Battery cell grabbing device

Abstract

The utility model relates to the technical field of battery production equipment, and provides a battery cell grabbing device. The battery cell grabbing device comprises a rack, a shear fork mechanism arranged on the rack, a transmission part, a positioning mechanism and a clamping mechanism, the clamping mechanisms are used for clamping the battery cells and are configured to be a plurality of clamping mechanisms connected with the shear fork mechanisms, and the transmission part can drive the shear fork mechanisms to be unfolded or folded so as to adjust the distance between every two adjacent clamping mechanisms. And meanwhile, the clamping mechanism moving to the preset position can be fixed by the positioning mechanism. According to the battery cell grabbing device disclosed by the utility model, through the arrangement of the scissor fork mechanism and the positioning mechanism, the distance between the clamping mechanisms can be adjusted, and the positioning mechanism can fix the clamping mechanisms, so that the stability of the working positions of the clamping mechanisms is ensured, and shaking is prevented when the battery cell is grabbed or placed; and therefore, the accuracy of grabbing and placing the battery cell is improved.

Description

Technical Field

[0001] This utility model relates to the field of battery production equipment technology, and in particular to a battery cell gripping device. Background Technology

[0002] With the rapid development of the new energy industry, the demand for automation in lithium-ion battery cell production is increasing. During cell assembly, testing, and transfer, gripping devices are needed to pick up cells from storage bins. However, these bins come in different sizes and the spacing between cells within them varies. Furthermore, after picking up the cells, to meet the requirements of subsequent automated production, the distance between each cell needs to be adjusted and made uniform.

[0003] Existing gripping devices typically have multiple independently driven clamping mechanisms to change the spacing between them. However, the structure of existing gripping devices is relatively complex, and they lack reliable positioning and holding mechanisms. After long-term operation, each clamping mechanism is prone to displacement due to vibration and mechanical wear, making it difficult to ensure the stability of the working position of each clamping mechanism after the spacing adjustment is completed, thus affecting the accuracy of cell gripping and placement. Utility Model Content

[0004] In view of this, the present invention aims to provide a battery cell gripping device that can ensure the stability of the working position of each clamping mechanism, thereby improving the accuracy of battery cell gripping and placement.

[0005] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0006] A battery cell gripping device includes a frame, a scissor mechanism and a transmission unit disposed on the frame, as well as a positioning mechanism and a clamping mechanism, wherein multiple clamping mechanisms are sequentially disposed on the frame and are used to clamp battery cells, and the positioning mechanism is configured in a one-to-one correspondence with the clamping mechanism;

[0007] The scissor mechanism includes multiple sets of cross-hinged link assemblies, and each link assembly has a hinge point. The multiple clamping mechanisms are respectively connected to the hinge points.

[0008] The transmission unit is driven to expand or retract the scissor mechanism and adjust the distance between two adjacent clamping mechanisms.

[0009] The positioning mechanism can position the clamping mechanism, which has been moved to a preset position, on the frame.

[0010] Furthermore, the plurality of clamping mechanisms include a fixed clamping mechanism fixedly connected to one end of the frame, an active clamping mechanism slidably disposed on the frame, and a plurality of driven clamping mechanisms; the fixed clamping mechanism and the active clamping mechanism are respectively connected to two hinge points at both ends of the scissor mechanism.

[0011] Furthermore, the transmission unit includes a lead screw rotatably mounted on the frame, and a lead screw nut screwed onto the lead screw and connected to the active clamping mechanism; the lead screw can be driven to rotate by an external drive motor, and through the active clamping mechanism, it drives the scissor mechanism to unfold or retract.

[0012] Furthermore, the frame is provided with a slide rail extending along the length of the frame, and both the active clamping mechanism and each of the driven clamping mechanisms are provided with a slider, which is slidably disposed on the slide rail.

[0013] Furthermore, the positioning mechanism includes an electromagnetic push rod disposed on the frame and a positioning element disposed on the drive end of the electromagnetic push rod. Corresponding to the positioning element, the clamping mechanism includes two first grippers arranged opposite to each other, a first drive unit connected to the two first grippers, and an elastic element. The electromagnetic push rod can drive the positioning element closer to the clamping mechanism, and the two first grippers are driven by the first drive unit to clamp the positioning element. The elastic element can be compressed and stored by the positioning element close to the clamping mechanism, and the elastic element can release energy to drive the positioning element to reset.

