Double-module stepless compatible gripper device

Abstract

The utility model discloses a double-module stepless compatible gripper device which comprises a mounting frame and a middle clamping plate fixedly connected with the mounting frame and is used for separating two groups of battery modules, a first X-direction adjusting mechanism, a second X-direction adjusting mechanism, a first Y-direction adjusting mechanism and a second Y-direction adjusting mechanism are arranged on the mounting frame and are respectively positioned on two Y-direction sides and two X-direction sides of the middle clamping plate; the first X-direction adjusting mechanism and the second X-direction adjusting mechanism are connected with the two clamping assemblies respectively and adjust the distance between the two clamping assemblies in the X direction so as to clamp the two battery modules. The first Y-direction adjusting mechanism and the second Y-direction adjusting mechanism are respectively connected with and adjust the distances between the other two groups of clamping assemblies and the middle clamping plate in the Y direction, and are matched with the middle clamping plate to clamp the battery module; the battery module grabbing mechanism achieves the function of grabbing two battery modules with different sizes at the same time, and has the advantages of being high in compatibility, convenient to adjust and low in cost.

Description

Technical Field

[0001] The utility model relates to the technical field of battery production, and specifically relates to a double-module stepless compatible gripper device. Background Art

[0002] In the modern battery production process, especially in the manufacturing fields of electric vehicles and energy storage systems, the grasping and handling of battery modules are indispensable links on the production line. With the continuous development of battery technology and the diversification of market demands, the sizes and models of battery modules are becoming increasingly rich. This poses higher requirements for the gripper devices on the production line, which not only need to be able to adapt to different-sized battery modules but also ensure the grasping efficiency and the continuity of the production line.

[0003] Traditional gripper devices are usually designed only for specific-sized battery modules. When it is necessary to grasp different-sized modules, it is often necessary to replace the gripper or adjust the structure of the gripper, which not only increases the die change time of the production line but also reduces the production line rhythm and output. At the same time, traditional gripper devices usually adopt a servo system driven by electricity and a speed reducer to achieve precise control, which not only increases the manufacturing cost of the equipment but also improves the maintenance difficulty and cost. In addition, the electrically driven gripper device has a relatively high load requirement for the robot, which limits the running speed and efficiency of the robot.

[0004] More complicatedly, with the continuous expansion of the application of battery modules, the demand for simultaneously grasping two different-sized battery modules has become increasingly prominent. However, traditional gripper devices often have difficulty effectively handling this demand, and the adjustment process is usually relatively complicated, affecting the overall efficiency of the production line.

[0005] Therefore, the market urgently needs a gripper device that can simultaneously grasp two different-sized battery modules, has high compatibility, is convenient to adjust, and has a relatively low cost. Summary of the Utility Model

[0006] The purpose of the utility model is to provide a double-module stepless compatible gripper device for the problems existing in the prior art, which realizes simultaneously grasping two different-sized battery modules, has high compatibility, is convenient to adjust, and has a relatively low cost.

[0007] To achieve the above purpose, the technical solution adopted by the utility model is:

[0008] A dual-module steplessly compatible gripper device, comprising: a mounting frame fixedly connected with an intermediate clamping plate, and the intermediate clamping plate is used for separating a first battery module and a second battery module; the mounting frame is connected with a first X-direction adjusting mechanism and a second X-direction adjusting mechanism respectively arranged on two sides of the intermediate clamping plate in the Y direction, and a first Y-direction adjusting mechanism and a second Y-direction adjusting mechanism respectively arranged on two sides of the intermediate clamping plate in the X direction; the first X-direction adjusting mechanism is connected with a first clamping assembly and a second clamping assembly, and adjusts the distance between the two in the X direction, and the first clamping assembly and the second clamping assembly are used for clamping the first battery module in the X direction; the second X-direction adjusting mechanism is connected with and adjusts the distance between a third clamping assembly and a fourth clamping assembly in the X direction, and the third clamping assembly and the fourth clamping assembly are used for clamping the second battery module in the X direction; the first Y-direction adjusting mechanism is connected with a fifth clamping assembly, and the first Y-direction adjusting mechanism is used for adjusting the distance between the fifth clamping assembly and the intermediate clamping plate, and the fifth clamping assembly cooperates with the intermediate clamping plate to clamp the first battery module in the Y direction; the second Y-direction adjusting mechanism is connected with a sixth clamping assembly, and the second Y-direction adjusting mechanism is used for adjusting the distance between the sixth clamping assembly and the intermediate clamping plate, and the sixth clamping assembly cooperates with the intermediate clamping plate to clamp the second battery module in the Y direction.

