Combined gripping device and stacking system

Abstract

The utility model belongs to the conveying technical field especially relates to a combined type grabbing device and stacking system. The combined type grabbing device realizes the grabbing of different specifications of bipolar plates through the setting of multiple groups of grabbing components, the grabbing size of the first grabbing component is minimum, so that the first specification of bipolar plate is grabbed, the grabbing size of the second grabbing component is greater than the grabbing size of the first grabbing component, so that the second specification of bipolar plate is grabbed, and the grabbing size of the third grabbing component is maximum, so that the third specification of bipolar plate is grabbed. By configuring one gripper into three kinds of grabbing modes, the stacking use of double multiple specifications of bipolar plates is satisfied.

Description

Technical Field

[0001] This utility model belongs to the field of conveying technology, and in particular relates to a combined gripping device and stacking system. Background Technology

[0002] As the core structural component of PEM fuel cells and electrolyzers, bipolar plates are used to form the stack skeleton to support the membrane electrode and withstand assembly clamping forces. Since bipolar plates are of different sizes, they need to be stacked sequentially during stacking. To address this, related technologies employ automated stacking devices that use robotic arms to pick up bipolar plates from each station and place them in an orderly manner on the assembly station.

[0003] Because the bipolar plates are not the same size, and the size difference between the largest and smallest bipolar plates is large, related technologies will select multiple sets of robotic arms for targeted grasping based on the size of the bipolar plates. This leads to congestion in the grasping area, and the mutual interference between multiple sets of robotic arms results in a decrease in production efficiency.

[0004] Therefore, there is an urgent need to provide a combined gripping device to solve the technical problem that a single gripper cannot grip bipolar plates of various specifications in related technologies.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Utility Model Content

[0006] This disclosure provides at least one combined gripping device, including: a connecting plate and a first gripping component, a second gripping component, and a third gripping component disposed on the connecting plate;

[0007] The grasping radii of the first grasping component, the second grasping component, and the third grasping component increase sequentially; and

[0008] The control module is electrically connected to the first gripping component, the second gripping component, and the third gripping component, respectively, to control the corresponding gripping components to grip bipolar plates of different specifications.

[0009] In one alternative implementation, the first gripping assembly includes: an electric gripper and a gripper connecting post;

[0010] The upper end of the gripper connecting column is connected to the center of the connecting plate;

[0011] The electric gripper is located below the gripper connecting post; and

[0012] The control module is electrically connected to the drive motor of the electric gripper, and the control module is configured to control the opening and closing of the electric gripper to grip a bipolar plate of the first specification.

[0013] In one alternative implementation, the second gripping component includes: a pneumatic suction cup and a pneumatic finger;

[0014] The pneumatic suction cup is located at the long edge of the connecting plate;

[0015] The pneumatic fingers are mounted on the connecting plate; among which

[0016] The distance between the pneumatic finger and the connecting post is the same as the distance between the pneumatic suction cup and the connecting post.

[0017] In one optional embodiment, the pneumatic suction cup includes: a first drive cylinder and a first negative pressure suction nozzle;

[0018] The fixed end of the first drive cylinder is fixedly connected to the connecting plate;

[0019] The first negative pressure suction nozzle is connected to the telescopic end of the first drive cylinder via a suction nozzle mounting plate; and

[0020] The control module is electrically connected to the first drive cylinder, and is configured to control the movement of the first drive cylinder to move the first negative pressure suction nozzle closer to or further away from the second-specification bipolar plate; and

[0021] The control module is also electrically connected to the air supply source of the first negative pressure nozzle. The control module is configured to control the opening and closing of the air supply source of the first negative pressure nozzle so that the first negative pressure nozzle can draw in the bipolar plate of the second specification.

[0022] In one alternative implementation, the pneumatic finger includes: a second drive cylinder and a pair of snap-fit ​​fingers;

[0023] The fixed end of the second drive cylinder is fixedly connected to the connecting plate;

[0024] The locking finger is positioned on the telescopic end of the second drive cylinder; and

[0025] A third drive cylinder is installed between the two fingers.

[0026] In one alternative embodiment, the control module is electrically connected to the second drive cylinder, and the control module is configured to control the movement of the second drive cylinder to insert the snap-fit ​​finger into the oblong hole of the bipolar plate; and

[0027] The control module is electrically connected to the third drive cylinder and is configured to control the movement of the third drive cylinder to push one of the latching fingers laterally out of the oblong hole.

