A cell handling mechanism with variable pitch rotating linkage and multiple grippers

Abstract

This invention discloses a multi-claw battery cell handling mechanism with a variable-pitch rotating linkage, comprising: a fixed hanger; a first linkage claw assembly and a second linkage claw assembly fixedly mounted below the fixed hanger; a misalignment drive assembly between the fixed hanger and the first linkage claw assembly; the misalignment drive assembly drives the first linkage claw assembly to move linearly and misalign with the second linkage claw assembly; the first linkage claw assembly includes a servo screw module; the servo screw module drives a variable-pitch connecting seat for battery cell mounting; the variable-pitch connecting seat for battery cell mounting is composed of several mounting seat bodies connected in series by folding variable-pitch hinges; and the claw assembly body is fixedly mounted on the mounting seat body. This mechanism simultaneously enables variable-pitch rotation of the battery cell, and by misaligning the battery cell claws, it achieves product rotation within a small space, reducing the number of cylinders and saving equipment size and cost.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of battery cell carrying, in particular to a variable-distance rotary connecting rod multi-gripper battery cell carrying mechanism. BACKGROUND

[0002] Lithium batteries are a class of batteries that use lithium metal or lithium alloy as the positive / negative electrode material and non-aqueous electrolyte solution. In 1912, lithium metal batteries were first proposed and studied by Gilbert N. Lewis. In the 1970s, M. S. Whittingham proposed and began to study lithium-ion batteries. Due to the very active chemical properties of lithium metal, the processing, storage, and use of lithium metal have very high requirements for the environment. With the development of science and technology, lithium batteries have become mainstream.

[0003] Lithium batteries can be roughly divided into two categories: lithium metal batteries and lithium-ion batteries. Lithium-ion batteries do not contain metallic lithium and are rechargeable. The fifth generation of rechargeable batteries, lithium metal batteries, were born in 1996, and their safety, specific capacity, self-discharge rate, and performance-to-price ratio are superior to lithium-ion batteries. Due to its own high technical requirements, only a few companies in a few countries are producing this type of lithium metal battery.

[0004] Lithium batteries usually have two types of external shapes: cylindrical and square. The battery uses a spiral winding structure, and a very fine and highly permeable polyethylene film separator is used to separate the positive and negative electrodes. The positive electrode includes a current collector composed of lithium cobalt oxide (or lithium nickel manganese cobalt oxide, lithium manganese oxide, lithium ferrophosphate, etc.) and aluminum foil. The negative electrode is composed of a current collector composed of graphitized carbon material and copper foil. The battery contains an organic electrolyte solution. In addition, it is also equipped with a safety valve and a PTC element (partially used in cylindrical type) to protect the battery from damage in abnormal conditions and output short circuits.

[0005] According to statistical data, lithium battery cells have made remarkable progress in the past few years. According to a report by the International Battery Manufacturers Association, the global market size of lithium battery cells is expected to reach approximately $108 billion in 2025. This is mainly due to the rapid growth of lithium battery cells in the electric vehicle market and the popularity of rechargeable devices. In addition, according to a report by a market research firm, it is expected that the global electric vehicle market will have a compound annual growth rate of up to 22.2% by 2025. This will further drive the growth of demand for lithium battery cells. Due to their high energy density, long life, and environmental characteristics, lithium battery cells are becoming the preferred technology in the future energy storage and mobile device fields. Therefore, it is expected that the development momentum of lithium battery cells will continue to strengthen.

[0006] During the production process of lithium battery cells, in order to meet the process requirements of welding, detection, etc., reference Figure 9The battery in the material frame needs to be transferred to the battery cell processing equipment, the spacing of the battery in the material frame is small, and the battery cell on the battery cell processing equipment needs consistent spacing, so the angle and spacing of the battery cell need to be adjusted, and the current mode drives a single or several rotating cylinders through a single mechanical arm, the efficiency of a single cylinder is low, and multiple cylinders rotate horizontally, so that the number of cylinders is large, and the equipment is large in size.