[0009] The first X-direction adjusting mechanism includes a first lead screw, a first lead screw support, a first handwheel, a first locking block, a first displacement adjusting plate and a second displacement adjusting plate; the first lead screw is connected to the mounting frame along the X direction through the first lead screw support; the first lead screw is provided with two threaded ends with opposite helix directions, which are respectively connected to the first displacement adjusting plate and the second displacement adjusting plate; the first handwheel is connected to one end of the first lead screw for operating the first lead screw to rotate, and the first locking block is connected to the first lead screw support for locking the first lead screw.

[0010] The second X-direction adjusting mechanism has the same structure as the first X-direction adjusting mechanism and is symmetrically arranged.

[0011] The first clamping assembly includes a first mounting plate, a first linear driving device and a first clamping plate. The first mounting plate is connected to the first displacement adjusting plate, and the first mounting plate is slidably connected to the mounting frame in the X direction; the first linear driving device is connected to the first mounting plate, the first clamping plate is slidably connected to the first mounting plate in the X direction, and the first linear driving device drives the first clamping plate to displace in the X direction.

[0012] The second clamping assembly has the same structure as the first clamping assembly and is symmetrically arranged; the third clamping assembly and the fourth clamping assembly are symmetrically arranged and both have the same structure as the first clamping assembly.

[0013] The first clamping plate is vertically arranged, and a bottom supporting plate is connected to the bottom of the first clamping plate for supporting the battery module from the bottom to prevent it from falling.

[0014] The first Y-direction adjusting mechanism includes a second lead screw, a second lead screw support, a second handwheel, a second locking block, and a third displacement adjusting plate; the second lead screw is connected to the mounting frame along the Y-direction through the second lead screw support; the second lead screw is connected to the third displacement adjusting plate; the second handwheel is connected to one end of the second lead screw for operating the rotation of the second lead screw, and the second locking block is connected to the second lead screw support for locking the second lead screw.

[0015] The second Y-direction adjusting mechanism has the same structure as the first Y-direction adjusting mechanism and is symmetrically arranged.

[0016] The fifth clamping assembly includes a second mounting plate, a second linear driving device, and a second clamping plate. The second mounting plate is connected to the third displacement adjusting plate, and the second mounting plate is slidably connected to the mounting frame in the Y-direction; the second linear driving device is connected to the second mounting plate, the second clamping plate is slidably connected to the second mounting plate in the Y-direction, and the second linear driving device drives the second clamping plate to displace in the Y-direction.

[0017] The sixth clamping assembly has the same structure as the fifth clamping assembly and is symmetrically arranged.

[0018] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0019] The device has the ability to simultaneously grasp two battery modules of different sizes, and can grasp two modules at a time on the tray, significantly reducing the grasping times and die change time, improving the production line beat and output. At the same time, it reduces the floor area of the equipment and the workload of the operators, further improving the production efficiency;

[0020] Through the first X-direction adjusting mechanism, the second X-direction adjusting mechanism, the first Y-direction adjusting mechanism, and the second Y-direction adjusting mechanism, the device realizes high compatibility with battery modules of different sizes. Whether it is the width or the length, it can be flexibly adjusted within a certain range, meeting the production requirements of different models of battery modules, and greatly improving the flexibility and adaptability of the production line;

[0021] Through the design of driving the lead screw by a handwheel, the adjusting mechanism does not require electric drive, reducing the number of servos and reducers, thereby reducing the manufacturing cost and maintenance cost of the equipment. In addition, since the adjusting mechanism does not require electricity, it can also reduce the load of the gripper, lower the requirement for the robot load, or increase the running speed of the robot, further reducing costs or improving efficiency. Description of the Drawings

