A gripper mechanism for a beam with a liquid cooling plate

Abstract

The present invention discloses a gripper mechanism for a beam with a liquid cooling plate, and relates to the field of battery cell processing equipment. It can be compatible with battery cell modules of various specifications, has a strong gripping force and good stability after gripping, and can adapt to the high-speed transportation and rapid stacking of battery cell modules. The technical solution of the present invention is: it includes a frame assembly and a vacuum suction cup assembly; the vacuum suction cup assembly includes a third linear power source, a suction cup seat, two negative pressure generators and a plurality of suction plates; the interior of the suction cup seat is provided with two suction cavities arranged along the Y direction, and a plurality of suction holes are provided on the suction plate, and the plurality of suction holes are distributed in a plurality of arrays on the suction plate, and are connected with one of the two suction cavities. In general, the present invention can be compatible with three-row modules, three-row modules with liquid cooling plates, four-row modules, and four-row modules with liquid cooling plates at the same time, has strong compatibility and compactness, and has a module bottom cover, which is convenient for realizing automated production.

Description

Technical Field

[0001] The invention relates to the field of electric core processing equipment. Background Art

[0002] At present, the ultimate processing goal of the battery cell stacking process is to stack the battery cells and the water-cooling plates bonded to their surfaces into a Figure 1 To ensure stacking efficiency, 3-4 battery cell arrays and 3-5 water cooling plates are usually pre-stacked and pasted into groups to form a Figure 2-5 The cell modules shown are then picked up in groups and stacked in rows to form Figure 1 Status shown.

[0003] In this way, how to Figure 2-5 The stable grasping and transportation of the battery cell modules shown above becomes one of the key points in the process of stacking the entire row of battery cells.

[0004] Traditional gripping methods usually include clamping the large and small sides of the battery cells. However, considering the heavy weight of 3-4 battery cells after being grouped, it is difficult to ensure the stability of the clamping by simply clamping from the side, and it cannot adapt to high-speed transportation after clamping. In addition, due to the uncertain number of battery cell groups in the battery module, it is difficult for traditional gripping mechanisms to adapt to various specifications while avoiding pinching the battery cells.

[0005] In summary, how to improve the traditional gripper mechanism so that it can complete the gripping of battery cell modules to adapt to the high-speed transportation of battery cell modules of different specifications has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0006] In view of the above problems, the present invention proposes a gripper mechanism for a liquid cooling plate beam, which is compatible with battery cell modules of various specifications, has a strong gripping force and good stability after gripping, and can adapt to high-speed transportation and rapid stacking of battery cell modules.

[0007] The technical solution of the present invention is as follows: it comprises a frame assembly 1 and a vacuum suction cup assembly 4; The vacuum suction cup assembly 4 is fixedly installed on the workpiece accommodating area, and the vacuum suction cup assembly 4 includes a third linear power source 41, a suction cup seat 42, two negative pressure generators 43 and a plurality of suction plates 44. The third linear power source 41 is fixedly installed on the frame assembly 1 along the Z direction and connected to the suction cup seat 42. The suction cup seat 42 is driven to reciprocate and rise and fall along the Z direction by the third linear power source 41; The interior of the suction cup seat 42 is provided with two suction cavities 421 arranged along the Y direction, the two negative pressure generators 43 are fixedly mounted on the top surface of the suction cup seat 42, and are respectively connected to the two suction cavities 421, the plurality of suction plates 44 are arranged along the X direction, and are fixedly connected to the bottom surface of the suction cup seat 42, a plurality of suction holes 441 are provided on the suction plate 44, and the plurality of suction holes 441 are distributed in a plurality of arrays on the suction plate 44, and are connected to one of the two suction cavities 421.

[0008] The suction holes 441 on the suction plate 44 are distributed in four arrays. Three arrays starting from the side where the fixed clamp plate 21 is located are connected to the same suction cavity 421 , and the remaining array is connected to another suction cavity 421 .