[0014] Furthermore, the clamping mechanism is provided with a guide rod, the elastic element includes a spring sleeved on the guide rod, and corresponding to the guide rod, the positioning element is provided with a through hole for the guide rod to pass through.

[0015] Furthermore, the clamping mechanism includes two second grippers arranged opposite to each other, and a second drive unit that drives the two second grippers to move closer or further apart; the clamping mechanism is connected to the corresponding hinge point on the scissor mechanism through the second drive unit.

[0016] Furthermore, the second drive unit includes a gripper cylinder, with two second grippers respectively connected to the two drive ends of the gripper cylinder.

[0017] Furthermore, the second drive unit is provided with a detection unit, which is capable of detecting the distance between the two second grippers.

[0018] Furthermore, each of the two second grippers is detachably provided with a clamping block on each opposite side, each clamping block being made of an elastic material, and each clamping block having an anti-slip structure formed on its clamping surface.

[0019] Compared with the prior art, this utility model has the following advantages:

[0020] The battery cell gripping device of this utility model, through the arrangement of a scissor mechanism and a positioning mechanism, utilizes the characteristic that the distance between each hinge point of the scissor mechanism changes synchronously when it expands or retracts to adjust the spacing between each gripping mechanism. The structure is simple and reliable, ensuring that the spacing between each gripping mechanism changes synchronously and equally. Simultaneously, the positioning mechanism can fix each gripping mechanism to ensure the stability of its working position, preventing shaking during gripping or placing of the battery cell and avoiding displacement of the working position of each gripping mechanism, thereby improving the accuracy of battery cell gripping and placement.

[0021] In addition, the multiple clamping mechanisms include an active clamping mechanism that slides on the frame, multiple driven clamping mechanisms, and a fixed clamping mechanism. The fixed clamping mechanism can fix one end of the scissor lift mechanism to the frame, facilitating the movement of one end of the scissor lift mechanism by the transmission unit, thereby actuating the scissor lift mechanism. The transmission unit includes a lead screw rotatably mounted on the frame and a lead screw nut screwed onto the lead screw. Its structure is compact, the transmission is smooth, and it has a large driving force. The frame is equipped with slide rails, and the clamping mechanisms are equipped with sliders to ensure smooth movement of the clamping mechanisms on the frame.

[0022] Furthermore, through the cooperation between the positioning rod and the two first grippers, the clamping mechanism can clamp the corresponding positioning rod via the first drive unit to fix the working position of each clamping mechanism and prevent the clamping mechanism from shaking. The clamping mechanism is equipped with a guide rod, and the elastic element includes a spring sleeved on the guide rod. The positioning element has a through hole for the guide rod to pass through, allowing the positioning element to constrain the position of the clamping mechanism via the guide rod. The clamping mechanism includes two second grippers and a second drive unit, realizing the gripping or placement of battery cells and providing a connection base for the scissor lift mechanism.

[0023] Furthermore, the second drive unit includes a gripper cylinder with a fast response speed. It can also control the clamping force by adjusting the gas pressure, preventing damage to the battery cell surface. The second drive unit is equipped with a detection unit that can detect the distance between the two second grippers, enabling closed-loop control of the two grippers and ensuring the clamping accuracy of the battery cell. Each of the two second grippers is equipped with a clamping block to improve the clamping effect on the battery cell and prevent damage. Attached Figure Description

[0024] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0025] Figure 1This is a schematic diagram of the overall structure of the battery cell gripping device described in an embodiment of the present invention;

[0026] Figure 2 The front view of the battery cell gripping device according to an embodiment of the present invention, which has a scissor mechanism on one side;

[0027] Figure 3 This is a bottom view of the battery cell gripping device described in an embodiment of the present invention;

[0028] Figure 4 for Figure 1 An enlarged view of the location shown in Figure A;

[0029] Figure 5 This is a side view of the battery cell gripping device described in an embodiment of the present invention;

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Frame; 2. Scissor lift mechanism; 3. Transmission unit; 4. Positioning mechanism; 5. Clamping mechanism; 5a. Active clamping mechanism; 5b. Driven clamping mechanism; 5c. Fixed clamping mechanism; 6. Detection unit;

[0032] 101. Connecting flange; 102. Slide rail; 301. Lead screw; 302. Lead screw nut; 303. Synchronous pulley; 401. Electromagnetic push rod; 402. Positioning component; 4021. Through hole; 403. First gripper; 404. First drive unit; 405. Elastic component; 406. Guide rod; 407. Mounting beam; 501. Second gripper; 5011. Clamping block; 502. Second drive unit; 503. Slider; 504. Connecting plate. Detailed Implementation

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0034] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0035] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" appear, indicating orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, if terms such as "first" or "second" appear, they are also used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] Furthermore, in the description of this utility model, unless otherwise explicitly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model in light of the specific circumstances.

