Gripping device and equipment for assembling module into shell

Abstract

The utility model relates to the technical field of battery production equipment, in particular to a grabbing device and equipment for assembling a module into a shell, the grabbing device comprises an adsorption part and a first clamping assembly, the adsorption part can apply adsorption force to a to-be-grabbed object, and at least part of the first clamping assembly can move in the first direction so that the to-be-grabbed object can be clamped in the first direction in the state that the adsorption part adsorbs the to-be-grabbed object. At least part of the first clamping assembly can stretch into the position below the to-be-grabbed object in the gravity direction so as to bear the to-be-grabbed object. According to the grabbing device and the equipment for assembling the module into the shell, the to-be-grabbed object is effectively prevented from falling off, and the grabbing stability of the grabbing device is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of battery production equipment, and in particular to a gripping device and module shelling equipment. Background Art

[0002] In the power battery module manufacturing industry, the stacked modules need to be accurately loaded into the PACK box. Since the overall weight of the grouped modules is relatively large, generally exceeding 200kg, the stability of the existing mechanical grippers to hold the modules is poor, and the modules are very likely to fall during the process of mechanical grippers grabbing and transporting, which can lead to module damage. Utility Model Content

[0003] The purpose of the present application is to provide a grasping device and module shelling equipment, so as to solve the technical problems existing in the prior art that the existing mechanical clamps have poor stability in clamping the modules, and the modules are very likely to fall during the process of grasping and transporting by the mechanical clamps, thereby causing damage to the modules.

[0004] According to a first aspect of the present application, a grasping device is provided, comprising an adsorption portion and a first clamping component, wherein the adsorption portion is capable of applying an adsorption force to an object to be grasped, and at least a portion of the first clamping component is capable of moving along a first direction, so that when the adsorption portion adsorbs the object to be grasped, at least a portion of the first clamping component is capable of extending below the object to be grasped in the direction of gravity to support the object to be grasped, and the first direction intersects with the direction of gravity.

[0005] Preferably, the first clamping assembly includes a first driving part and two groups of first clamping parts, the two groups of first clamping parts are respectively arranged on both sides of the adsorption part in the first direction, and the first driving part is transmission connected to the first clamping part to drive the two groups of first clamping parts to approach and move away from each other in the first direction.

[0006] Preferably, the first clamping portion includes a clamping body and a supporting body, the clamping body extends along the direction of gravity, the supporting body is fixedly arranged at one end of the clamping body away from the adsorption portion, the supporting body extends along the first direction, and extends from the clamping body to the side where the adsorption portion is located.

[0007] Preferably, it also includes a second clamping assembly, which includes a second driving part and two groups of second clamping parts arranged opposite to each other along a second direction, the two groups of second clamping parts are respectively arranged on both sides of the adsorption part in the second direction, and the second driving part is transmission-connected to the second clamping part to drive the two groups of second clamping parts to approach and move away from each other in the second direction, and the second direction intersects with the first direction.

[0008] Preferably, the second clamping portion includes a roller clamp, and the roller clamp includes a frame and a plurality of guide rollers, the plurality of guide rollers are arranged side by side on the frame along the direction of gravity, the axis of the guide roller extends along the first direction, and the guide roller can rotate around its own axis.

[0009] Preferably, the second clamping assembly further comprises a pressure sensing portion, which is disposed on the second clamping portion and is communicatively connected with the second driving portion so as to monitor the force exerted by the second clamping assembly on the object to be grasped.

[0010] Preferably, it also includes an adsorption component, which includes the adsorption part, the placement part and a third driving part. The third driving part and the adsorption part are both arranged on both sides of the placement part in the gravity direction. The third driving part is transmission-connected to the adsorption part to drive the adsorption part to move along the gravity direction.

[0011] Preferably, the third driving unit is a linear driving device whose driving direction is the direction of gravity.

[0012] Preferably, the third driving unit includes a rotating motor, a synchronous belt and a screw, a rotating nut is provided on the screw, the rotating motor and the rotating nut are connected by the synchronous belt transmission to drive the screw to move along the direction of gravity, and one end of the screw is connected to the adsorption unit.

[0013] Preferably, the adsorption part is a sponge suction cup;

[0014] The adsorption assembly also includes a negative pressure connection part and a vacuum detection part, both of which are arranged on a side of the placement part facing away from the adsorption part. The negative pressure connection part is connected to the sponge suction cup, and the negative pressure connection part is communicatively connected to the vacuum detection part.

