Carbon felt flexible gripping robot

Abstract

This invention discloses a flexible carbon felt gripping robot and a carbon felt assembly method, including a carbon felt guiding side-pressure assembly and a carbon felt transfer positive pressure assembly. The carbon felt guiding side-pressure assembly includes a guide plate frame, side pressure plates, and a side pressure driving device. The guide plate frame has guide ramps that gradually taper from top to bottom on its inner sides, with the constriction not exceeding the size of the fluid plate groove and the flare not less than the size of the carbon felt. Each of the four guide ramps of the guide plate frame has a side pressure plate that can slide along the guide ramp. The carbon felt transfer positive pressure assembly is coaxially embedded in the guide plate frame and includes a positive pressure plate, a positive pressure driving assembly, and a carbon felt gripping assembly. The positive pressure plate can automatically pass through the constriction of the guide plate frame to achieve positive pressure flattening of the carbon felt. The carbon felt gripping assembly of this invention can be used for layered gripping and positioning of carbon felt, and the carbon felt guiding side-pressure assembly can press the carbon felt into the fluid plate groove on all four sides. The downward pressure of the carbon felt transfer positive pressure assembly can flatten the carbon felt, achieving an interference fit between the carbon felt and the carbon felt assembly groove.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology for battery stacks, and in particular to a flexible gripper for carbon felt. Background Technology

[0002] Flow batteries have advantages such as good current conversion capability, flexible structural design, good safety, and simple 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 electrolyte. It also has advantages such as low price, good conductivity, and large surface area. It is the most widely used electrode material in commercial 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 fluid flow plate groove. Therefore, during assembly, an interference fit is often used to ensure the tightness and stability of the carbon felt and the surface of the fluid flow plate groove, and to prevent electrolyte leakage and other problems that lead to battery performance degradation.

[0004] Currently, this assembly process is usually done manually. Manual operation is not only time-consuming and labor-intensive, but also, due to the structural characteristics of carbon felt, its surface contains fine fibers, which can easily affect the health of workers. Furthermore, the anisotropic three-dimensional structure of carbon felt gives it soft and breathable properties, making it difficult to pick up using vacuum suction cups. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a flexible carbon felt gripping robot. This flexible carbon felt gripping robot can position the gripped carbon felt. After the position is determined, the carbon felt guide side pressure component is used to move the carbon felt down along the guide slope, thereby pressing the carbon felt into the carbon felt assembly groove of the liquid flow plate around its perimeter. Then, the carbon felt transfer positive pressure component is pressed down to flatten the carbon felt, achieving an interference fit between the carbon felt and the carbon felt assembly groove.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A flexible carbon felt gripper includes a carbon felt guiding side pressure assembly and a carbon felt transfer positive pressure assembly.

[0008] Let the length and width of the carbon felt be L and W respectively, and the length and width of the carbon felt assembly groove in the fluid flow plate be L0 and W0 respectively. Then L > L0, W ​​> W0.

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

[0010] The guide plate frame can be coaxially covered on the outer periphery of the carbon felt assembly groove. The inner side walls of the guide plate frame are provided with guide slopes that gradually shrink from top to bottom. The guide plate frame includes a flared opening at the top and a constricted opening at the bottom.

[0011] Let the length and width of the flared opening be L1 and W1, and the length and width of the constricted opening be L2 and W2, respectively. Then L1≥L, W1≥W, L2≤L0, and W2≤W0.

[0012] Each of the four guide ramps of the guide plate frame is equipped with a side pressure plate at the top. Each side pressure plate is equipped with at least one side pressure driving device. Each side pressure plate can slide along the guide ramp under the drive of the corresponding side pressure driving device.

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

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

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

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

[0017] The carbon felt gripping component is mounted on the positive pressure plate and can be used for layered positioning and gripping of carbon felt.

[0018] Each side pressure plate is equipped with at least two side pressure drive devices; the two side pressure drive devices are symmetrically arranged at both ends of the corresponding side pressure plate.

[0019] The carbon felt gripping assembly consists of several pneumatic pins arranged on a positive pressure plate. Each pneumatic pin includes a pin seat and a pin bar. The pin seat is located on the top of the positive pressure plate, and the head of the pin bar can protrude through the bottom surface of the positive pressure plate, with the protruding length not exceeding the thickness of one layer of carbon felt.