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a schematic diagram of the overall structure of the gripper device in the embodiment of the present application, from a slightly top-down perspective;

[0024] Figure 2 It is a schematic diagram of the overall structure of the gripper device in the embodiment of the present application, from a slightly bottom-up perspective;

[0025] Figure 3 It is a schematic diagram of the structure of the first X-direction adjustment mechanism, the first clamping assembly, and the second clamping assembly in the embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of the structure of the first Y-direction adjustment mechanism and the fifth clamping assembly in the embodiment of the present application;

[0027] In the figure: 1. Mounting frame; 2. Intermediate clamping plate; 3. First X-direction adjustment mechanism; 3.1. First lead screw; 3.2. First lead screw support; 3.3. First handwheel; 3.4. First locking block; 3.5. First displacement adjustment plate; 3.6. Second displacement adjustment plate; 4. Second X-direction adjustment mechanism; 5. First Y-direction adjustment mechanism; 5.1. Second lead screw; 5.2. Second lead screw support; 5.3. Second handwheel; 5.4. Second locking block; 5.5. Third displacement adjustment plate; 6. Second Y-direction adjustment mechanism; 7. First clamping assembly; 7.1. First mounting plate; 7.2. First linear driving device; 7.3. First clamping plate; 8. Second clamping assembly; 9. Third clamping assembly; 10. Fourth clamping assembly; 11. Fifth clamping assembly; 11.1. Second mounting plate; 11.2. Second linear driving device; 11.3. Second clamping plate; 12. Sixth clamping assembly. Detailed implementation manners

[0028] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0029] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present utility model is customarily placed during use. It is only for the convenience of describing the present utility model 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 should not be construed as a limitation to the present utility model. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0030] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0031] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "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 directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0032] This embodiment provides a double-module steplessly compatible gripper device, which mainly includes a mounting frame, an intermediate clamping plate, adjusting mechanisms in four directions, and a plurality of clamping components. It realizes the stepless compatibility of double battery modules with different widths and lengths, reduces the number of grabs and die change time, improves the production line beat and output, and at the same time reduces the floor area of the equipment and the workload of the operators.

[0033] The following will detail the specific structure of the device in this embodiment with reference to the drawings.

[0034] <Mounting frame and intermediate clamping plate>

[0035] As Figure 1 and Figure 2 shown, the double-module steplessly compatible gripper device provided in this embodiment first includes a mounting frame 1, and this mounting frame 1 serves as the basic support structure of the entire device. On the mounting frame 1, an intermediate clamping plate 2 is fixedly connected. The main function of this intermediate clamping plate 2 is to separate the first battery module and the second battery module to ensure that they do not interfere with each other during the grabbing process.

[0036] <X-direction adjusting mechanism>

[0037] AsFigure 3 As shown in the figure, on the mounting bracket 1, a first X-direction adjusting mechanism 3 and a second X-direction adjusting mechanism 4 are respectively provided on both Y-direction sides of the middle clamping plate 2. The main function of these two adjusting mechanisms is to adjust the distance between the clamping assemblies they are connected to in the X direction, that is, the width direction of the battery module, so as to adapt to battery modules of different widths.

[0038] Specifically, the first X-direction adjusting mechanism 3 includes a first lead screw 3.1, a first lead screw support 3.2, a first handwheel 3.3, a first locking block 3.4, a first displacement adjusting plate 3.5, and a second displacement adjusting plate 3.6. The first lead screw 3.1 is connected to the mounting bracket 1 along the X direction through the first lead screw support 3.2, and the first lead screw 3.1 is provided with two threaded ends with opposite thread directions, which are respectively connected to the first displacement adjusting plate 3.5 and the second displacement adjusting plate 3.6. The first handwheel 3.3 is connected to one end of the first lead screw 3.1 and is used to operate the first lead screw 3.1 to rotate, so as to realize the relative movement of the first displacement adjusting plate 3.5 and the second displacement adjusting plate 3.6 in the X direction. The first locking block 3.4 is connected to the first lead screw support 3.2 and is used to lock the first lead screw 3.1 after the adjustment is completed to ensure the stable position of the displacement adjusting plate.