[0007] Therefore, a variable-distance rotating link multi-claw battery cell carrying mechanism is proposed to solve the problems in the background. SUMMARY

[0008] The purpose of the present application is to provide a variable-distance rotating link multi-claw battery cell carrying mechanism to solve the problems in the background.

[0009] To achieve the above purpose, the present application provides the following technical scheme: a variable-distance rotating link multi-claw battery cell carrying mechanism, comprising: a fixed hanging bracket, the fixed hanging bracket is fixed below a first link claw assembly and a second link claw assembly, the first link claw assembly and the second link claw assembly are the same in structure;

[0010] A misalignment driving assembly is arranged between the fixed hanging bracket and the first link claw assembly, and the misalignment driving assembly drives the first link claw assembly to move linearly and misalign with the second link claw assembly.

[0011] The first link claw assembly comprises a servo lead screw module, the servo lead screw module drives a battery cell hanging variable-distance connecting seat, the battery cell hanging variable-distance connecting seat is composed of a plurality of hanging connecting seat bodies connected in series through a folding variable-distance hinge, and a claw assembly body is fixedly installed on the hanging connecting seat body.

[0012] The first link claw assembly further comprises a rotating servo module, and the rotating servo module drives the claw assembly body to rotate.

[0013] Preferably, the misalignment driving assembly comprises a third servo motor, a belt pulley transmission assembly, a second ball screw and a second I-shaped linear guide rail, the third servo motor is fixedly installed at one end of the upper surface of the fixed hanging bracket, the second ball screw is rotatably arranged on the lower surface of the fixed hanging bracket, the third servo motor is connected with the second ball screw through the belt pulley transmission assembly, and the second I-shaped linear guide rail is symmetrically installed on the lower surface of the fixed hanging bracket.

[0014] Through the above technical scheme, the third servo motor drives the belt pulley transmission assembly to work, and drives the second ball screw to rotate.

[0015] Preferably, the first connecting rod clamping jaw assembly comprises a horizontal lifting plate, a plurality of pairs of sliding connection seats are fixedly installed on the upper surface of the horizontal lifting plate, the sliding connection seats are in sliding connection with the second I-shaped linear guide rail, a ball shaft sleeve is fixedly installed on the upper surface of the horizontal lifting plate, and the ball shaft sleeve is in threaded rotation connection with the second ball screw;

[0016] Through the above technical scheme, the horizontal lifting plate can move linearly along the second I-shaped linear guide rail, and the linear movement of the first connecting rod clamping jaw assembly and the dislocation of the second connecting rod clamping jaw assembly can be met.

[0017] Preferably, the servo screw module mainly comprises a first servo motor driving a first ball screw, the first servo motor is fixedly installed at one end of the lower surface of the horizontal lifting plate, the first ball screw is rotationally connected to the lower surface of the horizontal lifting plate, and the cell lifting variable-distance connecting seat is slidably connected to the horizontal lifting plate through the first I-shaped linear guide rail;

[0018] Through the above technical scheme, the first servo motor can drive the first ball screw to rotate.

[0019] Preferably, the lifting connecting seat body at the leftmost end is in threaded rotation connection with the first ball screw, the lifting connecting seat body at the rightmost end is fixedly connected to the horizontal lifting plate, and the upper ends of all the lifting connecting seat bodies except the one at the rightmost end are in sliding connection with the first I-shaped linear guide rail.

[0020] Through the above technical scheme, part of the lifting connecting seat bodies can move linearly along the first I-shaped linear guide rail, and the spacing between part of the lifting connecting seat bodies can be adjusted.

[0021] Preferably, the rotary servo module mainly comprises a second servo motor driving a four-rib rod to rotate, the second servo motor is fixedly arranged below the first servo motor, the four-rib rod penetrates through a plurality of lifting connecting seat bodies, and a rotary sliding transmission assembly corresponding in number to the lifting connecting seat bodies is sleeved on the four-rib rod.