[0037] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] This embodiment relates to a battery cell gripping device, capable of simultaneously gripping multiple battery cells placed in a material frame and transferring each battery cell to the next workstation. In terms of overall structure, as shown... Figure 1 , Figure 2 As shown, this embodiment includes a frame 1, a scissor mechanism 2 and a transmission part 3 disposed on the frame 1, as well as a positioning mechanism 4 and a clamping mechanism 5.

[0039] The clamping mechanisms 5 are arranged sequentially on the frame 1 and are used to clamp the battery cells. The positioning mechanism 4 is arranged in a one-to-one correspondence with each clamping mechanism 5. The scissor mechanism 2 includes multiple sets of cross-hinged linkage assemblies, each with a hinge point. The clamping mechanisms 5 are connected to these hinge points. At this time, the transmission unit 3 is driven to expand or retract the scissor mechanism 2 and adjust the distance between two adjacent clamping mechanisms 5. Furthermore, the positioning mechanism 4 positions the clamping mechanism 5, which has been moved to a preset position, on the frame 1.

[0040] As described above, the scissor mechanism 2 and positioning mechanism 4 utilize the characteristic that the distance between each hinge point changes synchronously when the scissor mechanism 2 expands or retracts to adjust the spacing between each clamping mechanism 5. The structure is simple and reliable, ensuring that the spacing between each clamping mechanism 5 changes synchronously and equally. Simultaneously, the positioning mechanism 4 can fix each clamping mechanism 5 to ensure the stability of its working position, preventing shaking during cell gripping or placement and avoiding positional shifts, thereby improving the accuracy of cell gripping and placement.

[0041] Based on the above overview, specifically, in this embodiment, the frame 1 is provided with a connecting flange 101 for connecting to a conveying device on the production line, which can be a robotic arm. After the battery cell gripping device in this embodiment grips a certain number of battery cells, it can be moved by the robotic arm to complete the transfer of battery cells.

[0042] In this embodiment, as Figure 2 As shown, the multiple clamping mechanisms 5 include a fixed clamping mechanism 5c fixed to one end of the frame 1, an active clamping mechanism 5a slidably mounted on the frame 1, and multiple driven clamping mechanisms 5b. The fixed clamping mechanism 5c and the active clamping mechanism 5a are respectively connected to two hinge points at both ends of the scissor lift mechanism 2. It can be understood that by setting the fixed clamping mechanism 5c, one end of the scissor lift mechanism 2 can be fixedly connected to the frame 1. At this time, the transmission unit 3 drives the other end of the scissor lift mechanism 2 to move, thus completing the unfolding or retraction of the scissor lift mechanism 2. The transmission unit 3 only needs to drive one end of the scissor lift mechanism 2 to drive its operation, which simplifies the structural design of the transmission unit 3, facilitates maintenance, and also facilitates the arrangement of the transmission unit 3 on the frame 1.

[0043] Specifically, such as Figure 2 , Figure 3 As shown, the transmission unit 3 in this embodiment includes a lead screw 301 rotatably mounted on the frame 1, and a lead screw nut 302 screwed onto the lead screw 301 and connected to the active clamping mechanism 5a. The lead screw 301 can be driven to rotate by an external drive motor. The lead screw 301 is arranged along the sliding direction of the active clamping mechanism 5a and each driven clamping mechanism 5b.

[0044] When the lead screw 301 is driven to rotate, the lead screw nut 302 screwed onto the lead screw 301 can be driven to move along the length direction of the lead screw 301, and drive the active clamping mechanism 5a connected to it to slide on the frame 1, thereby driving the scissor lift mechanism 2 to unfold or retract. Through the cooperative arrangement of the lead screw 301 and the lead screw nut 302, the structure is compact and the transmission is smooth, with a large driving force to ensure that the unfolding and retraction of the scissor lift mechanism 2 drives each clamping mechanism 5 to slide on the frame 1, and improves the movement accuracy of each clamping mechanism 5. In addition, the lead screw 301 and the lead screw nut 302 can achieve self-locking, which can, to a certain extent, prevent changes in the spacing between the clamping mechanisms 5, and improve the accuracy of the working position of the clamping mechanisms 5.