[0039] The second X-direction adjusting mechanism 4 has the same structure as the first X-direction adjusting mechanism 3 and is symmetrically arranged, and its working principle is also the same, and is used to adjust the distance between the third clamping assembly 9 and the fourth clamping assembly 10 in the X direction.

[0040] <Y-direction adjusting mechanism>

[0041] As Figure 4 shown in the figure, on the mounting bracket 1, a first Y-direction adjusting mechanism 5 and a second Y-direction adjusting mechanism 6 are also respectively provided on both X-direction sides of the middle clamping plate 2. The main function of these two adjusting mechanisms is to adjust the distance between the clamping assemblies they are connected to and the middle clamping plate 2 in the Y direction, that is, the length direction of the battery module, so as to adapt to battery modules of different lengths.

[0042] Specifically, the first Y-direction adjusting mechanism 5 includes a second lead screw 5.1, a second lead screw support 5.2, a second handwheel 5.3, a second locking block 5.4, and a third displacement adjusting plate 5.5. The second lead screw 5.1 is connected to the mounting bracket 1 along the Y direction through the second lead screw support 5.2, and the second lead screw 5.1 is connected to the third displacement adjusting plate 5.5. The second handwheel 5.3 is connected to one end of the second lead screw 5.1 and is used to operate the second lead screw 5.1 to rotate, so as to realize the movement of the third displacement adjusting plate 5.5 in the Y direction. The second locking block 5.4 is connected to the second lead screw support 5.2 and is used to lock the second lead screw 5.1 after the adjustment is completed to ensure the stable position of the third displacement adjusting plate 5.5.

[0043] The second Y-direction adjustment mechanism 6 has the same structure as the first Y-direction adjustment mechanism 5 and is symmetrically arranged, and its working principle is also the same, which is used to adjust the distance between the sixth clamping assembly 12 and the intermediate clamping plate 2 in the Y direction.

[0044] <Clamping assembly>

[0045] As Figure 3 shown, on the first X-direction adjustment mechanism 3, a first clamping assembly 7 and a second clamping assembly 8 are connected. The main functions of these two clamping assemblies are to clamp the first battery module in the X direction.

[0046] Specifically, the first clamping assembly 7 includes a first mounting plate 7.1, a first linear driving device 7.2, and a first clamping plate 7.3. The first mounting plate 7.1 is connected to the first displacement adjustment plate 3.5, and the first mounting plate 7.1 is slidably connected to the mounting frame 1 in the X direction, so that the first clamping assembly 7 can move together with the first displacement adjustment plate 3.5. The first linear driving device 7.2 is connected to the first mounting plate 7.1 and is used to provide a clamping force. The first clamping plate 7.3 is slidably connected to the first mounting plate 7.1 in the X direction and is driven by the first linear driving device 7.2 to displace in the X direction, so as to realize the clamping of the battery module.

[0047] The second clamping assembly 8 has the same structure as the first clamping assembly 7 and is symmetrically arranged, and its working principle is also the same, which is used to cooperate with the first clamping assembly 7 to clamp the first battery module in the X direction.

[0048] On the second X-direction adjustment mechanism 4, a third clamping assembly 9 and a fourth clamping assembly 10 are connected. The main functions of these two clamping assemblies are to clamp the second battery module in the X direction. The third clamping assembly 9 and the fourth clamping assembly 10 are symmetrically arranged and both have the same structure as the first clamping assembly 7, and their working principles are also the same, which are used to clamp the second battery module in the X direction.

[0049] As Figure 4 shown, on the first Y-direction adjustment mechanism 5, a fifth clamping assembly 11 is connected. The main function of this clamping assembly is to cooperate with the intermediate clamping plate 2 to clamp the first battery module in the Y direction.