[0028] In one alternative implementation, the third gripping component includes: a pair of negative pressure suction cups;

[0029] The negative pressure suction cup is located at the short edge of the connecting plate; and

[0030] The distance between the negative pressure suction cup and the connecting column is greater than the distance between the pneumatic suction cup and the connecting column.

[0031] In one optional embodiment, the negative pressure suction cup includes: a fourth drive cylinder and a second negative pressure suction nozzle;

[0032] The fixed end of the fourth drive cylinder is fixedly connected to the connecting plate;

[0033] The second negative pressure suction nozzle is connected to the telescopic end of the fourth drive cylinder via a suction cup mounting plate; and

[0034] The control module is electrically connected to the fourth drive cylinder, and is configured to control the movement of the fourth drive cylinder to move the second negative pressure nozzle closer to or further away from the third-specification bipolar plate; and

[0035] The control module is also electrically connected to the air supply source of the second negative pressure nozzle. The control module is configured to control the opening and closing of the air supply source of the second negative pressure nozzle so that the second negative pressure nozzle can draw in the third specification bipolar plate.

[0036] This disclosure also provides at least one stacking system, including: the above-mentioned combined gripping device; and a robotic arm connected to a connecting plate via a connecting column; wherein the robotic arm is configured to drive the combined grippers to move sequentially to each loading platform to grip bipolar plates of different specifications.

[0037] In one alternative implementation, the stacking system further includes: a discharge platform;

[0038] The robotic arm is configured to place the gripped bipolar plates sequentially onto the unloading platform to complete the stacking of the bipolar plates.

[0039] The beneficial effects of this utility model are that this combined gripping device achieves the gripping of bipolar plates of different specifications through multiple sets of gripping components. The first gripping component has the smallest gripping size to grip bipolar plates of the first specification. The second gripping component has a larger gripping size than the first gripping component to grip bipolar plates of the second specification. Similarly, the third gripping component has the largest gripping size to grip bipolar plates of the third specification. By configuring one gripper with three gripping methods, it can meet the needs of stacking and using bipolar plates of multiple specifications.

[0040] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description and the accompanying drawings.

[0041] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0042] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 A three-dimensional structural schematic diagram of the combined gripping device provided in an embodiment of this disclosure is shown;

[0044] Figure 2 A schematic diagram of the structure of the first grasping component provided in an embodiment of this disclosure is shown;

[0045] Figure 3 A schematic diagram of the structure of the second gripping component provided in an embodiment of this disclosure is shown;

[0046] Figure 4 A schematic diagram of the structure of the third grasping component provided in an embodiment of this disclosure is shown;

[0047] Figure 5 A schematic diagram of the stacking system provided in an embodiment of this disclosure is shown.

[0048] In the picture:

[0049] 1. Connecting plate; 2. Connecting column; 3. First gripping assembly; 31. Electric gripper; 32. Gripper connecting column; 4. Second gripping assembly; 41. Pneumatic suction cup; 410. First drive cylinder; 411. First negative pressure suction nozzle; 42. Pneumatic finger; 420. Second drive cylinder; 421. Snap-on finger; 5. Third gripping assembly; 51. Fourth drive cylinder; 52. Second negative pressure suction nozzle; 6. Robotic arm; 7. Unloading platform. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0051] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the figures, the thickness of parts may be exaggerated or reduced for the purpose of effectively depicting the technical content.

[0052] The following detailed description, with reference to the accompanying drawings, describes some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0053] See Figure 1 , Figure 1 A combined gripping device is shown, comprising: a connecting plate 1 and a first gripping component 3, a second gripping component 4, and a third gripping component 5 disposed on the connecting plate 1; the gripping radii of the first gripping component 3, the second gripping component 4, and the third gripping component 5 increase sequentially; and a control module, which is electrically connected to the first gripping component 3, the second gripping component 4, and the third gripping component 5 respectively, to control the corresponding gripping components to grip bipolar plates of different specifications.

[0054] See Figure 2 As an optional implementation, the first specification of bipolar plate corresponds to the smallest diameter circular bipolar plate, i.e., the small circular bipolar plate; the second specification of bipolar plate corresponds to the medium diameter circular bipolar plate; and similarly, the third specification of bipolar plate corresponds to the largest diameter large circular bipolar plate.

[0055] In response, the first gripping component 3 has the smallest gripping size to grip bipolar plates of the first specification, while the second gripping component 4 has a larger gripping size than the first gripping component 3 to grip bipolar plates of the second specification. Similarly, the third gripping component 5 has the largest gripping size to grip bipolar plates of the third specification. By configuring one gripper with three gripping methods, the stacking and use of bipolar plates of multiple specifications can be satisfied.