[0022] Through the above technical scheme, the second servo motor can drive the four-rib rod to rotate.

[0023] Preferably, the rotary sliding transmission assembly comprises a driving bevel gear, a bearing and a radial fixed shaft sleeve, the driving bevel gear is fixedly installed on the radial fixed shaft sleeve, the radial fixed shaft sleeve is rotationally connected to the lifting connecting seat body through the bearing, and the driving bevel gear and the radial fixed shaft sleeve clamp the inner ring of the bearing;

[0024] Through the above technical scheme, the driving bevel gear can rotate on the lifting connecting seat body.

[0025] Preferably, the four-rib rod penetrates through the driving bevel gear and the radial fixed shaft sleeve, the four-rib rod is in radial fixed connection with the driving bevel gear, and the four-rib rod is in axial sliding connection with the driving bevel gear;

[0026] Through the technical scheme, the driving bevel gear can rotate with the four-rib rod and slide along the four-rib rod.

[0027] Preferably, the claw assembly body comprises a driven bevel gear, a fixed bearing seat, a cylinder and a claw, and the fixed bearing seat is fixedly installed with the hoisting connecting seat body.

[0028] Preferably, a rotating shaft is penetrated through the fixed bearing seat, the driven bevel gear is fixedly installed on the upper end of the rotating shaft, the cylinder is fixedly connected with the lower end of the rotating shaft, the driven bevel gear is engaged with the driving bevel gear, and the cylinder is driven to connect the two claws.

[0029] Through the technical scheme, the driving bevel gear can rotate with the four-rib rod and slide along the four-rib rod.

[0030] Compared with the prior art, the present application has the following beneficial effects:

[0031] 1. The cylinder drives the claw to clamp the battery, the second servo motor of the rotating servo module drives the four-rib rod to rotate, the four-rib rod drives the driven bevel gear to rotate through the driving bevel gear, and then the cylinder is driven to rotate through the rotating shaft, so that the horizontal synchronous rotation of the plurality of batteries is realized.

[0032] 2. The first hoisting connecting seat body is driven to move along the first I-shaped linear guide rail through the first servo motor of the servo screw module, the folding variable-distance hinge is deformed by the movement of the first hoisting connecting seat body, and the synchronous movement of the other hoisting connecting seat bodies thereon is driven, so that the distance between the plurality of hoisting connecting seat bodies is adjusted, and the distance between the batteries is adjusted.

[0033] 3. The second ball screw is driven to rotate through the third servo motor and the belt pulley transmission assembly of the staggered driving assembly, the horizontal hoisting plate is driven to move along the second I-shaped linear guide rail through the ball bushing of the second ball screw, the stagger of the first connecting rod claw assembly relative to the second connecting rod claw assembly is realized, and finally the stagger of the batteries on the two connecting rod claw assemblies is realized, so that the movement range of the batteries is increased, and then the rotation of the batteries in a small space range is realized, and the equipment volume is saved.

[0034] 4. The rotation and variable-distance of the batteries are simultaneously realized, the posture rotation of the batteries after being taken out from the material frame is realized, and the distance between the batteries and the subsequent processing equipment is kept consistent. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The figure is a structural schematic view of the present application;

[0036] Figure 2 The figure is a rear view of the present application; Figure 1

[0037] ​Figure 3 Figure 2 is a disassembled view of the misalignment driving assembly and the first connecting rod clamp jaw assembly in the present application;

[0038] Figure 4 Figure 3 is a front view of the connecting rod clamp jaw assembly in the present application;

[0039] Figure 5 Figure 4 is a rear view of the connecting rod clamp jaw assembly in the present application;

[0040] Figure 6 Figure 5 is a structural schematic view of the clamp jaw assembly body in the present application;

[0041] Figure 7 Figure 6 is a disassembled view of the rotary sliding transmission assembly in the present application;

[0042] Figure 8 Figure 7 is a schematic view of the present application cooperating with the mechanical arm;

[0043] Figure 9 Figure 8 is a flow chart of the present application in changing the angle of the battery cell between the material frame and the battery cell processing equipment.