[0015] Preferably, the first visual detection part is arranged on one side of the first clamping assembly in the first direction, so as to obtain the position of the object to be grasped;

[0016] The second visual detection part is arranged at the edge of the grasping device to obtain the position information of the container into which the object to be grasped is to be placed.

[0017] According to the second aspect of the present application, there is provided a module shelling equipment, comprising a grasping device as described in any of the above technical solutions, and thus having all the beneficial technical effects of the grasping device, which will not be described in detail herein.

[0018] The module shelling equipment also includes a transfer device, and the grasping device is arranged on the transfer device to drive the grasping device to move.

[0019] Preferably, the transfer device comprises a trolley and a first slide extending along the second direction, the gripping device is arranged on the trolley, and the trolley can slide along the first slide.

[0020] Preferably, the transfer device further comprises a second slide extending in the first direction, and the first slide can slide along the second slide.

[0021] Compared with the prior art, the beneficial effects of this application are:

[0022] The gripping device provided in the present application applies an adsorption force to the object to be grasped through the adsorption part, so that the gripping device grabs the object to be grasped, and moves along the first direction through at least a part of the first clamping component, so that at least a part of the first clamping component extends below the object to be grasped in the direction of gravity, so that at least a part of the first clamping component can lift the object to be grasped, thereby effectively preventing the object to be grasped from falling and ensuring the gripping stability of the gripping device.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the axonometric structure of a gripping device provided in an embodiment of the present application;

[0026] Figure 2 Another isometric structural diagram of the gripping device provided in the embodiment of the present application;

[0027] Figure 3 A schematic diagram of the side structure of a gripping device provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of the isometric structure of the first clamping portion provided in an embodiment of the present application;

[0029] Figure 5 A schematic diagram of the isometric structure of the second clamping portion provided in an embodiment of the present application;

[0030] Figure 6 A schematic diagram of the axonometric structure of an adsorption assembly provided in an embodiment of the present application;

[0031] Figure 7 A schematic diagram of the structure of a third driving unit provided in an embodiment of the present application;

[0032] Figure 8 This is a schematic diagram of the axonometric structure of the module-in-shell equipment provided in an embodiment of the present application.

[0033] Reference numerals:

[0034] 1-grabbing device; 11-first clamping assembly; 111-first clamping part; 1111-clamping body; 1112-supporting body; 1113-first guide rail; 112-first driving part; 12-second clamping assembly; 121-second clamping part; 1211-guide roller; 1212-frame; 1213-second guide rail; 1214-pressure sensing part; 122-second driving part; 131-adsorption part; 132-third driving part; 1321-rotating motor; 1322-synchronous belt; 1323-screw; 1331-connecting pipe; 1332-docking valve; 1333-vacuum detection part; 134-placement part; 141-first visual detection part; 142-second visual detection part;

[0035] 2-transfer device; 21-first slide; 22-second slide.

[0036] F1-first direction; F2-second direction; G-gravity direction. DETAILED DESCRIPTION

[0037] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0038] The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed, but merely represents the selected embodiments of the present application.

[0039] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0040] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0041] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] Refer to the following Figures 1 to 8 The grabbing device 1 and module shell insertion equipment according to some embodiments of the present application are described.

[0043] See also Figures 1 to 8 As shown, an embodiment of the first aspect of the present application provides a grasping device 1, which includes an adsorption component and a first clamping component 11, the adsorption component includes an adsorption portion 131, the adsorption portion 131 can apply adsorption force to an object to be grasped (for example, a battery module), at least a portion of the first clamping component 11 can move along a first direction F1, so that when the adsorption portion 131 adsorbs the object to be grasped, at least a portion of the first clamping component 11 can extend below the object to be grasped in the gravity direction G to support the object to be grasped, and the first direction F1 intersects with the gravity direction G.

[0044] The grasping device 1 provided according to the above technical features applies adsorption force to the grasping object through the adsorption portion 131, so that the grasping device 1 grasps the object to be grasped, and moves along the first direction F1 through at least a portion of the first clamping component 11, so that at least a portion of the first clamping component 11 extends below the object to be grasped in the gravity direction G, so that at least a portion of the first clamping component 11 can lift the object to be grasped, thereby effectively preventing the object to be grasped from falling, and ensuring the grasping stability of the grasping device 1.