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

[0021] Pneumatic pins are evenly distributed along the two long sides of the positive pressure plate.

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

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

[0024] The clamping mounting plate is coaxially positioned directly above the lifting plate and connected to the guide plate frame via a connecting column.

[0025] The lifting drive device is mounted on the clamping mounting plate and is used to drive the lifting plate to move up and down.

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

[0027] It also includes a carbon felt detection component, which can be used to detect whether carbon felt is being gripped on the carbon felt gripping component.

[0028] A method for assembling carbon felt using a flexible gripping robot with carbon felt includes the following steps.

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

[0030] Step 1-1, One-time transfer of the carbon felt flexible gripping robot: The robot equipped with the carbon felt flexible gripping robot transfers the carbon felt flexible gripping robot to the top of the carbon felt gripping station.

[0031] Steps 1-2, Carbon Felt Bonding: The height of the carbon felt transfer positive pressure assembly in the flexible carbon felt gripper decreases, and the bottom surface of the positive pressure plate is bonded to the top surface of the carbon felt at the top of the carbon felt gripping station.

[0032] Steps 1-3, Carbon Felt Gripping: The pneumatic needle protrudes from the bottom surface of the positive pressure plate and inserts into the top layer of carbon felt; by controlling the protrusion length of the pneumatic needle from the bottom surface of the positive pressure plate to ensure that it does not exceed the thickness of one layer of carbon felt, single-layer carbon felt gripping can be achieved.

[0033] Step 2, Carbon Felt Detection: The flexible carbon felt gripping robot rises in height, and the carbon felt detection component detects whether carbon felt has been gripped on the pneumatic pin.

[0034] Step 3, Carbon Felt Positioning: When the pneumatic insert has carbon felt on it, the carbon felt transfer positive pressure assembly carries the gripped carbon felt and rises in height simultaneously 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 constriction of the four guide slopes inside the guide plate frame and be located at the flared position of the four guide slopes, with its top surface in contact with the top surface of the four side pressure plates, thereby achieving carbon felt positioning. Then, the pneumatic insert resets and releases the insertion contact with the carbon felt.

[0035] Step 4, Secondary transfer of carbon felt by flexible gripping robot: The flexible gripping robot transfers the positioned carbon felt to the top of the carbon felt assembly station, and the guide plate frame in the carbon felt guide side pressure assembly is coaxially covered on the outer periphery of the carbon felt assembly groove.

[0036] Step 5, carbon felt edge side pressure: The four side pressure plates in the carbon felt guide side pressure assembly slide down along the corresponding guide ramps in batches or simultaneously, moving the carbon felt down along the four guide ramps to the constriction; as the four side pressure plates continue to move down, the carbon felt is sealed and pressed against the carbon felt assembly groove of the liquid flow plate below; then, the four side pressure plates are reset.

[0037] Step 6, Carbon Felt Positive Pressure: Driven by the positive pressure plate assembly, the height of the positive pressure plate decreases and positively presses the carbon felt located directly below into 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 pressure plates or two short side pressure plates; wherein, the two long side pressure plates or the two short side pressure plates first perform synchronous side pressure on the 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. This invention enables the automatic assembly of the interference-fit carbon felt and the flow plate, solving the problem of carbon felt assembly and positioning, a key component of the battery stack, and automating the gripping and assembly of carbon felt. In addition, it also solves the problems of difficult, time-consuming and inefficient manual assembly, thus improving assembly efficiency.

[0041] 2. The present invention can position the grasped carbon felt. After the position is determined, the carbon felt is first moved down along the guide slope by the carbon felt guide side pressure component, thereby pressing the carbon felt into the carbon felt assembly groove of the liquid flow plate around the carbon felt. Then, the carbon felt transfer positive pressure component presses down to flatten the carbon felt, so as to achieve an interference fit between the carbon felt and the carbon felt assembly groove. Attached Figure Description

[0042] Figure 1 The diagram shows a structural schematic of a flexible carbon felt gripping robot according to the present invention.

[0043] Figure 2 This image shows a three-dimensional simulation diagram of a flexible carbon felt gripping robot according to the present invention gripping carbon felt.