[0009] The third linear power source 41 is a downward pressure cylinder, the cylinder body of which is fixedly mounted on the frame assembly 1 along the Z direction, and the cylinder rod thereof is fixedly connected to a quick-change plate 45, on which a Z guide column 46 penetrating the frame assembly 1 is fixedly mounted, and the quick-change plate 45 is detachably connected to the suction cup seat 42.

[0010] Two vacuum breaking tubes 422 connected to the control valve are also provided on the top surface of the suction cup seat 42, and the two vacuum breaking tubes 422 are respectively connected to the two suction chambers 421, so as to release the adsorption of the battery module after the vacuum is broken.

[0011] Also includes a large surface clamping assembly 2; The large-surface clamping assembly 2 includes a fixed clamping plate 21, a movable clamping plate 22 and a first linear power source 23. The fixed clamping plate 21 is fixedly mounted on the frame assembly 1 along the Y direction, the movable clamping plate 22 is slidably mounted on the frame assembly 1 along the X direction and is arranged parallel to the fixed clamping plate 21. The first linear power source 23 is fixedly mounted on the frame assembly 1 along the X direction and is connected to the movable clamping plate 22. The movable clamping plate 22 is driven to reciprocate along the X direction by the first linear power source 23.

[0012] A pair of anti-adhesive stripping blocks 27 are also provided on the side of the ends of both sides of the movable clamping plate 22 , and the pair of anti-adhesive stripping blocks 27 are fixedly mounted on the frame assembly 1 .

[0013] Also includes a small face clamping assembly 3; The small face clamping assembly 3 includes a pair of small face clamps 31 and a second linear power source 32. The pair of small face clamps 31 are slidably installed on the frame assembly 1 along the Y direction, and are located on both side ends of the fixed clamp 21. The second linear power source 32 is fixedly installed on the frame assembly 1 along the Y direction and is connected to the pair of small face clamps 31. The second linear power source 32 drives the pair of small face clamps 31 to move closer to or away from each other along the Y direction.

[0014] It also includes a bottom-up mechanism 5; The bottom-covering mechanism 5 includes a bottom-covering hook 51, a bottom-covering plate 52, a gear 53, a rack 54, a sliding plate 55, a flip driving cylinder 56, a locking latch 57, and a latch cylinder 58; The bottom hook 51 is installed on the outer side of the small face clamp plate 31, one end of which is rotatably connected to the small face clamp plate 31 through a rotating shaft, and the other end is fixedly connected to the bottom plate 52, the rotating shaft is fixedly connected to the bottom hook 51, and the other end of the rotating shaft is fixedly connected to the center of the gear 53, the sliding plate 55 is slidably installed on the outer side of the small face clamp plate 31 along the Z direction, the rack 54 is fixedly installed on the sliding plate 55 and keeps meshing with the gear 53, the cylinder body of the flip driving cylinder 56 is fixedly installed on the outer side of the small face clamp plate 31, and its cylinder rod is fixedly connected to the sliding plate 55, and the rack 54 is driven to reciprocate and rise and fall by the flip driving cylinder 56, thereby driving the bottom hook 51 to flip back and forth; The sliding plate 55 is also provided with a pin hole extending in the X direction. The cylinder body of the latch cylinder 58 is fixedly mounted on the cylinder body of the flip driving cylinder 56 along the X direction. The locking latch 57 is fixedly mounted on the cylinder rod of the latch cylinder 58 and is matched with the pin hole.

[0015] The present invention takes into account the self-weight problem after 3-4 battery cells are arranged and 3-5 water-cooling plates are pasted into a group. While clamping the large and small surfaces of the battery cells, the vacuum suction cup assembly plays a stable adsorption and hoisting role, which can realize the high-speed transportation and rapid stacking of the battery cell modules. In addition, the additional bottom support mechanism can effectively prevent the battery cell module from falling due to sudden air failure during transportation.