[0045] like Figures 1 to 8As shown, F1 shown in the figure may be an example of the first direction F1, and F2 shown in the figure may be an example of the second direction F2 described below. The first direction F1 and the second direction F2 intersect each other. Preferably, the plane defined by the first direction F1 and the second direction F2 is a horizontal plane (i.e., perpendicular to the gravity direction G). Preferably, as Figures 1 to 8 An example is shown in which the first direction F1 is perpendicular to the second direction F2 to accommodate an assembly line of square-shell battery modules.

[0046] Preferably, if Figures 1 to 4 As shown, the above-mentioned first clamping part 111 may include a first driving part 112 and two groups of first clamping parts 111, and the two groups of first clamping parts 111 are respectively arranged on both sides of the adsorption part 131 in the first direction F1, and the first driving part 112 is transmission-connected with the first clamping part 111 to drive the two groups of first clamping parts 111 to approach and move away from each other in the first direction F1. In this way, the two groups of first clamping parts 111 can perform clamping and releasing actions, so that when the grasping device 1 grasps the object to be grasped, the two groups of first clamping parts 111 can apply clamping force to the object to be grasped, so as to further improve the grasping stability of the grasping device 1.

[0047] Preferably, if Figure 3 and Figure 4 As shown, the above-mentioned first clamping part 111 may include a clamping body 1111 and a supporting body 1112. The clamping body 1111 extends along the gravity direction G, and the supporting body 1112 is fixedly arranged at an end of the clamping body 1111 away from the adsorption part 131. The supporting body 1112 extends along the first direction F1, and extends from the clamping body 1111 to the side where the adsorption part 131 is located. In this way, when the first clamping component 11 performs the clamping action, the supporting body 1112 can extend into the lower part of the object to be grasped in the gravity direction G, so as to support the object to be grasped, and effectively improve the grasping stability of the grasping device 1.

[0048] Preferably, the clamping body 1111 and the supporting body 1112 may be integrally connected to improve the connection strength between the supporting body 1112 and the clamping body 1111 .

[0049] Alternatively, if Figure 3 and Figure 4 As shown, the clamping body 1111 may be a plate, and the plate may be perpendicular to the first direction F1 so as to clamp most square modules.

[0050] Alternatively, if Figure 3 and Figure 4 As shown, the supporting body 1112 may be a supporting flange or a supporting plate disposed at the lower end of the plate body and protruding toward the side where the adsorption portion 131 is located.

[0051] Preferably, if Figure 3 and Figure 6 The adsorption assembly may further include a placement portion 134, and the adsorption portion 131 may be disposed below the placement portion 134 and at the center of the placement portion 134. The two sets of first clamping portions 111 may be disposed at two ends of the placement portion 134 in the first direction F1.

[0052] Preferably, if Figure 4 As shown, the first clamping assembly 11 may further include a first guide rail 1113 extending along the first direction F1, and the first clamping portion 111 is slidably connected to the placement portion 134 via the first guide rail 1113 to improve the accuracy of the first clamping portion 111 moving along the first direction F1.

[0053] Alternatively, if Figure 1 , Figure 2 and Figure 4 As shown, the first driving part 112 may be fixed to a side of the placement part 134 facing away from the adsorption part 131 to avoid interference between the first driving part 112 and the object to be grasped when the grasping device 1 performs a grasping action.

[0054] Optionally, the first driving unit 112 may be a linear driving device such as a pneumatic cylinder or an electric cylinder.

[0055] In an embodiment, preferably, Figures 1 to 3 and Figure 5 As shown, the above-mentioned clamping device can also include a second clamping component 12, which can include a second driving part 122 and two groups of second clamping parts 121 arranged relatively along the second direction F2, the two groups of second clamping parts 121 are respectively arranged on both sides of the adsorption part 131 in the second direction F2, the second driving part 122 is transmission-connected with the second clamping part 121 to drive the two groups of second clamping parts 121 to approach and move away from each other in the second direction F2, so that the second clamping component 12 can apply clamping force to the object to be grasped in the second direction F2. On the one hand, the grasping stability of the grasping device 1 is further improved; on the other hand, the grasping device 1 can compress the length of the object to be grasped in the second direction F2 through the second clamping component 12 to facilitate the object to be grasped to be put into the box.

