance measured by the sensor should be consistent with the initially recorded reference value or within the allowable tolerance range. If the carbon felt falls or moves beyond the predetermined range, the laser displacement sensor will detect a significant distance change or position offset. The control system built into the sensor can recognize this change and trigger an alarm or transmit information to the control system.

[0083] A method for assembling carbon felt by using a carbon felt flexible grasping manipulator comprises the following steps.

[0084] Step 1: Grab the carbon felt, which specifically includes the following steps:

[0085] Step 1-1, one-time transfer of the carbon felt flexible grasping manipulator: a robot equipped with the carbon felt flexible grasping manipulator moves the carbon felt flexible grasping manipulator to just above the carbon felt grasping station.

[0086] Step 1-2, carbon felt bonding: the carbon felt transfer positive pressure assembly in the carbon felt flexible grasping manipulator is lowered in height, and the bottom surface of the positive pressure plate is bonded with the top surface of the carbon felt at the top of the carbon felt grasping station.

[0087] Step 1-3, carbon felt grabbing: the pneumatic pin passes through the bottom surface of the positive pressure plate and is inserted into the top layer of carbon felt; by controlling the length of the pneumatic pin passing through the bottom surface of the positive pressure plate so that it does not exceed the thickness of a layer of carbon felt, a single layer of carbon felt can be grabbed.

[0088] Step 2, carbon felt detection: the carbon felt flexible grasping manipulator rises in height, and the carbon felt detection component detects whether the pneumatic pin has grasped the carbon felt;

[0089] Step 3, carbon felt positioning: when there is carbon felt on the pneumatic pin, the carbon felt transfer positive pressure assembly carries the grabbed carbon felt and rises in height synchronously until the positive pressure plate passes through the guide plate frame in the carbon felt guide side pressure assembly from bottom to top; at this time, the carbon felt will pass through the shrinkage of the four guide bevels on the inner side of the guide plate frame, and be located at the flared position of the four guide bevels, and the top surface is in contact with the top surfaces of the four side pressure plates, thereby realizing the positioning of the carbon felt; then, the pneumatic pin is reset to release the plug-in contact with the carbon felt.

[0090] Step 4, secondary transfer by the carbon felt flexible grasping manipulator: the carbon felt flexible grasping manipulator transfers the positioned carbon felt to just above the carbon felt assembly station, and sets the guide plate frame coaxial cover in the carbon felt guide side pressure assembly on the outer periphery of the carbon felt assembly groove.

[0091] Step 5, side pressure on the edge of the carbon felt: the four side pressure plates in the carbon felt guide side pressure assembly slide downward along the corresponding guide slopes in batches or synchronously, and move the carbon felt down along the four guide slopes to the shrinkage; as the four side pressure plates continue to move downward, the carbon felt is sealed and side-pressed around the carbon felt assembly groove of the liquid flow plate below; then, the four side pressure plates are reset.

[0092] In this embodiment, the four side pressure plates include two long-side side pressure plates or two short-side side pressure plates; wherein, the two long-side side pressure plates or the two short-side side pressure plates first perform synchronous side pressure on two opposite sides of the carbon felt, and then the remaining two side pressure plates are used to perform synchronous side pressure on the other two opposite sides.

[0093] Step 6, positive pressure on carbon felt: driven by the positive pressure plate assembly, the positive pressure plate is lowered in height and positively presses the carbon felt located directly below to the carbon felt assembly groove, thereby achieving an interference fit between the carbon felt and the carbon felt assembly groove.

[0094] The preferred embodiments of the present invention are described in detail above; however, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A carbon felt flexible grasping manipulator, characterized in that: It includes a carbon felt guide side pressure assembly and a carbon felt transfer positive pressure assembly; Assume that the length and width of the carbon felt are L and W respectively, and the length and width of the carbon felt assembly groove in the liquid flow plate are L0 and W0 respectively, then L>L0, W>W0; The carbon felt guide side pressure assembly comprises a guide plate frame, a side pressure plate and a side pressure driving device; The guide plate frame can be coaxially arranged on the outer periphery of the carbon felt assembly groove, and the inner wall surfaces around the guide plate frame are all provided with guide inclined surfaces which gradually shrink from top to bottom; the guide plate frame includes an expansion opening at the top end and a contraction opening at the bottom end; Assume that the length and width of the expansion are L1 and W1 respectively, and the length and width of the shrinkage are L2 and W2 respectively, then L1≥L, W1≥W, L2≤L0, W2≤W0; A side pressure plate is arranged on the top of each of the four guide inclined surfaces of the guide plate frame, and each side pressure plate is provided with at least one side pressure driving device, and each side pressure plate can slide along the guide inclined surface under the drive of the corresponding side pressure driving device; The carbon felt transfer positive pressure assembly is coaxially embedded in the guide plate frame and connected to the guide plate frame; The carbon felt transfer positive pressure assembly includes a positive pressure plate, a positive pressure drive assembly and a carbon felt grabbing assembly; Assuming the length and width of the positive pressure plate are L3 and W3 respectively, then L3<L2, W3<W2; The positive pressure plate clamping assembly can drive the positive pressure plate to rise and fall; The carbon felt grabbing assembly is arranged on the positive pressure plate and can be used for layered positioning and grabbing of the carbon felt.