[0056] In some embodiments, the first gripping component 3 includes: an electric gripper 31 and a gripper connecting post 32; the upper end of the gripper connecting post 32 is connected to the center of the connecting plate 1; the electric gripper 31 is located below the gripper connecting post 32; and a control module is electrically connected to the drive motor of the electric gripper 31, the control module being configured to control the opening and closing of the electric gripper 31 to grip a bipolar plate of the first specification.

[0057] In some embodiments, the first gripping component 3 uses an electric gripper 31 for gripping. Since the bipolar plate of the first specification is small in size, the gripper can directly grip the periphery of the bipolar plate, thereby improving the gripping stability.

[0058] See Figure 3In some embodiments, the second gripping component 4 includes a pneumatic suction cup 41 and a pneumatic finger 42; the pneumatic suction cup 41 is disposed at the long edge of the connecting plate 1; the pneumatic finger 42 is disposed on the connecting plate 1; wherein the distance between the pneumatic finger 42 and the connecting post is the same as the distance between the pneumatic suction cup 41 and the connecting post.

[0059] Specifically, the second gripping component 4 uses a combination of a pneumatic suction cup 41 and a pneumatic finger 42 to grip the bipolar plate of the second specification. The distance between the pneumatic finger 42 and the connecting post is the same as the distance between the pneumatic suction cup 41 and the connecting post, so that the two can work together to pick up the bipolar plate of the second specification.

[0060] As an optional implementation, the pneumatic suction cup 41 includes: a first driving cylinder 410 and a first negative pressure suction nozzle 411; the fixed end of the first driving cylinder 410 is fixedly connected to the connecting plate 1; the first negative pressure suction nozzle 411 and the telescopic end of the first driving cylinder 410 are connected through a suction nozzle mounting plate; and a control module is electrically connected to the first driving cylinder 410, the control module being configured to control the movement of the first driving cylinder 410 to drive the first negative pressure suction nozzle 411 to approach or move away from the second-specification bipolar plate; and the control module is also electrically connected to the air supply source of the first negative pressure suction nozzle 411, the control module being configured to control the opening and closing of the air supply source of the first negative pressure suction nozzle 411 so that the first negative pressure suction nozzle 411 picks up the second-specification bipolar plate.

[0061] Meanwhile, the pneumatic finger 42 includes: a second drive cylinder 420 and a pair of snap-fit ​​fingers 421; the fixed end of the second drive cylinder 420 is fixedly connected to the connecting plate 1; the snap-fit ​​fingers 421 are disposed on the telescopic end of the second drive cylinder 420; and a third drive cylinder is disposed between the two snap-fit ​​fingers 421.

[0062] The specific working process is as follows: When grasping the second-specification bipolar plate, the control module first controls the first drive cylinder 410 and the second drive cylinder 420 to descend, so that the first negative pressure suction nozzle 411 located below the first drive cylinder 410 fits against the surface of the second-specification bipolar plate, and the locking finger 421 penetrates the waist-shaped hole of the second-specification bipolar plate. Subsequently, the control module controls one of the locking fingers 421 to move laterally, so that the locking finger 421 moves laterally out of the waist-shaped hole and abuts against the back of the bipolar plate. After that, the control module controls the air supply source of the first negative pressure suction nozzle 411 to suck up air, so that the first negative pressure suction nozzle 411 picks up the second-specification bipolar plate, thereby realizing the picking up of the second-specification bipolar plate under the action of the pneumatic suction cup 41 and the pneumatic finger 42.

[0063] See Figure 4In some embodiments, the third gripping component 5 includes: a pair of negative pressure suction cups; the negative pressure suction cups are disposed at the short edge of the connecting plate 1; and the distance between the negative pressure suction cups and the connecting post is greater than the distance between the pneumatic suction cup 41 and the connecting post. Specifically, the negative pressure suction cup includes: a fourth driving cylinder 51 and a second negative pressure suction nozzle 52; the fixed end of the fourth driving cylinder 51 is fixedly connected to the connecting plate 1; the second negative pressure suction nozzle 52 and the telescopic end of the fourth driving cylinder 51 are connected through a suction cup mounting plate; and a control module is electrically connected to the fourth driving cylinder 51, the control module being configured to control the movement of the fourth driving cylinder 51 to drive the second negative pressure suction nozzle 52 closer to or further away from the third-specification bipolar plate; and the control module is also electrically connected to the air supply source of the second negative pressure suction nozzle 52, the control module being configured to control the opening and closing of the air supply source of the second negative pressure suction nozzle 52, so that the second negative pressure suction nozzle 52 picks up the third-specification bipolar plate.