[0044] In the figure: 1, fixed hanger; 2, first connecting rod clamp jaw assembly; 21, horizontal hoisting plate; 211, sliding connection seat; 212, ball shaft sleeve; 213, first I-shaped linear guide rail; 22, battery cell hoisting variable-distance connection seat; 221, hoisting connection seat body; 222, folding variable-distance hinge; 23, servo screw module; 231, first servo motor; 232, first ball screw; 24, rotary servo module; 241, second servo motor; 242, four-edge rod; 25, rotary sliding transmission assembly; 251, driving bevel gear; 252, bearing; 253, radial fixed shaft sleeve; 3, second connecting rod clamp jaw assembly; 4, misalignment driving assembly; 41, third servo motor; 42, pulley transmission assembly; 43, second ball screw; 44, second I-shaped linear guide rail; 5, clamp jaw assembly body; 51, driven bevel gear; 52, fixed bearing seat; 53, air cylinder; 54, clamp jaw. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. The examples of the described embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout.

[0046] The examples described below by reference to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application. In addition, it should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0047] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "left", "right", "horizontal", "top", "bottom", 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. Therefore, they should not be construed as limitations on this invention.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0049] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0052] Please see Figures 1-8 The present invention provides a technical solution:

[0053] Example 1: A cell handling mechanism with variable pitch rotating linkage and multiple grippers, comprising: a fixed hanger 1, a first linkage gripper assembly 2 and a second linkage gripper assembly 3 fixedly mounted below the fixed hanger 1, the first linkage gripper assembly 2 and the second linkage gripper assembly 3 having the same structure, wherein the second linkage gripper assembly 3 is fixedly set and the first linkage gripper assembly 2 is slidably set;

[0054] A misalignment drive assembly 4 is provided between the fixed hanger 1 and the first link gripper assembly 2. The misalignment drive assembly 4 drives the first link gripper assembly 2 to move linearly and misalign with the second link gripper assembly 3.

[0055] The misalignment drive assembly 4 includes a third servo motor 41, a belt pulley transmission assembly 42, a second ball screw 43, and a second I-beam linear guide 44. The third servo motor 41 is fixedly installed at one end of the upper surface of the fixed hanger 1, and the second ball screw 43 is rotatably installed on the lower surface of the fixed hanger 1. The third servo motor 41 is connected to the second ball screw 43 through the belt pulley transmission assembly 42. The second I-beam linear guide 44 is symmetrically installed on the lower surface of the fixed hanger 1.

[0056] The first link gripper assembly 2 includes a horizontal lifting plate 21. Several pairs of sliding connecting seats 211 are fixedly installed on the upper surface of the horizontal lifting plate 21. The sliding connecting seats 211 are slidably connected to the second I-beam linear guide rail 44. A ball bushing 212 is fixedly installed on the upper surface of the horizontal lifting plate 21. The ball bushing 212 is threadedly rotated and connected to the second ball screw 43.

[0057] The second ball screw 43 is driven to rotate by the third servo motor 41 and the belt pulley transmission assembly 42. Through the cooperation of the second ball screw 43 and the ball bushing 212, the sliding connecting seat 211 drives the horizontal lifting plate 21 to move linearly along the second I-beam linear guide rail 44, and adjusts the position of the horizontal lifting plate 21 so that the first connecting claw assembly 2 and the second connecting claw assembly 3 are misaligned.