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

[0045] Figure 4 The diagram shows the pressing principle of carbon felt through the guide ramp in this invention; wherein, (a) is a schematic diagram of the side pressing; and (b) is a schematic diagram of the carbon felt after positive pressing.

[0046] Figure 5 This diagram shows the carbon felt in a flat state before it is assembled with the fluid flow plate in this invention.

[0047] Figure 6 This diagram shows the bent state of the carbon felt during the assembly of the carbon felt and the fluid flow plate in this invention.

[0048] Figure 7 A schematic diagram of the carbon felt and fluid flow plate assembled in this invention is shown.

[0049] Among them are:

[0050] 10. Carbon felt;

[0051] 20. Fluid flow plate; 21. Carbon felt assembly tank;

[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. Pressing mounting plate; 411. Connecting 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 inserter;

[0060] 50. Carbon felt detection assembly; 51. Sensor bracket; 52. Laser perforation; 53. Laser detection line. Detailed Implementation

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

[0062] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0063] like Figures 5 to 7As shown, the carbon felt 10 and the carbon felt assembly groove 21 (also called the fluid plate groove) of the fluid plate 20 are interference-fitted. The carbon felt 10 is an anisotropic rectangular flexible structure. Let its length and width be L and W, respectively, and the length and width of the carbon felt assembly groove be L0 and W0, respectively. Then L > L0, W ​​> W0.

[0064] like Figure 1 and Figure 2 As shown, a flexible carbon felt gripper includes a carbon felt guiding side pressure assembly 30, a carbon felt transfer positive pressure assembly 40, and a carbon felt detection assembly 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 drive device.

[0066] The guide plate frame can be coaxially mounted on the outer periphery of the carbon felt assembly groove. The inner walls of the guide plate frame are all provided with guide ramps 311 that gradually taper from top to bottom. The guide plate frame includes a flared opening at the top and a constricted opening at the bottom, specifically as follows... Figure 4 As shown.

[0067] Let the length and width of the flared opening be L1 and W1, and the length and width of the constricted opening be L2 and W2, respectively. Then L1≥L, W1≥W, L2≤L0, and W2≤W0.

[0068] Each of the four guide ramps of the guide plate frame is equipped with a side pressure plate at the top. Each side pressure plate is equipped with at least one side pressure driving device. Each side pressure plate can slide along the guide ramp 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 both 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. 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 assembly is coaxially embedded in the guide plate frame and connected to the guide plate frame.

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

[0072] Let the length and width of the positive pressure plate be L3 and W3 respectively. Then L3 < L2 and W3 < W2, which means that the positive pressure plate can freely pass through the narrowing of the guide slope.

[0073] The carbon felt gripping component is mounted on the positive pressure plate and can be used for layered positioning and gripping of carbon felt.

[0074] The carbon felt gripping assembly is preferably a plurality of pneumatic pins 44 arranged on two long sides of the positive pressure plate. Each pneumatic pin includes a pin seat and a pin bar. The pin seat is located at the top of the positive pressure plate, and the head of the pin bar can protrude through the bottom surface of the positive pressure plate. The protruding length does not exceed the thickness of one layer of carbon felt, and is more preferably one-half to two-thirds of the thickness of the carbon felt.

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

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

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

[0078] The clamping mounting plate is coaxially positioned directly above the lifting plate and is connected to the guide plate frame via several connecting columns 411.

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

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

[0081] The carbon felt detection component can be used to detect whether carbon felt is being gripped by the carbon felt gripping component. Additionally, the laser displacement sensor can determine whether the carbon felt has fallen during the lifting and lowering process. In this embodiment, the carbon felt detection component is preferably a laser sensor mounted on the pressure mounting plate via a sensor bracket 51. Laser perforations 52 are provided on both 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 as follows: The laser displacement sensor is installed in a fixed position. Before assembly begins, the laser displacement sensor records the distance the carbon felt is lifted by the pneumatic pin under normal conditions. During assembly, the sensor continuously emits a laser beam and receives the reflected light, measuring the distance between the carbon felt and the sensor in real time. If the carbon felt does not fall off, 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 off or moves beyond the predetermined range, the laser displacement sensor will detect a significant change in distance or positional shift. The sensor's built-in control system can identify this change and trigger an alarm or transmit information to the control system.