[0056] Preferably, if Figure 3 and Figure 5As shown, the second clamping portion 121 may include a roller clamp, which may include a frame 1212 and a plurality of guide rollers 1211, wherein the plurality of guide rollers 1211 are arranged side by side on the frame 1212 along the gravity direction G, wherein the axis of the guide roller 1211 extends along the first direction F1, and the guide roller 1211 can rotate around its own axis, so that when the object to be grasped needs to be put into the box, the first clamping assembly 11 may release the object to be grasped, and the guide roller 1211, whose axis direction extends along the first direction F1 and is rotatable, effectively reduces the friction between the second clamping assembly 12 and the object to be grasped, thereby enabling the object to be grasped to slide down smoothly under the guidance of the guide roller 1211, so as to enter the box body and complete the putting into the box.

[0057] Preferably, if Figure 5 As shown, the frame 1212 may include a connecting rod and a plurality of brackets, the connecting rod extending along a first direction F1, the plurality of brackets being arranged on the connecting rod at intervals along the first direction F1, the bracket including two supporting rods arranged side by side along the first direction F1, the supporting rod extending along the gravity direction G, and a plurality of guide rollers 1211 may be arranged between two supporting legs on the same bracket, thereby effectively increasing the number of supporting rods, thereby improving the bending strength of the second clamping portion 121, and effectively reducing the probability of bending and deformation of the second clamping assembly 12 when compressing the object to be grasped.

[0058] Preferably, if Figure 5 As shown, the second clamping component 12 may also include a pressure sensing portion 1214, which is disposed on the second clamping portion 121 and is communicatively connected to the second driving portion 122 for monitoring the force applied by the second clamping component 12 to the object to be grasped, so as to obtain in real time the magnitude of the clamping force applied by the second clamping portion 121 to the object to be grasped, so as to prevent damage to the object to be grasped due to excessive force.

[0059] Optionally, the pressure sensing portion 1214 may be a pressure sensor, a displacement sensor, or other sensor that can reflect the magnitude of the clamping force applied by the second clamping portion 121 to the object to be grasped.

[0060] Similarly, if Figure 5 As shown, the second clamping portion 121 may also include a second guide rail 1213, and the second clamping portion 121 may also be arranged on both sides of the above-mentioned placement portion 134 in the second direction F2 via the second guide rail 1213. Its arrangement method and beneficial effects are similar to those of the above-mentioned first clamping portion 111 and placement portion 134, and will not be repeated here.

[0061] Preferably, the second driving portion 122 may be an electric cylinder, so as to control the force applied by the second clamping portion 121 .

[0062] In an embodiment, preferably, Figures 1 to 3 As shown, the above-mentioned adsorption component can also include a third driving part 132, and the third driving part 132 and the adsorption part 131 are both arranged on both sides of the placement part 134 in the gravity direction G. The third driving part 132 is connected to the adsorption part 131 in a transmission manner to drive the adsorption part 131 to move along the gravity direction G. In this way, when the grasping device 1 performs the box-entering action, the grasping device 1 grasps the object to be grasped and moves it to the top of the box body, and the first clamping component 11 releases the object to be grasped. The third driving part 132 can drive the adsorption part 131 to move downward along the gravity direction G to push the object to be grasped into the box body until the object to be grasped reaches the predetermined position for entering the box, and the adsorption part The suction force applied to the object to be grasped is removed, and the object to be grasped is put into the box. In this way, on the one hand, in order to ensure that the object to be grasped can enter the box smoothly, during the process of the object to be grasped entering the box, the second clamping assembly 12 needs to maintain the state of applying pressure to the object to be grasped, and the suction part can move along the gravity direction G, which can effectively ensure the smooth entry of the object to be grasped into the box; on the other hand, the suction part 131 can adsorb the object to be grasped and move it to the predetermined position for entering the box, effectively shortening the distance that the object to be grasped falls by its own weight, effectively reducing the impact of the object to be grasped on the box, and reducing the probability of collision damage between the object to be grasped and the box during the entry process.