[0050] Specifically, the fifth clamping assembly 11 includes a second mounting plate 11.1, a second linear driving device 11.2, and a second clamping plate 11.3. The second mounting plate 11.1 is connected to the third displacement adjustment plate 5.5, and the second mounting plate 11.1 is slidably connected to the mounting frame 1 in the Y direction, so that the fifth clamping assembly 11 can move together with the third displacement adjustment plate 5.5. The second linear driving device 11.2 is connected to the second mounting plate 11.1 and is used to provide a clamping force. The second clamping plate 11.3 is slidably connected to the second mounting plate 11.1 in the Y direction and is driven by the second linear driving device 11.2 to displace in the Y direction, so as to realize the clamping of the battery module.

[0051] On the second Y-direction adjusting mechanism 6, a sixth clamping assembly 12 is connected. The main function of this clamping assembly is to cooperate with the intermediate clamping plate 2 to clamp the second battery module in the Y direction. The sixth clamping assembly 12 has the same structure as the fifth clamping assembly 11 and is symmetrically arranged, and its working principle is also the same, which is used to cooperate with the intermediate clamping plate 2 to clamp the second battery module in the Y direction.

[0052] The adjustment method of this embodiment enables the device to be compatible with battery modules with a width range between 100 mm and 280 mm and a length range between 300 mm and 665 mm. This wide compatibility makes it extremely flexible and practical in actual applications.

[0053] The dual-module steplessly compatible gripper device provided by this embodiment has the following remarkable advantages:

[0054] 1. Through the stepless adjustment mechanism, high compatibility with different-sized battery modules is achieved. Whether it is the width or the length, flexible adjustment can be carried out within a certain range, meeting the production requirements of different models of battery modules.

[0055] 2. The ability to simultaneously grasp two battery modules of different sizes makes it possible to grasp two modules on the tray at one time, thereby reducing the grasping times and die change time, and improving the production line rhythm and output.

[0056] 3. Through the design of driving the lead screw by a handwheel, the adjustment mechanism does not require electric drive, reducing the number of servos and speed reducers, thereby reducing the manufacturing cost and maintenance cost of the equipment. In addition, since this adjustment mechanism does not require electricity, the load of the gripper can also be reduced, the requirement for the robot load can be lowered, or the running speed of the robot can be increased, further reducing costs or improving efficiency.

[0057] In another embodiment, in order to improve the clamping stability and reliability, the clamping plate is also specially designed. Specifically, the first clamping plate 7.3 is vertically arranged, and a bottom support plate is connected to its bottom for holding the battery module at the bottom to prevent the battery module from falling during the grasping process. Similarly, the second clamping plate, the third clamping plate, the fourth clamping plate, the fifth clamping plate, and the sixth clamping plate can also adopt the same design to ensure the clamping stability and safety.

[0058] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dual-module steplessly compatible gripper device, characterized in that, Comprising: An installation bracket (1) fixedly connected with an intermediate clamping plate (2), and the intermediate clamping plate (2) is used for separating a first battery module and a second battery module; The installation bracket (1) is connected with a first X-direction adjusting mechanism (3) and a second X-direction adjusting mechanism (4) respectively arranged on two Y-direction sides of the intermediate clamping plate (2), and a first Y-direction adjusting mechanism (5) and a second Y-direction adjusting mechanism (6) respectively arranged on two X-direction sides of the intermediate clamping plate (2); The first X-direction adjusting mechanism (3) is connected with a first clamping assembly (7) and a second clamping assembly (8), and adjusts the distance between the two in the X direction. The first clamping assembly (7) and the second clamping assembly (8) are used for clamping the first battery module in the X direction; The second X-direction adjusting mechanism (4) is connected with and adjusts the distance between a third clamping assembly (9) and a fourth clamping assembly (10) in the X direction. The third clamping assembly (9) and the fourth clamping assembly (10) are used for clamping the second battery module in the X direction; The first Y-direction adjusting mechanism (5) is connected with a fifth clamping assembly (11). The first Y-direction adjusting mechanism (5) is used for adjusting the distance between the fifth clamping assembly (11) and the intermediate clamping plate (2). The fifth clamping assembly (11) cooperates with the intermediate clamping plate (2) to clamp the first battery module in the Y direction; The second Y-direction adjusting mechanism (6) is connected with a sixth clamping assembly (12). The second Y-direction adjusting mechanism (6) is used for adjusting the distance between the sixth clamping assembly (12) and the intermediate clamping plate (2). The sixth clamping assembly (12) cooperates with the intermediate clamping plate (2) to clamp the second battery module in the Y direction.