[0083] A method for assembling carbon felt using a flexible gripping robot with carbon felt includes the following steps.

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

[0085] Step 1-1, One-time transfer of the carbon felt flexible gripping robot: The robot equipped with the carbon felt flexible gripping robot transfers the carbon felt flexible gripping robot to the top of the carbon felt gripping station.

[0086] Steps 1-2, Carbon Felt Bonding: The height of the carbon felt transfer positive pressure assembly in the flexible carbon felt gripper decreases, and the bottom surface of the positive pressure plate is bonded to the top surface of the carbon felt at the top of the carbon felt gripping station.

[0087] Steps 1-3, Carbon Felt Gripping: The pneumatic needle protrudes from the bottom surface of the positive pressure plate and inserts into the top layer of carbon felt; by controlling the protrusion length of the pneumatic needle from the bottom surface of the positive pressure plate to ensure that it does not exceed the thickness of one layer of carbon felt, single-layer carbon felt gripping can be achieved.

[0088] Step 2, Carbon Felt Detection: The flexible carbon felt gripping robot rises in height, and the carbon felt detection component detects whether carbon felt has been gripped on the pneumatic pin.

[0089] Step 3, Carbon Felt Positioning: When the pneumatic insert has carbon felt on it, the carbon felt transfer positive pressure assembly carries the gripped carbon felt and rises in height simultaneously 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 constriction of the four guide slopes inside the guide plate frame and be located at the flared position of the four guide slopes, with its top surface in contact with the top surface of the four side pressure plates, thereby achieving carbon felt positioning. Then, the pneumatic insert resets and releases the insertion contact with the carbon felt.

[0090] Step 4, Secondary transfer of carbon felt by flexible gripping robot: The flexible gripping robot transfers the positioned carbon felt to the top of the carbon felt assembly station, and the guide plate frame in the carbon felt guide side pressure assembly is coaxially covered on the outer periphery of the carbon felt assembly groove.

[0091] Step 5, carbon felt edge side pressure: The four side pressure plates in the carbon felt guide side pressure assembly slide down along the corresponding guide ramps in batches or simultaneously, moving the carbon felt down along the four guide ramps to the constriction; as the four side pressure plates continue to move down, the carbon felt is sealed and pressed against 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 the 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, Carbon Felt Positive Pressure: Driven by the positive pressure plate assembly, the height of the positive pressure plate decreases and positively presses the carbon felt located directly below into 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 have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of 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 fall within the protection scope of the present invention.

Claims

1. A flexible gripping robot made of carbon felt, characterized in that: Including carbon felt guide side pressure assembly and carbon felt transfer positive pressure assembly; Let the length and width of the carbon felt be L and W respectively, and the length and width of the carbon felt assembly groove in the fluid flow plate be L0 and W0 respectively. Then L > L0, W ​​> W0. The carbon felt guide side pressure assembly includes a guide plate frame, a side pressure plate, and a side pressure drive device; The guide plate frame can be coaxially covered on the outer periphery of the carbon felt assembly groove. The inner side walls of the guide plate frame are provided with guide slopes that gradually taper from top to bottom. The guide plate frame includes a flared opening at the top and a constricted opening at the bottom. Let the length and width of the flared opening be L1 and W1, and the length and width of the constricted opening be L2 and W2, respectively. Then L1≥L, W1≥W, L2≤L0, W2≤W0; Each of the four guide ramps of the guide plate frame is equipped with a side pressure plate at the top. Each side pressure plate is equipped with at least one side pressure driving device. Each side pressure plate can slide along the guide ramp 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 gripping assembly; Let the length and width of the positive pressure plate be L3 and W3 respectively, then L3 < L2, W3 < W2; The positive pressure plate clamping assembly can drive the height adjustment of the positive pressure plate; The carbon felt gripping assembly is set on the positive pressure plate and can be used for layered positioning gripping of carbon felt. The carbon felt gripping assembly consists of several pneumatic pins arranged on the positive pressure plate. Each pneumatic pin includes a pin seat and a pin bar. The pin seat is located at the top of the positive pressure plate, and the head of the pin bar can protrude through the bottom surface of the positive pressure plate, with the protruding length not exceeding the thickness of one layer of carbon felt.