[0063] like Figure 6 and Figure 7 As shown, the third driving part 132 may include a rotating motor 1321, a synchronous belt 1322 and a lead screw 1323, the lead screw 1323 is provided with a rotating nut, the rotating motor 1321 and the rotating nut are connected via the synchronous belt 1322, thereby driving the lead screw 1323 to move along the gravity direction G, one end of the lead screw 1323 may be connected to the adsorption part 131, thereby realizing the movement of the adsorption part 131 along the gravity direction G, in this way, the rotating motor 1321 and the rotating nut are connected by the synchronous belt 1322, thereby effectively improving the flexibility of the setting position of the rotating motor 1321, thereby effectively improving the utilization rate of the upper space of the placement part 134.

[0064] However, the present invention is not limited thereto, and the third driving unit 132 may also be other linear driving devices.

[0065] In an embodiment, Figures 1 to 3 As shown, the adsorption component can also include a negative pressure connection part and a vacuum detection part 1333, both of which are arranged on the side of the placement part 134 facing away from the adsorption part 131. In this way, the negative pressure connection part and the vacuum detection part 1333 are effectively prevented from interfering with the above-mentioned first clamping component 11, the second clamping component 12 and the object to be grasped.

[0066] Preferably, if Figure 3As shown, the adsorption portion 131 can be a sponge suction cup, which effectively increases the contact area between the object to be grasped and the adsorption portion 131, thereby improving the adsorption capacity of the adsorption portion 131 on the object to be grasped.

[0067] Preferably, if Figures 1 to 3 As shown, the negative pressure connection part may include a connection pipe 1331 and a docking valve 1332, and the docking valve 1332 may be used to dock with a negative pressure device (e.g., an air pump, a negative pressure blower, etc.). The connection pipe 1331 is used to connect the adsorption part 131 with the docking valve 1332 to achieve negative pressure adsorption of the adsorption part 131.

[0068] However, it is not limited thereto, and the adsorption principle of the adsorption portion 131 is not limited to the negative pressure adsorption. Optionally, the adsorption portion 131 may also be an electromagnet.

[0069] Optionally, the vacuum detection part 1333 may be a vacuum monitor, which may be communicatively connected with the docking valve 1332 and the adsorption part 131 to monitor the air pressure change of the adsorption part 131, thereby ensuring real-time feedback of the adsorption state of the adsorption part 131 and the object to be grasped, thereby facilitating timely discovery of adsorption problems between the adsorption part 131 and the object to be grasped, and further reducing the probability of the object to be grasped falling off.

[0070] In an embodiment, preferably, Figures 1 to 3 As shown, the grasping device 1 may further include a first visual detection unit 141, which is disposed on one side of the first clamping assembly 11 in the first direction F1 to obtain the position of the object to be grasped, so that the grasping device 1 can automatically identify the object to be grasped.

[0071] Preferably, if Figures 1 to 3 As shown, the above-mentioned grasping device 1 can also include a second visual detection unit 142, which is arranged at the edge of the grasping device 1 to obtain the position information of the container (i.e. the above-mentioned box body) where the object to be grasped is to be placed, so as to enable the grasping device 1 to automatically grasp the object to be grasped and execute the boxing action.

[0072] like Figure 1 As described above, taking the adsorption portion 131 as a rectangle as an example, the second visual detection portion 142 can be disposed outside the four corners of the adsorption portion 131 to facilitate obtaining the position information of the contained object.

[0073] Optionally, the first visual detection unit 141 and the second visual detection unit 142 may be CCD cameras.

[0074] See also Figure 8The embodiment of the second aspect of the present application also provides a module shell entry equipment, including the grasping device 1 described in any of the above embodiments, and thus has all the beneficial technical effects of the grasping device 1, which will not be repeated here.

[0075] Preferably, if Figure 8 As shown, the module shelling equipment may further include a transfer device 2, and the grabbing device 1 is arranged on the transfer device 2 to drive the grabbing device 1 to move.

[0076] Preferably, if Figure 8 As shown, the transfer device 2 may be an overhead crane, which may include a trolley and a first slideway 21 extending along the second direction F2. The grabbing device 1 may be arranged on the trolley, and the trolley slides along the first slideway 21 to realize the movement of the grabbing device 1 in the second direction F2.

[0077] Preferably, if Figure 8 As shown, the overhead travelling crane may further include a second slideway 22 extending in the first direction F1 , and the first slideway 21 may slide along the second slideway 22 to achieve movement of the grasping device 1 in the first direction F1 .

[0078] Preferably, the trolley may include a rotating platform, and the gripping device 1 may be arranged on the rotating platform to realize the rotation of the gripping device 1 .