2. The carbon felt flexible grasping manipulator according to claim 1 is characterized in that: Each side pressure plate is provided with at least two side pressure driving devices; wherein the two side pressure driving devices are symmetrically arranged at two ends of the corresponding side pressure plate.

3. The carbon felt flexible grasping manipulator according to claim 1 is characterized in that: The carbon felt grabbing assembly is a plurality of pneumatic pins arranged on the positive pressure plate, and each pneumatic pin includes a needle seat and a needle rod; wherein, the needle seat is arranged on the top of the positive pressure plate, and the needle rod head can pass through the bottom surface of the positive pressure plate, and the passing length does not exceed the thickness of a layer of carbon felt.

4. The carbon felt flexible grasping manipulator according to claim 3 is characterized in that: The length of the needle bar head protruding from the bottom surface of the positive pressure plate is one half to two thirds of the thickness of the carbon felt.

5. The carbon felt flexible grasping manipulator according to claim 3 is characterized in that: The pneumatic pins are evenly arranged along the two long sides of the positive pressure plate.

6. The carbon felt flexible grasping manipulator according to claim 3 is characterized in that: The positive pressure drive assembly includes a clamping mounting plate, a lifting plate and a lifting drive device; The lifting plate is coaxially installed above the positive pressure plate and placed on the top of the needle seat of the pneumatic pin. The lifting plate can drive the positive pressure plate to rise and fall synchronously. The clamping mounting plate is coaxially arranged just above the lifting plate and connected to the guide plate frame through a connecting column; The lifting drive device is arranged on the clamping mounting plate and is used for driving the lifting plate to move up and down in height.

7. The carbon felt flexible grasping manipulator according to claim 6 is characterized in that: The positive pressure driving component also includes a lifting guide column, which passes through the clamping mounting plate and the lifting plate in sequence; the top and bottom ends of the lifting guide column are both provided with lifting limit components.

8. The carbon felt flexible grasping manipulator according to claim 1 is characterized in that: It also includes a carbon felt detection component, which can be used to detect whether carbon felt is grabbed by the carbon felt grabbing component.

9. A method for assembling carbon felt using a carbon felt flexible gripping manipulator, characterized in that: The steps include: Step 1: Grab the carbon felt, which specifically includes the following steps: Step 1-1, one-time transfer of the carbon felt flexible grasping manipulator: a robot equipped with the carbon felt flexible grasping manipulator moves the carbon felt flexible grasping manipulator to the top of the carbon felt grasping station; Step 1-2, carbon felt lamination: the carbon felt transfer positive pressure assembly in the carbon felt flexible gripping manipulator is lowered, and the bottom surface of the positive pressure plate is made to fit with the top surface of the carbon felt at the top of the carbon felt gripping station; Step 1-3, carbon felt grabbing: the pneumatic pin is inserted from the bottom surface of the positive pressure plate into the top layer of carbon felt; the length of the pneumatic pin from the bottom surface of the positive pressure plate is controlled so that it does not exceed the thickness of a layer of carbon felt, thereby achieving single-layer grabbing of carbon felt; Step 2, carbon felt detection: the carbon felt flexible grasping manipulator rises in height, and the carbon felt detection component detects whether the pneumatic pin has grasped the carbon felt; Step 3, carbon felt positioning: when there is carbon felt on the pneumatic pin, the carbon felt transfer positive pressure assembly carries the grabbed carbon felt and rises in height synchronously until the positive pressure plate passes through the guide plate frame in the carbon felt guide side pressure assembly from bottom to top; at this time, the carbon felt will pass through the shrinkage of the four guide inclined surfaces inside the guide plate frame, and be located at the expanded position of the four guide inclined surfaces, and the top surface is in contact with the top surfaces of the four side pressure plates, so as to realize the positioning of the carbon felt; then, the pneumatic pin is reset to release the plug-in contact with the carbon felt; Step 4, secondary transfer by the carbon felt flexible grabbing manipulator: the carbon felt flexible grabbing manipulator transfers the positioned carbon felt to just above the carbon felt assembly station, and sets the guide plate frame coaxial cover in the carbon felt guide side pressure assembly on the outer periphery of the carbon felt assembly groove; Step 5, side pressure on the edge of the carbon felt: the four side pressure plates in the carbon felt guide side pressure assembly slide downward along the corresponding guide slopes in batches or synchronously, and move the carbon felt down along the four guide slopes to the shrinkage; as the four side pressure plates continue to move downward, the carbon felt is sealed and side-pressed around the carbon felt assembly groove of the lower liquid flow plate; then, the four side pressure plates are reset; Step 6, positive pressure on carbon felt: driven by the positive pressure plate assembly, the positive pressure plate is lowered in height and positively presses the carbon felt located directly below to the carbon felt assembly groove, thereby achieving an interference fit between the carbon felt and the carbon felt assembly groove.

10. The method for assembling carbon felt using a carbon felt flexible grasping manipulator according to claim 9, characterized in that: In step 5, the four side pressure plates include two long-side side pressure plates or two short-side side pressure plates; wherein, the two long-side side pressure plates or the two short-side side pressure plates first perform synchronous side pressure on two opposite sides of the carbon felt, and then the remaining two side pressure plates are used to perform synchronous side pressure on the other two opposite sides.

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