[0016] In particular, this case also takes into account that during a battery cell stacking process, due to the need for arrangement and placement, there will be battery cell modules of different specifications, that is, the number of battery cell groups in the battery cell module is not fixed. The traditional measure is to replace suction cups of different specifications to adapt to battery cell modules of different specifications, but this is obviously not suitable for continuous production and processing. If the operator frequently replaces the suction cups during a battery cell stacking process, it will inevitably seriously affect the processing rhythm and production efficiency. In this regard, this case innovatively proposes a vacuum suction cup assembly: when facing a battery module composed of 3 battery cell groups, only one negative pressure generator is turned on, so that the suction cavity connected to the three arrays generates negative pressure, and the 3 battery cell groups in the battery module are stably grasped; when facing a battery module composed of 4 battery cell groups, two negative pressure generators are turned on, so that the four connected arrays have negative pressure, so that the 4 battery cell groups in the battery module are stably grasped.

[0017] In general, the present invention can be compatible with three-row modules, three-row modules with liquid cooling plates, four-row modules, and four-row modules with liquid cooling plates. It has strong compatibility and compactness, and has the characteristics of module bottom support, large-surface servo locking cylinder clamping, small-surface air claw positioning, top-surface vacuum adsorption, etc., which facilitates the realization of automated production. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional picture after the battery cells are stacked. Figure 2 This is a schematic diagram of the first specification of battery module. Figure 3 This is a schematic diagram of the second specification of the battery module. Figure 4 This is a schematic diagram of the third specification of battery cell module. Figure 5 This is a schematic diagram of the fourth specification of battery cell module.

[0019] Figure 6 This is the overall structural diagram of this case. Figure 7 This is the structural diagram of the large and small surface clamping assembly in this case. Figure 1 , Figure 8 This is the structural diagram of the large and small surface clamping assembly in this case. Figure 2 , Fig. 9 This is a schematic diagram of the structure of the backup agency in this case. Fig.10 This is a schematic diagram of the structure of the suction cup seat in this case. Fig.11 This is a top view of the suction cup seat in this case. Fig.12 yes Fig.11 AA section view.

[0020] In the figure, 1 is a frame assembly; 2 is a large surface clamping assembly, 21 is a fixed clamping plate, 22 is a movable clamping plate, 23 is a first linear power source, 24 is a large surface clamping plate slide rail, 25 is a large surface clamping plate slider, 26 is an anti-sticking pad, and 27 is an anti-sticking adhesive stripping block; 3 is a small face clamping assembly, 31 is a small face clamping plate, 32 is a second linear power source, and 33 is a small face pad; 4 is a vacuum suction cup assembly, 41 is a third linear power source, 42 is a suction cup seat, 421 is a suction cavity, 422 is a vacuum breaking tube, 43 is a negative pressure generator, 44 is a suction plate, 441 is a suction hole, 45 is a quick change plate, and 46 is a Z guide column; 5 is a bottom-covering mechanism, 51 is a bottom-covering hook, 52 is a bottom-covering plate, 53 is a gear, 54 is a rack, 55 is a sliding plate, 56 is a turning drive cylinder, 57 is a locking latch, and 58 is a latch cylinder. DETAILED DESCRIPTION

[0021] In order to clearly illustrate the technical features of this patent, this patent is elaborated in detail below through a specific implementation method and in combination with its accompanying drawings.

[0022] like Figure 6 As shown, the present case as a whole includes a frame assembly 1, a large surface clamping assembly 2, a small surface clamping assembly 3, a vacuum suction cup assembly 4 and a bottom support mechanism 5; wherein, the frame assembly 1 is a skeleton unit, used to install and support the movement of other functional components; the large surface clamping assembly 2 is used for clamping the large surface; the small surface clamping assembly 3 is used for positioning the small surface to prevent the vacuum suction cup from being misplaced; the vacuum suction cup assembly 4 is the main transport carrier; the bottom support mechanism 5 can prevent sudden air failure during transportation, causing the battery cell module to fall.

[0023] The frame assembly 1 is installed at the execution end of the manipulator. During operation, the manipulator drives the frame assembly 1 to rotate or move to achieve high-speed transportation of the battery module.