[0079] Optionally, the trolley may further include a lifting device, which is transmission-connected to the grasping device 1 to drive the grasping device 1 as a whole to move closer to or away from the trolley, so as to enable the module shelling equipment to perform downward grasping and upward lifting actions.

[0080] However, it is not limited thereto, and the transfer device 2 may also be other devices, such as a robotic arm.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A gripping device, characterized in that: It includes an adsorption portion and a first clamping component, the adsorption portion can apply an adsorption force to an object to be grasped, at least a portion of the first clamping component can move along a first direction, so that when the adsorption portion adsorbs the object to be grasped, at least a portion of the first clamping component can extend below the object to be grasped in the direction of gravity to support the object to be grasped, and the first direction intersects with the direction of gravity.

2. The gripping device according to claim 1, characterized in that: The first clamping assembly includes a first driving part and two groups of first clamping parts, the two groups of first clamping parts are respectively arranged on both sides of the adsorption part in the first direction, and the first driving part is transmission-connected to the first clamping part to drive the two groups of first clamping parts to approach and move away from each other in the first direction.

3. The gripping device according to claim 2, characterized in that: The first clamping part includes a clamping body and a supporting body, the clamping body extends along the gravity direction, the supporting body is fixedly arranged at one end of the clamping body away from the adsorption part, the supporting body extends along the first direction and extends from the clamping body to the side where the adsorption part is located.

4. The gripping device according to claim 1, characterized in that: It also includes a second clamping assembly, which includes a second driving part and two groups of second clamping parts arranged opposite to each other along a second direction, the two groups of second clamping parts are respectively arranged on both sides of the adsorption part in the second direction, the second driving part is transmission-connected to the second clamping part to drive the two groups of second clamping parts to approach and move away from each other in the second direction, and the second direction intersects with the first direction.

5. The gripping device according to claim 4, characterized in that: The second clamping part includes a roller clamp, and the roller clamp includes a frame and a plurality of guide rollers. The plurality of guide rollers are arranged side by side on the frame along the gravity direction. The axes of the guide rollers extend along the first direction, and the guide rollers can rotate around their own axes.

6. The gripping device according to claim 4, characterized in that: The second clamping assembly further includes a pressure sensing portion, which is disposed on the second clamping portion and is communicatively connected to the second driving portion for monitoring the force of the second clamping assembly acting on the object to be grasped.

7. The gripping device according to any one of claims 2 to 6, characterized in that It also includes an adsorption component, which includes the adsorption part, the placement part and a third driving part. The third driving part and the adsorption part are both arranged on both sides of the placement part in the gravity direction. The third driving part is transmission-connected with the adsorption part to drive the adsorption part to move along the gravity direction.

8. The gripping device according to claim 7, characterized in that: The third driving part is a linear driving device whose driving direction is the direction of gravity.

9. The gripping device according to claim 8, characterized in that: The third driving part includes a rotating motor, a synchronous belt and a lead screw. A rotating nut is provided on the lead screw. The rotating motor and the rotating nut are connected by the synchronous belt transmission to drive the lead screw to move along the direction of gravity. One end of the lead screw is connected to the adsorption part.

10. The gripping device according to claim 7, characterized in that: The adsorption part is a sponge suction cup; The adsorption assembly also includes a negative pressure connection part and a vacuum detection part, both of which are arranged on a side of the placement part facing away from the adsorption part. The negative pressure connection part is connected to the sponge suction cup, and the negative pressure connection part is communicatively connected to the vacuum detection part.

11. The gripping device according to claim 1, characterized in that: Also includes: A first visual detection unit is provided on one side of the first clamping assembly in the first direction, and is used to obtain the position of the object to be grasped; The second visual detection part is arranged at the edge of the grasping device to obtain the position information of the container into which the object to be grasped is to be placed.

12. A module-in-shell equipment, characterized in that: A gripping device comprising any one of claims 1 to 11; The module shelling equipment also includes a transfer device, and the grasping device is arranged on the transfer device to drive the grasping device to move.

13. The module-in-shell equipment according to claim 12, characterized in that: The transfer device includes a trolley and a first slideway extending along a second direction. The grabbing device is arranged on the trolley, and the trolley can slide along the first slideway.

14. The module-in-shell equipment according to claim 13, characterized in that: The transfer device further comprises a second slide extending in a first direction, and the first slide can slide along the second slide.

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