[0045] In a specific implementation, a synchronous pulley 303 is provided at the end of the lead screw away from the frame 1 in this embodiment, so as to facilitate transmission connection with an external drive motor.

[0046] In order to ensure the smooth sliding of the active clamping mechanism 5a and the driven clamping mechanism 5b on the frame 1, the frame 1 of this embodiment is provided with a slide rail 102 extending along the length direction of the frame 1, and each of the active clamping mechanism 5a and each driven clamping mechanism 5b is provided with a slider 503, which slides on the slide rail 102.

[0047] In specific implementation, the slide rail 102 in this embodiment is a dovetail slide rail 102, and the slider 503 is disposed on the top of the active clamping mechanism 5a and each driven clamping mechanism 5b, so that each clamping mechanism 5 is suspended on the frame 1. At the same time, the scissor mechanism 2 is disposed on one side of each clamping mechanism 5 in the horizontal direction.

[0048] The cooperation between the slide rail 102 and the slider 503 improves the smoothness of the sliding of the active clamping mechanism 5a and the driven clamping mechanism 5b. Simultaneously, the cooperation between the slider 503 and the slide rail 102 allows each clamping mechanism 5 to be suspended on the frame 1. At this point, the frame 1 and the slide rail 102 primarily support the clamping mechanism 5 itself, as well as the weight of the battery cell gripped by the clamping mechanism 5. The transmission unit 3 and the scissor mechanism 2 are only used to drive the sliding of each clamping mechanism 5, thus reducing the driving power required by the transmission unit 3.

[0049] As a specific form of implementation, such as Figure 4As shown, the positioning mechanism 4 in this embodiment includes an electromagnetic push rod 401 mounted on the frame 1, and a positioning member 402 mounted on the drive end of the electromagnetic push rod 401. Corresponding to the positioning member 402, the clamping mechanism 5 includes two opposing first grippers 403, a first drive unit 404 connected to the two first grippers 403, and an elastic member 405. When the clamping mechanism 5 reaches a preset position, the electromagnetic push rod 401 can drive the positioning member 402 closer to the clamping mechanism 5, and the two first grippers 403 can be driven by the first drive unit 404 to clamp the positioning member 402. At the same time, the elastic member 405 can be compressed and stored by the positioning member 402 close to the clamping mechanism 5, and the elastic member 405 can release energy to drive the positioning member 402 to reset, so as to avoid the positioning member 402 interfering with the sliding of each clamping mechanism 5 on the frame 1.

[0050] Thus, through the cooperation of the positioning rod and the two first grippers 403, the clamping mechanism 5 can clamp the corresponding positioning rod through the first drive part 404, so that the clamping mechanism 5 is rigidly connected to the frame 1 through the positioning mechanism 4, fixing the working position of each clamping mechanism 5, avoiding the clamping mechanism 5 from shaking when gripping the battery cell, or preventing the working position of each clamping mechanism 5 in this embodiment from shifting due to mechanical wear and other factors, affecting the gripping and placement of the battery cell, thereby improving the accuracy and stability of the working position of each clamping mechanism 5.

[0051] In specific implementation, each positioning mechanism 4 in this embodiment is located on the side away from the scissor mechanism 2 to avoid interference with the scissor mechanism 2. Meanwhile, the frame 1 is provided with a mounting beam 407, which can be made of aluminum profile with mounting grooves on the side. The electromagnetic push rod 401 can be mounted on the mounting groove through the aluminum profile. Thus, by adjusting the mounting position of the electromagnetic push rod 401 on the mounting beam 407, the positioning rod can be aligned one-to-one with each clamping mechanism 5 at a preset position. Furthermore, the first drive unit 404 in this embodiment can be a drive assembly known to those skilled in the art for driving the two first grippers 403 to clamp and separate, such as a gripper cylinder or a bidirectional lead screw.