[0024] like Figure 7 , 8 As shown, the large-surface clamping assembly 2 includes a fixed clamping plate 21, a movable clamping plate 22 and a first linear power source 23. The fixed clamping plate 21 is fixedly mounted on the frame assembly 1 along the Y direction, and the movable clamping plate 22 is slidably mounted on the frame assembly 1 along the X direction and is arranged parallel to the fixed clamping plate 21. The first linear power source 23 is fixedly mounted on the frame assembly 1 along the X direction and is connected to the movable clamping plate 22. The movable clamping plate 22 is driven to reciprocate along the X direction by the first linear power source 23.

[0025] Specifically: The frame assembly 1 is fixedly mounted with a large-surface clamping plate slide rail 24 arranged along the X direction, the mobile clamping plate 22 is fixedly mounted with a large-surface clamping plate slider 25 slidably connected to the large-surface clamping plate slide rail 24, and the first linear power source 23 is a large-surface locking cylinder, the cylinder body of which is fixedly mounted on the frame assembly 1 along the X direction, and its cylinder rod is fixedly connected to the mobile clamping plate 22. Thus, a certain clamping force is provided to the large-surface direction of the battery cell module by the mutual approach of the fixed clamping plate 21 and the mobile clamping plate 22.

[0026] Anti-sticking pads 26 are fixedly mounted on the surface of the fixed clamping plate 21 facing the movable clamping plate 22 and the surface of the movable clamping plate 22 facing the fixed clamping plate 21, so as to avoid adhesion to the surface of the battery cell or the surface of the water cooling plate after clamping.

[0027] In addition, considering that the anti-adhesion pad 26 has a certain service life, in order to avoid the problem of being unable to remove the material after the anti-adhesion fails, the case also proposes that a pair of anti-adhesion stripping blocks 27 are provided on the side of the ends of both sides of the movable clamping plate 22, and the pair of anti-adhesion stripping blocks 27 are fixedly installed on the frame assembly 1. In this way, even if the anti-adhesion fails, as the movable clamping plate 22 is retracted and reset, the battery cell module will be separated from the movable clamping plate 22 due to contact with the anti-adhesion stripping blocks 27, ensuring the stripping of the material.

[0028] In order to further avoid damaging the battery cells, the spacing between a pair of anti-adhesive stripping blocks 27 can be preset to be greater than the length of the battery cell assembly in the direction of the large surface, but less than the length of the water cooling plate. In this way, when the anti-adhesive stripping blocks 27 are needed to strip materials, the anti-adhesive stripping blocks 27 can contact the water cooling plate for stripping instead of contacting the battery cells, thereby protecting the battery cells.

[0029] like Figure 7 , 8 As shown, the small face clamping assembly 3 includes a pair of small face clamps 31 and a second linear power source 32. The pair of small face clamps 31 are slidably installed on the frame assembly 1 along the Y direction, and are located on both side ends of the fixed clamp 21. The second linear power source 32 is fixedly installed on the frame assembly 1 along the Y direction and is connected to the pair of small face clamps 31. The second linear power source 32 drives the pair of small face clamps 31 to move closer to or away from each other along the Y direction.

[0030] Specifically: The second linear power source 32 is a double-acting cylinder arranged along the Y direction, the cylinder body of the double-acting cylinder is fixedly installed in the middle of the frame assembly 1, and its two cylinder rods are respectively fixedly connected to the two small face clamps 31 through push rods; The small face clamping plate 31 is slidably connected to the Y-direction guide rail on the frame assembly 1 , and a small face pad 33 for abutting against the small face of the battery cell is fixedly installed on the end face of the small face clamping plate 31 facing the middle of the frame assembly 1 .

[0031] Preferably, there are a plurality of small face pads 33 , and the small face pads 33 are distributed at equal intervals.

[0032] In this way, the spacing between adjacent small surface pads 33 can be preset before use, so that it is approximately equal to the spacing between adjacent battery cell groups, so that the small surface pads 33 extend between adjacent water cooling plates to press against the small surfaces of the battery cells and accurately align them.