2. The dual-module steplessly compatible gripper device according to claim 1, wherein The first X-direction adjusting mechanism (3) includes a first lead screw (3.1), a first lead screw support (3.2), a first hand wheel (3.3), a first locking block (3.4), a first displacement adjusting plate (3.5) and a second displacement adjusting plate (3.6); the first lead screw (3.1) is connected to the installation bracket (1) along the X direction through the first lead screw support (3.2); the first lead screw (3.1) is provided with two threaded ends with opposite helix directions, which are respectively connected to the first displacement adjusting plate (3.5) and the second displacement adjusting plate (3.6); the first hand wheel (3.3) is connected to one end of the first lead screw (3.1) for operating the first lead screw (3.1) to rotate, and the first locking block (3.4) is connected to the first lead screw support (3.2) for locking the first lead screw (3.1).

3. The double-module steplessly compatible gripper device according to claim 2, characterized in that, The second X-direction adjusting mechanism (4) has the same structure as the first X-direction adjusting mechanism (3) and is symmetrically arranged.

4. A dual-module steplessly compatible gripper device according to claim 2, characterized in that, The first clamping assembly (7) includes a first mounting plate (7.1), a first linear driving device (7.2), and a first clamping plate (7.3). The first mounting plate (7.1) is connected to the first displacement adjustment plate (3.5), and the first mounting plate (7.1) is slidably connected to the mounting frame (1) in the X direction; the first linear driving device (7.2) is connected to the first mounting plate (7.1), the first clamping plate (7.3) is slidably connected to the first mounting plate (7.1) in the X direction, and the first linear driving device (7.2) drives the first clamping plate (7.3) to displace in the X direction.

5. The dual-module steplessly compatible gripper device according to claim 4, wherein, The second clamping assembly (8) has the same structure as the first clamping assembly (7) and is symmetrically arranged; the third clamping assembly (9) and the fourth clamping assembly (10) are symmetrically arranged, and both have the same structure as the first clamping assembly (7).

6. The double-module steplessly compatible gripper device according to claim 4, wherein, The first clamping plate (7.3) is vertically arranged, and a bottom support plate is connected to the bottom of the first clamping plate (7.3) for supporting the battery module from the bottom to prevent it from falling.

7. A dual-module steplessly compatible gripper device according to claim 1, characterized in that, The first Y-direction adjustment mechanism (5) includes a second lead screw (5.1), a second lead screw support (5.2), a second handwheel (5.3), a second locking block (5.4), and a third displacement adjustment plate (5.5); the second lead screw (5.1) is connected to the mounting frame (1) along the Y direction through the second lead screw support (5.2); the second lead screw (5.1) is connected to the third displacement adjustment plate (5.5); the second handwheel (5.3) is connected to one end of the second lead screw (5.1) for operating the rotation of the second lead screw (5.1), and the second locking block (5.4) is connected to the second lead screw support (5.2) for locking the second lead screw (5.1).

8. A dual-module steplessly compatible gripper device according to claim 7, wherein The second Y-direction adjustment mechanism (6) has the same structure as the first Y-direction adjustment mechanism (5) and is symmetrically arranged.

9. The dual-module stepless compatible gripper device according to claim 7, wherein The fifth clamping assembly (11) includes a second mounting plate (11.1), a second linear driving device (11.2), and a second clamping plate (11.3). The second mounting plate (11.1) is connected to the third displacement adjustment plate (5.5), and the second mounting plate (11.1) is slidably connected to the mounting frame (1) in the Y direction; the second linear driving device (11.2) is connected to the second mounting plate (11.1), the second clamping plate (11.3) is slidably connected to the second mounting plate (11.1) in the Y direction, and the second linear driving device (11.2) drives the second clamping plate (11.3) to displace in the Y direction.

10. A dual-module steplessly compatible gripper device according to claim 9, wherein, The sixth clamping assembly (12) has the same structure as the fifth clamping assembly (11) and is symmetrically arranged.

Images