[0052] In this embodiment, the clamping mechanism 5 is provided with a guide rod 406, and the elastic element 405 includes a spring sleeved on the guide rod 406. Corresponding to the guide rod 406, the positioning element 402 is provided with a through hole 4021 through which the guide rod 406 passes. Through the cooperation of the through hole 4021 and the guide rod 406, when the positioning element 402 is driven close to the clamping mechanism 5 by the electromagnetic push rod 401, the guide rod 406 on the clamping mechanism 5 can be inserted into the through hole 4021. After the guide rod 406 is inserted into the through hole 4021, the positioning element 402 can restrict the clamping mechanism 5 from sliding on the frame 1, so that the positioning element 402, through the guide rod 406, constitutes a positional constraint on the clamping mechanism 5, thereby improving the accuracy of the working position of the clamping mechanism 5 to a certain extent. Meanwhile, a spring is sleeved on the guide rod 406. When the guide rod 406 is inserted into the through hole 4021, the spring can be squeezed by the positioning member 402 and the clamping mechanism 5 to store energy. By sleeved on the guide rod 406, it can be ensured that the spring does not shift when squeezed, which improves the reliability of the elastic member 405 and ensures the reset effect of the positioning member 402.

[0053] In practical implementation, the diameter of the through hole 4021 in this embodiment is slightly larger than the diameter of the guide rod 406. Simultaneously, a guide surface is formed on the side of the through hole 4021 facing the guide rod 406 to facilitate insertion of the guide surface into the through hole 4021. Furthermore, the end of the spring facing the clamping mechanism 5 is fixedly connected to the guide rod 406 to prevent the spring from falling off.

[0054] As a specific form of implementation, such as Figure 5 As shown, the clamping mechanism 5 of this embodiment includes two opposing second grippers 501 and a second driving part 502 that drives the two second grippers 501 to move closer or further apart. The clamping mechanism 5 is connected to the corresponding hinge point on the scissor mechanism 2 via the second driving part 502. The aforementioned slider 503 is located on top of the second driving part 502. The second driving part 502 drives the two second grippers 501 to move closer or further apart to grip or place the battery cell. Simultaneously, the second driving part 502 provides a connection base for the hinge point between the slider 503 and the scissor mechanism 2.

[0055] In specific implementation, the second drive unit 502 of this embodiment is provided with a connecting plate 504 at its top. The slider 503, the first drive unit 404 and the guide rod 406 are all provided on the connecting plate 504. The hinge point of the scissor mechanism 2 is connected to the connecting plate 504. The setting of the connecting plate 504 can increase the width of the clamping mechanism 5, which is beneficial to the setting of the scissor mechanism 2 and the positioning component.

[0056] Specifically, the second drive unit 502 includes a gripper cylinder, with two second grippers 501 respectively connected to the two drive ends of the gripper cylinder. By using a gripper cylinder, the two second grippers 501 are driven by gas, resulting in a faster response speed. Simultaneously, the gripping force can be controlled by adjusting the gas pressure, ensuring effective gripping while preventing damage to the battery cell surface, thus facilitating the gripping operation of the battery cell. In practical implementation, both the first drive unit 404 and the second drive unit 502 in this embodiment can be gripper cylinders to facilitate coordinated control of the two drive units.

[0057] It is understandable that after prolonged operation, the positioning accuracy of the two second grippers 501 may decrease due to factors such as mechanical wear. Therefore, in this embodiment, the second drive unit 502 is equipped with a detection unit 6. The detection unit 6 can detect the distance between the two second grippers 501, thereby achieving closed-loop control of the two second grippers 501. This can improve the positioning accuracy of the second grippers 501 to a certain extent, thus ensuring the clamping accuracy of the clamping mechanism 5 on the battery cell.

[0058] In a specific implementation, the detection unit 6 of this embodiment is configured as two separate units on both sides of the second drive unit 502, and the detection unit 6 can preferably be a Hall sensor, so that each detection unit 6 can detect the intensity change of the permanent magnet on the corresponding second gripper 501, thereby detecting the position of the second gripper 501 and determining the distance between the two second grippers 501.

[0059] Furthermore, to prevent damage to the battery cell during gripping, each of the two second grippers 501 in this embodiment is detachably equipped with a gripping block 5011 on each opposite side. Each gripping block 5011 is made of an elastic material, and an anti-slip structure is formed on the gripping surface of each gripping block 5011. The detachable design of the gripping blocks 5011 facilitates replacement and maintenance. Simultaneously, the elastic material gripping blocks 5011 prevent damage to the surface of the battery cell, and the anti-slip structure ensures the gripping stability of the gripping mechanism 5 on the battery cell, preventing the battery cell from falling off during transport. In specific implementations, the gripping blocks 5011 in this embodiment are supported by conventional elastic materials well-known to those skilled in the art, such as rubber or silicone. The anti-slip structure consists of anti-slip textures on the gripping surface of the gripping blocks 5011.