[0033] The working process of this case is as follows: The manipulator drives the frame assembly 1 to move to the loading station, so that the battery cell module to be grasped enters the workpiece accommodating area; The first linear power source 23 drives the movable clamping plate 22 to approach the fixed clamping plate 21 along the X direction, so that the battery core module abuts against the fixed clamping plate 21; The clamping plate 22 is temporarily retracted, and the second linear power source 32 drives a pair of small-surface clamping plates 31 to approach each other along the Y direction to adjust the position of the battery module in the Y direction; The first linear power source 23 drives the movable clamping plate 22 to resume clamping the battery core module; After the alignment is completed, the battery module is sucked up by the vacuum suction cup assembly 4, and the bottom protection is performed by the bottom protection mechanism 5.

[0034] like Fig. 9 As shown, the bottom-covering mechanism 5 includes a bottom-covering hook 51, a bottom-covering plate 52, a gear 53, a rack 54, a sliding plate 55, a flip driving cylinder 56, a locking latch 57, and a latch cylinder 58; The bottom hook 51 is installed on the outer side of the small face clamp plate 31, one end of which is rotatably connected to the small face clamp plate 31 through a rotating shaft, and the other end is fixedly connected to the bottom plate 52, the rotating shaft is fixedly connected to the bottom hook 51, and the other end of the rotating shaft is fixedly connected to the center of the gear 53, the sliding plate 55 is slidably installed on the outer side of the small face clamp plate 31 along the Z direction, the rack 54 is fixedly installed on the sliding plate 55 and keeps meshing with the gear 53, the cylinder body of the flip driving cylinder 56 is fixedly installed on the outer side of the small face clamp plate 31, and its cylinder rod is fixedly connected to the sliding plate 55, and the rack 54 is driven to reciprocate and rise and fall by the flip driving cylinder 56, thereby driving the bottom hook 51 to flip back and forth; The sliding plate 55 is also provided with a pin hole extending in the X direction. The cylinder body of the latch cylinder 58 is fixedly mounted on the cylinder body of the flip driving cylinder 56 along the X direction. The locking latch 57 is fixedly mounted on the cylinder rod of the latch cylinder 58 and is matched with the pin hole.

[0035] After the above-mentioned alignment is completed, the rack 54 can be driven to rise by the flip driving cylinder 56, thereby driving the bottom hook 51 to flip downward, so that the bottom plate 52 is hooked under the battery cell module. In addition, in order to further lock the position of the bottom plate, the pin cylinder 58 can be extended after the sliding plate 55 rises, so that the locking pin 57 is inserted into the X-axis pin hole to complete the locking.

[0036] A workpiece accommodating area is formed between the fixed clamping plate 21, the movable clamping plate 22 and a pair of small face clamping plates 31; like Figure 8 , 9 , 10, 11, and 12, the vacuum suction cup assembly 4 is fixedly mounted on the workpiece accommodating area, and the vacuum suction cup assembly 4 includes a third linear power source 41, a suction cup seat 42, two negative pressure generators 43, and a plurality of suction plates 44. The third linear power source 41 is fixedly mounted on the frame assembly 1 along the Z direction, and is connected to the suction cup seat 42. The suction cup seat 42 is driven to reciprocate and rise and fall along the Z direction by the third linear power source 41; The interior of the suction cup seat 42 is provided with two suction cavities 421 arranged along the Y direction, the two negative pressure generators 43 are fixedly mounted on the top surface of the suction cup seat 42, and are respectively connected to the two suction cavities 421, the plurality of suction plates 44 are arranged along the X direction, and are fixedly connected to the bottom surface of the suction cup seat 42, a plurality of suction holes 441 are provided on the suction plate 44, and the plurality of suction holes 441 are distributed in a plurality of arrays on the suction plate 44, and are connected to one of the two suction cavities 421.