[0058] The first linkage gripper assembly 2 also includes a servo screw module 23. The servo screw module 23 is mainly composed of a first servo motor 231 driving a first ball screw 232. The first servo motor 231 is fixedly installed at one end of the lower surface of the horizontal lifting plate 21. The first ball screw 232 is rotatably connected to the lower surface of the horizontal lifting plate 21. A first I-beam linear guide rail 213 is fixedly installed on the lower surface of the horizontal lifting plate 21. The battery cell lifting pitch variable connection seat 22 is slidably connected below the horizontal lifting plate 21 through the first I-beam linear guide rail 213. Several battery cell lifting pitch variable connection seats 22 are equidistantly arranged.

[0059] The cell hoisting variable pitch connecting seat 22 is composed of several hoisting connecting seat bodies 221 connected in series by a folding variable pitch hinge 222. The leftmost hoisting connecting seat body 221 is connected to the first ball screw 232 by a ball bearing sleeve seat, so that the hoisting connecting seat body 221 moves on the first ball screw 232 during the rotation of the first ball screw 232.

[0060] The rightmost hoisting connection body 221 is fixedly connected to the horizontal hoisting plate 21. The upper ends of all other hoisting connection body 221 are slidably connected to the first I-beam linear guide rail 213. By moving the leftmost hoisting connection body 221, the folding variable pitch hinge 222 is deformed and folded or stretched, causing all hoisting connection body 221 except the rightmost one to move equidistantly along the first I-beam linear guide rail 213, adjusting the distance between the hoisting connection body 221, and realizing the variable pitch of the hoisting connection body 221. Since the battery cell needs to rotate after being taken out of the material frame, the spacing between the battery cells in the material frame is relatively small. Increasing the spacing can satisfy the rotation of the posture. It is difficult to match the spacing between the battery cells in the downstream equipment and the battery cells in the material frame. Variable pitch can satisfy the consistency of the spacing.

[0061] The first ball screw 232 is driven to rotate by the first servo motor 231, so that one of the hoisting connecting seats 221 at the end slides linearly along the first I-beam linear guide rail 213. At the same time, through the action of the folding variable pitch hinge 222, the other hoisting connecting seats 221 slide linearly along the first I-beam linear guide rail 213 in a synchronized manner, so as to realize the synchronous adjustment of the spacing of the hoisting connecting seats 221.

[0062] The first linkage gripper assembly 2 also includes a rotary servo module 24. The rotary servo module 24 is mainly composed of a second servo motor 241 driving a quadrangular rod 242 to rotate. The second servo motor 241 is fixedly installed below the first servo motor 231. The quadrangular rod 242 movably passes through several hoisting connection seat bodies 221. A rotary sliding transmission assembly 25 corresponding to the number of hoisting connection seat bodies 221 is sleeved on the quadrangular rod 242.

[0063] The rotary sliding transmission assembly 25 includes a drive bevel gear 251, a bearing 252, and a radial fixed bushing 253. The drive bevel gear 251 is fixedly mounted on the radial fixed bushing 253. The radial fixed bushing 253 has the bearing 252 built into it. The radial fixed bushing 253 is rotatably connected to the lifting connecting seat body 221 through the bearing 252. The drive bevel gear 251 and the radial fixed bushing 253 clamp the inner ring of the bearing 252, so that the drive bevel gear 251 and the radial fixed bushing 253 rotate radially and are fixed axially.

[0064] The quadrangular rod 242 passes through the driving bevel gear 251 and the radially fixed bushing 253, and the quadrangular rod 242 is radially fixedly connected to the driving bevel gear 251 and axially slidingly connected.

[0065] The rotation of the quadrangular rod 242 drives the active bevel gear 251 to rotate. At the same time, when the hoisting connecting seat body 221 is adjusted by pitch change, the active bevel gear 251 can slide on the quadrangular rod 242 while rotating synchronously with the quadrangular rod 242.