2. The flexible carbon felt gripping robot according to claim 1, characterized in that: Each side pressure plate is equipped with at least two side pressure drive devices; the two side pressure drive devices are symmetrically arranged at both ends of the corresponding side pressure plate.

3. The flexible carbon felt gripping robot according to claim 1, characterized in that: The length of the needle head extending from the bottom of the positive pressure plate is one-half to two-thirds of the thickness of the carbon felt.

4. The flexible carbon felt gripping robot according to claim 1, characterized in that: Pneumatic pins are evenly distributed along the two long sides of the positive pressure plate.

5. The flexible carbon felt gripping robot according to claim 1, 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 inserter. The lifting plate can drive the positive pressure plate to rise and fall synchronously. The clamping mounting plate is coaxially positioned directly above the lifting plate and connected to the guide plate frame via a connecting column; The lifting drive device is mounted on the clamping mounting plate and is used to drive the lifting plate to move up and down.

6. The flexible carbon felt gripping robot according to claim 5, characterized in that: The positive pressure drive assembly also includes a lifting guide column, which passes through the clamping mounting plate and the lifting plate in sequence; lifting limit components are provided at the top and bottom of the lifting guide column.

7. The flexible carbon felt gripping robot according to claim 1, characterized in that: It also includes a carbon felt detection component, which can be used to detect whether carbon felt is being gripped on the carbon felt gripping component.

8. A method for assembling carbon felt using a flexible carbon felt gripping robot according to any one of claims 1-7, characterized in that: Includes the following steps: Step 1: Grab the carbon felt, which includes the following steps: Step 1-1, One-time transfer of the carbon felt flexible gripping robot: The robot equipped with the carbon felt flexible gripping robot transfers the carbon felt flexible gripping robot to the top of the carbon felt gripping station. Step 1-2, Carbon felt bonding: The height of the carbon felt transfer positive pressure assembly in the carbon felt flexible gripping robot hand decreases, and the bottom surface of the positive pressure plate is bonded to the top surface of the carbon felt at the top of the carbon felt gripping station. Steps 1-3, Carbon Felt Gripping: The pneumatic needle protrudes from the bottom surface of the positive pressure plate and inserts into the top layer of carbon felt; by controlling the protrusion length of the pneumatic needle from the bottom surface of the positive pressure plate to ensure that it does not exceed the thickness of one layer of carbon felt, single-layer carbon felt gripping can be achieved. Step 2, Carbon Felt Detection: The flexible carbon felt gripping robot rises in height, and the carbon felt detection component detects whether carbon felt has been gripped on the pneumatic pin. Step 3, Carbon Felt Positioning: When the pneumatic insert has carbon felt on it, the carbon felt transfer positive pressure assembly carries the gripped carbon felt and rises in height simultaneously 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 constriction of the four guide slopes inside the guide plate frame and be located at the flared position of the four guide slopes, with its top surface in contact with the top surface of the four side pressure plates, thereby achieving carbon felt positioning; then, the pneumatic insert resets, releasing the insertion contact with the carbon felt; Step 4, Secondary transfer of carbon felt flexible gripping robot: The carbon felt flexible gripping robot transfers the positioned carbon felt to the top of the carbon felt assembly station, and makes the guide plate frame in the carbon felt guide side pressure assembly coaxially cover the outer periphery of the carbon felt assembly groove. Step 5, carbon felt edge side pressing: The four side pressing plates in the carbon felt guide side pressing assembly slide down along the corresponding guide slopes in batches or simultaneously, moving the carbon felt down along the four guide slopes to the constriction; as the four side pressing plates continue to move down, the carbon felt is sealed and pressed against the carbon felt assembly groove of the liquid flow plate below; then, the four side pressing plates are reset. Step 6, Carbon Felt Positive Pressure: Driven by the positive pressure plate assembly, the height of the positive pressure plate decreases and positively presses the carbon felt located directly below into the carbon felt assembly groove, thereby achieving an interference fit between the carbon felt and the carbon felt assembly groove.

9. The method for assembling carbon felt using a flexible gripping robot according to claim 8, characterized in that: In step 5, the four side pressure plates include two long side pressure plates or two short side pressure plates; wherein, the two long side pressure plates or the two short side pressure plates first perform synchronous side pressure on the 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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