[0037] In this way, on the one hand, after the above-mentioned alignment, it will be ensured that the battery cell module is against the fixed clamping plate in the X direction and is concentric with the frame assembly in the Y direction, so that after the third linear power source 41 drives the suction cup seat 42 to descend along the Z direction, the suction plate 44 can be accurately lowered to the area between the electrode columns on the top surface of the battery cell, and make good contact with the surface of the battery cell; and each array on the suction plate 44 can correspond to each battery cell in the battery cell module.

[0038] On the other hand, the arrangement of the two suction chambers 421 can also select the number of negative pressure generators 43 to be turned on during operation, so that different numbers of arrays on the suction plate carry negative pressure, and ultimately the vacuum suction cup assembly of this case can adapt to battery modules of different specifications at the same time.

[0039] Preferably, the suction holes 441 on the suction plate 44 are distributed in four arrays, and the three arrays starting from the side where the fixed clamp plate 21 is located are connected to the same suction cavity 421, and the remaining array is connected to another suction cavity 421. In this way, the arrangement of the two suction cavities 421 can also make the vacuum suction cup assembly of this case adapt to 3-4 battery cell groups and 3-5 water cooling plates after being pasted into groups.

[0040] To expand: When facing a cell module composed of three cell arrays, it may carry three or four water cooling plates, but it does not affect the alignment of the cell module in the X and Y directions. At this time, only one negative pressure generator 43 is turned on to make the suction cavity 421 connecting the three arrays generate negative pressure, so as to stably grasp the three cell arrays in the cell module.

[0041] When facing a cell module composed of four cell groups, the water cooling plates it carries may be four or five, but it does not affect the alignment of the cell module in the X and Y directions. At this time, the two negative pressure generators 43 are turned on so that the four connected arrays have negative pressure, thereby stably grasping the four cell groups in the cell module.

[0042] The third linear power source 41 is a downward pressure cylinder, the cylinder body of which is fixedly mounted on the frame assembly 1 along the Z direction, and the cylinder rod thereof is fixedly connected to a quick-change plate 45, on which a Z guide column 46 penetrating the frame assembly 1 is fixedly mounted, and the quick-change plate 45 is detachably connected to the suction cup seat 42.

[0043] like Fig.10 As shown, two vacuum breaking tubes 422 connected to the control valve are also provided on the top surface of the suction cup seat 42, and the two vacuum breaking tubes 422 are respectively connected to the two suction chambers 421. Thus, the adsorption of the battery module is released after the vacuum is broken.

[0044] There are many specific implementation ways of the present invention. The above is only the preferred implementation mode of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A gripper mechanism for a beam with a liquid cooling plate, characterized in that: It comprises a frame assembly (1) and a vacuum suction cup assembly (4); The vacuum suction cup assembly (4) is fixedly mounted on the workpiece accommodating area, and the vacuum suction cup assembly (4) comprises a third linear power source (41), a suction cup seat (42), two negative pressure generators (43) and a plurality of suction plates (44). The third linear power source (41) is fixedly mounted on the frame assembly (1) along the Z direction and is connected to the suction cup seat (42). The suction cup seat (42) is driven to reciprocate and rise and fall along the Z direction by the third linear power source (41); The suction cup seat (42) has two suction cavities (421) arranged along the Y direction, the two negative pressure generators (43) are fixedly mounted on the top surface of the suction cup seat (42) and are respectively connected to the two suction cavities (421), the plurality of suction plates (44) are arranged along the X direction and are fixedly connected to the bottom surface of the suction cup seat (42), the suction plates (44) are provided with a plurality of suction holes (441), the plurality of suction holes (441) are distributed in a plurality of arrays on the suction plates (44) and are connected to one of the two suction cavities (421).

2. A gripper mechanism for a beam with a liquid cooling plate according to claim 1, characterized in that: The suction holes (441) on the suction plate (44) are distributed in four arrays, three arrays starting from the side where the fixed clamp plate (21) is located are connected to the same suction cavity (421), and the remaining array is connected to another suction cavity (421).