[0060] In summary, the battery cell gripping device of this embodiment, through the arrangement of the scissor mechanism 2 and the positioning mechanism 4, utilizes the characteristic that the distance between each hinge point changes synchronously when the scissor mechanism 2 expands or retracts to adjust the spacing between each clamping mechanism 5. The structure is simple and reliable, ensuring that the spacing between each clamping mechanism 5 changes synchronously and equally. Simultaneously, the positioning mechanism 4 can fix each clamping mechanism 5 to ensure the stability of its working position, preventing shaking during battery cell gripping or placement and avoiding positional deviation of each clamping mechanism 5. This improves the accuracy of battery cell gripping and placement, demonstrating excellent practicality.

[0061] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A cell grabbing device characterized in that: it comprises a rack, a scissor mechanism, a transmission part, and positioning mechanisms and clamping mechanisms arranged on the rack in sequence and used for clamping cells, the positioning mechanisms and the clamping mechanisms are arranged one by one in correspondence; the scissor mechanism comprises multiple groups of cross-linked linkage assemblies, and each of the linkage assemblies is formed with a hinge point, and multiple clamping mechanisms are connected with the hinge points respectively; the transmission part is driven to drive the scissor mechanism to expand or contract and adjust the distance between two adjacent clamping mechanisms; the positioning mechanism can position the clamping mechanism moved to a preset position on the rack. 2.A cell grabbing device according to claim 1 characterized in that: multiple clamping mechanisms comprise a fixed clamping mechanism fixed to one end of the rack, and a main clamping mechanism and multiple driven clamping mechanisms slidingly arranged on the rack; the fixed clamping mechanism and the main clamping mechanism are connected with two hinge points at both ends of the scissor mechanism respectively. 3.A cell grabbing device according to claim 2 characterized in that: the transmission part comprises a screw rod rotatingly arranged on the rack, and a screw rod nut screwed on the screw rod and connected with the main clamping mechanism; the screw rod can be driven to rotate by an external driving motor, and the main clamping mechanism drives the scissor mechanism to expand or contract. 4.A cell grabbing device according to claim 2 characterized in that: the rack is provided with a sliding rail extending along the length direction of the rack, and each of the main clamping mechanism and the driven clamping mechanisms is provided with a sliding block slidingly arranged on the sliding rail. 5.A cell grabbing device according to claim 1 characterized in that: the positioning mechanism comprises an electromagnetic push rod arranged on the rack, and a positioning member arranged on the driving end of the electromagnetic push rod, and corresponding to the positioning member, the clamping mechanism comprises two first clamping jaws arranged oppositely, a first driving part connected with the two first clamping jaws, and an elastic member; the electromagnetic push rod can drive the positioning member to approach the clamping mechanism, and the two first clamping jaws can be clamped by the first driving part; the elastic member can be compressed and stored energy by the positioning member approaching the clamping mechanism, and the elastic member can drive the positioning member to reset when releasing energy. 6.A cell grabbing device according to claim 5 characterized in that: the clamping mechanism is provided with a guide rod, the elastic member comprises a spring sleeved on the guide rod, and corresponding to the guide rod, the positioning member is provided with a through hole for the guide rod to pass through. 7.A cell grabbing device according to any one of claims 1 to 6 characterized in that: the clamping mechanism comprises two second clamping jaws arranged oppositely, and a second driving part driving the two second clamping jaws to approach or move away from each other; the clamping mechanism is connected with the corresponding hinge point of the scissor mechanism through the second driving part. ​ ​ ​ ​ ​ ​ ​ 8. The battery cell grabbing device according to claim 7, characterized in that: the second driving part comprises a clamping jaw cylinder, and the two second clamping jaws are respectively connected to two driving ends of the clamping jaw cylinder.

9. The battery cell grabbing device according to claim 7, characterized in that: a detection part is arranged on the second driving part, and the detection part can detect the distance between the two second clamping jaws.

10. The battery cell grabbing device according to claim 7, characterized in that: a clamping block is detachably arranged on each of the two opposite sides of the two second clamping jaws, each clamping block is made of elastic material, and an anti-skid structure is formed on the clamping surface of each clamping block.

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