[0066] Example 2: To solve the clamping problem and accommodate battery cells of different sizes, this invention provides the following technical solution, please refer to [link / reference]. Figure 5 and Figure 6 Each hoisting connection seat body 221 is fixedly installed with a gripper assembly body 5. The gripper assembly body 5 includes a driven bevel gear 51, a fixed bearing seat 52, a cylinder 53, and grippers 54. The fixed bearing seat 52 is fixedly installed with the hoisting connection seat body 221. A rotating shaft runs through the fixed bearing seat 52 in the vertical direction. The driven bevel gear 51 is fixedly installed at the upper end of the rotating shaft, and the cylinder 53 is fixedly connected at the lower end of the rotating shaft. The driven bevel gear 51 meshes with the driving bevel gear 251, and the cylinder 53 drives the two grippers 54.

[0067] The active bevel gear 251, through its meshing relationship with the driven bevel gear 51, drives the driven bevel gear 51 to rotate when the active bevel gear 251 rotates. The driven bevel gear 51 drives the cylinder 53 to rotate through the rotating shaft, causing the battery cell on the gripper 54 to rotate horizontally. The cylinder 53 drives the gripper 54 to grab the battery cell.

[0068] The fixed hanger 1 is assembled with the robotic arm and other displacement modules to achieve large-scale battery cell handling.

[0069] Working principle: The cylinder 53 drives the gripper 54 to clamp the battery cell. The second servo motor 241 of the rotary servo module 24 drives the quadrangular rod 242 to rotate. The quadrangular rod 242 drives the driven bevel gear 51 to rotate through the active bevel gear 251, and then drives the cylinder 53 to rotate through the rotating shaft, so as to achieve the horizontal synchronous rotation of several battery cells.

[0070] Driven by the first servo motor 231 of the servo screw module 23, the first hoisting connector body 221 moves along the first I-beam linear guide rail 213. The movement of the first hoisting connector body 221 causes the folding variable pitch hinge 222 to deform, which drives the other hoisting connector bodies 221 on it to move synchronously, adjusting the distance between several hoisting connector bodies 221, thereby realizing the adjustment of the distance between the battery cells.

[0071] The misalignment drive assembly 4 drives the second ball screw 43 to rotate through the third servo motor 41 and the belt pulley transmission assembly 42. The second ball screw 43 drives the horizontal lifting plate 21 to move along the second I-beam linear guide rail 44 through the ball bushing 212, so that the first connecting claw assembly 2 is misaligned relative to the second connecting claw assembly 3, and finally the cells on the two sets of connecting claw assemblies are misaligned.

[0072] Simultaneously, the rotation and pitch of the battery cells are synchronized, saving automation time. By staggering the two rows of battery cells, the range of motion of the battery cells is increased, thereby enabling the battery cells to rotate within a small space and saving equipment volume.

[0073] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0074] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A variable-stroke rotary link multi-gripper cell handling mechanism, comprising: The utility model provides a fixed gallows (1), its characterized in be: fixed gallows (1) below fixed hoist first connecting rod jaw assembly (2) and second connecting rod jaw assembly (3), and first connecting rod jaw assembly (2) and second connecting rod jaw assembly (3) structure are same, The fixed gallows (1) and the first connecting rod jaw assembly (2) are provided with a misalignment driving assembly (4), the misalignment driving assembly (4) drives the first connecting rod jaw assembly (2) to move linearly and misalign with the second connecting rod jaw assembly (3), The first connecting rod jaw assembly (2) comprises a servo lead screw module (23), the servo lead screw module (23) drives a connection electric core hoisting variable-pitch connecting seat (22), the electric core hoisting variable-pitch connecting seat (22) is composed of a plurality of hoisting connecting seat bodies (221) through a folding variable-pitch hinge (222) in series, and a jaw assembly body (5) is fixedly installed on the hoisting connecting seat body (221); The first connecting rod jaw assembly (2) further comprises a rotary servo module (24), and the rotary servo module (24) drives the jaw assembly body (5) to rotate; The rotary servo module (24) is mainly composed of a second servo motor (241) driving a four-rib rod (242) to rotate, the second servo motor (241) is fixedly arranged below a first servo motor (231), the four-rib rod (242) movably penetrates through a plurality of hoisting connecting seat bodies (221), and a rotary sliding transmission assembly (25) corresponding in number to the hoisting connecting seat bodies (221) is sleeved on the four-rib rod (242); The rotary sliding transmission assembly (25) comprises a driving bevel gear (251), a bearing (252) and a radial fixed shaft sleeve (253), the driving bevel gear (251) is fixedly installed on the radial fixed shaft sleeve (253), the radial fixed shaft sleeve (253) is rotatably connected with the hoisting connecting seat body (221) through the bearing (252), and the driving bevel gear (251) and the radial fixed shaft sleeve (253) clamp the inner ring of the bearing (252).