3. A gripper mechanism for a beam with a liquid cooling plate according to claim 1, characterized in that: The third linear power source (41) is a downward pressure cylinder, the cylinder body of which is fixedly mounted on the frame assembly (1) along the Z direction, and the cylinder rod of which is fixedly connected to a quick-change plate (45), on which a Z-direction guide column (46) penetrating the frame assembly (1) is fixedly mounted, and the quick-change plate (45) is detachably connected to the suction cup seat (42).

4. A gripper mechanism for a beam with a liquid cooling plate according to claim 1, characterized in that: Two vacuum breaking tubes (422) connected to the control valve are also provided on the top surface of the suction cup seat (42), and the two vacuum breaking tubes (422) are respectively connected to the two suction cavities (421), so as to release the adsorption of the battery module after the vacuum is broken.

5. A gripper mechanism for a beam with a liquid cooling plate according to any one of claims 1 to 4, characterized in that: Also included is a large surface clamping assembly (2); The large-surface clamping assembly (2) comprises a fixed clamping plate (21), a movable clamping plate (22) and a first linear power source (23); the fixed clamping plate (21) is fixedly mounted on the frame assembly (1) along the Y direction; the movable clamping plate (22) is slidably mounted on the frame assembly (1) along the X direction and is arranged parallel to the fixed clamping plate (21); the first linear power source (23) is fixedly mounted on the frame assembly (1) along the X direction and is connected to the movable clamping plate (22); the movable clamping plate (22) is driven by the first linear power source (23) to move back and forth along the X direction.

6. A gripper mechanism for a beam with a liquid cooling plate according to claim 5, characterized in that: A pair of anti-adhesive stripping blocks (27) are also provided on the side of the two side ends of the movable clamping plate (22), and the pair of anti-adhesive stripping blocks (27) are fixedly mounted on the frame assembly (1).

7. A gripper mechanism for a beam with a liquid cooling plate according to any one of claims 1 to 4, characterized in that: Also included is a small face clamping assembly (3); The small face clamping assembly (3) comprises a pair of small face clamping plates (31) and a second linear power source (32). The pair of small face clamping plates (31) are slidably mounted on the frame assembly (1) along the Y direction and are located on both side ends of the fixed clamping plate (21). The second linear power source (32) is fixedly mounted on the frame assembly (1) along the Y direction and is connected to the pair of small face clamping plates (31). The second linear power source (32) drives the pair of small face clamping plates (31) to move closer to or farther from each other along the Y direction.

8. A gripper mechanism for a beam with a liquid cooling plate according to claim 7, characterized in that: It also includes a safety net (5); The bottom-covering mechanism (5) comprises a bottom-covering hook (51), a bottom-covering plate (52), a gear (53), a rack (54), a sliding plate (55), a turning driving cylinder (56), a locking latch (57), and a latch cylinder (58); The bottom hook (51) is installed on the outer side of the small face clamp (31), one end of which is rotatably connected to the small face clamp (31) through a rotating shaft, and the other end is fixedly connected to the bottom plate (52), the rotating shaft is fixedly connected to the bottom hook (51), and the other end of the rotating shaft is fixedly connected to the center of the gear (53), the sliding plate (55) is slidably installed on the outer side of the small face clamp (31) along the Z direction, the rack (54) is fixedly installed on the sliding plate (55) and keeps meshing with the gear (53), the cylinder body of the flip driving cylinder (56) is fixedly installed on the outer side of the small face clamp (31), and its cylinder rod is fixedly connected to the sliding plate (55), and the rack (54) is driven to rise and fall reciprocatingly by the flip driving cylinder (56), thereby driving the bottom hook (51) to flip back and forth; The sliding plate (55) is also provided with a pin hole extending in the X direction. The cylinder body of the latch cylinder (58) is fixedly mounted on the cylinder body of the flip driving cylinder (56) along the X direction. The locking latch (57) is fixedly mounted on the cylinder rod of the latch cylinder (58) and is matched with the pin hole.

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