2. The distance-variable rotary link multi-gripper battery cell transfer mechanism according to claim 1, characterized in that, The misalignment driving assembly (4) comprises a third servo motor (41), a belt pulley transmission assembly (42), a second ball screw (43) and a second I-shaped linear guide rail (44), the third servo motor (41) is fixedly installed on one end of the upper surface of the fixed gallows (1), the second ball screw (43) is rotatably arranged on the lower surface of the fixed gallows (1), the third servo motor (41) is drivingly connected with the second ball screw (43) through the belt pulley transmission assembly (42), and the second I-shaped linear guide rail (44) is symmetrically installed on the lower surface of the fixed gallows (1).

3. The distance-variable rotary link multi-gripper battery cell transfer mechanism according to claim 1, characterized in that, The first connecting rod jaw assembly (2) comprises a horizontal hoisting plate (21), a plurality of pairs of sliding connecting seats (211) are fixedly installed on the upper surface of the horizontal hoisting plate (21), the sliding connecting seats (211) are slidingly connected with the second I-shaped linear guide rail (44), a ball shaft sleeve (212) is fixedly installed on the upper surface of the horizontal hoisting plate (21), and the ball shaft sleeve (212) is threadedly and rotatably connected with the second ball screw (43).

4. The distance-variable rotary link multi-gripper battery cell transfer mechanism according to claim 1, characterized in that, The servo screw module (23) is mainly composed of a first servo motor (231) driving a first ball screw (232), the first servo motor (231) is fixedly installed at one end of the lower surface of the horizontal hoisting plate (21), the first ball screw (232) is rotatably connected to the lower surface of the horizontal hoisting plate (21), and the cell hoisting variable-pitch connecting seat (22) is slidably connected to the horizontal hoisting plate (21) through the first I-shaped linear guide rail (213).

5. The distance-variable rotary link multi-gripper battery cell transfer mechanism according to claim 1, characterized in that, The upper end of the hoisting connecting seat body (221) at the leftmost end is threadedly rotatably connected to the first ball screw (232), the hoisting connecting seat body (221) at the rightmost end is fixedly connected to the horizontal hoisting plate (21), and the upper end of each hoisting connecting seat body (221) except that at the rightmost end is slidably connected to the first I-shaped linear guide rail (213).

6. The distance-variable rotary link multi-gripper battery cell transfer mechanism according to claim 1, characterized in that, The four-rib rod (242) penetrates through the driving bevel gear (251) and the radial fixed shaft sleeve (253), and is radially fixedly connected to the driving bevel gear (251) and axially slidably connected.

7. The distance-variable rotary link multi-gripper battery cell transfer mechanism according to claim 1, characterized in that, The jaw assembly body (5) comprises a driven bevel gear (51), a fixed bearing seat (52), a cylinder (53) and a jaw (54), and the fixed bearing seat (52) is fixedly installed on the hoisting connecting seat body (221).

8. The distance-variable rotary link multi-gripper cell handling mechanism according to claim 7, characterized in that, A rotating shaft penetrates through the fixed bearing seat (52), the driven bevel gear (51) is fixedly installed on the upper end of the rotating shaft, the cylinder (53) is fixedly connected to the lower end of the rotating shaft, the driven bevel gear (51) is engaged with the driving bevel gear (251), and the cylinder (53) drives two jaws (54).

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