[0064] Specifically, the third gripping component 5 also adopts a negative pressure suction method. The maximum size bipolar plate is gripped by a negative pressure suction cup set at the short edge of the connecting plate 1. When the third specification bipolar plate needs to be gripped, the control module controls the fourth drive cylinder 51 to move, so as to drive the second negative pressure suction nozzle 52 to approach the bipolar plate. Then the control module controls the second negative pressure suction nozzle 52 to supply air source for suction, thereby realizing the gripping of the third specification bipolar plate.

[0065] As an optional implementation, the control module may include, but is not limited to, an STM-32 microcontroller; the first negative pressure suction nozzle 411 and the second negative pressure suction nozzle 52 may include, but are not limited to, a negative pressure vacuum suction cup made of silicone material; and the electric gripper 31 may include, but is not limited to, the Z-ERG electric gripper 31 from HITBOT.

[0066] See Figure 5 , Figure 5 A stacking system is also shown, including: the above-mentioned combined gripping device; and a robotic arm 6, which is connected to the connecting plate 1 via a connecting column 2; wherein the robotic arm 6 is configured to drive the combined gripper to move sequentially to each loading platform to grip bipolar plates of different specifications.

[0067] Specifically, the stacking system also includes: a feeding platform 7; the robotic arm 6 is configured to place the gripped bipolar plates sequentially on the feeding platform 7 to complete the stacking of the bipolar plates.

[0068] In summary, this combined gripping device uses multiple gripping components to grip bipolar plates of different specifications. The first gripping component 3 has the smallest gripping size to grip bipolar plates of the first specification. The second gripping component 4 has a larger gripping size than the first gripping component 3, thus gripping bipolar plates of the second specification. Similarly, the third gripping component 5 has the largest gripping size to grip bipolar plates of the third specification. By configuring one gripper with three gripping methods, it can meet the needs of stacking and using bipolar plates of multiple specifications.

[0069] In this document, when it is said that the first component is located on the second component, this can mean that the first component can be directly formed on the second component, or that the third component can be inserted between the first component and the second component.

[0070] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.

[0071] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0072] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise clearly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.

[0073] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0074] In the description of the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection 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 based on the specific circumstances.

[0075] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships 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, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as the second element, component, region, layer, or segment.

[0076] Spatially relative terms, such as “inside,” “outside,” “below,” “below,” “down,” “above,” “up,” etc., may be used herein to describe the relationship between one element or feature illustrated in the figures and another element or feature. In addition to the orientations depicted in the figures, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below” or “below” other elements or features would be oriented as “above” other elements or features. Thus, the example term “below” can cover both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0077] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.

[0078] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A combined gripping device, characterized in that, include: The connecting plate (1) and the first gripping component (3), the second gripping component (4) and the third gripping component (5) disposed on the connecting plate (1); The first gripping component (3) is located at the center of the connecting plate, the third gripping component (5) is disposed on the outer periphery of the connecting plate, and the second gripping component (4) is located between the first gripping component (3) and the third gripping component (5); The control module is electrically connected to the first gripping component (3), the second gripping component (4) and the third gripping component (5) respectively, so as to control the corresponding gripping components to grip bipolar plates of different specifications respectively; The first gripping component (3) includes: an electric gripper (31) and a gripper connecting post (32); The upper end of the gripper connecting post (32) is connected to the center of the connecting plate (1); The electric gripper (31) is located below the gripper connecting post (32); and The control module is electrically connected to the drive motor of the electric gripper (31), and the control module is configured to control the opening and closing of the electric gripper (31) to grip a bipolar plate of the first specification. The second gripping component (4) includes: a pneumatic suction cup (41) and a pneumatic finger (42); The pneumatic suction cup (41) is located at the long edge of the connecting plate (1); The pneumatic finger (42) is mounted on the connecting plate (1); wherein The distance between the pneumatic finger (42) and the connecting post is the same as the distance between the pneumatic suction cup (41) and the connecting post; The pneumatic suction cup (41) includes: a first drive cylinder (410) and a first negative pressure suction nozzle (411). The fixed end of the first driving cylinder (410) is fixedly connected to the connecting plate (1); The first negative pressure suction nozzle (411) is connected to the telescopic end of the first drive cylinder (410) via a suction nozzle mounting plate; and The control module is electrically connected to the first drive cylinder (410), and the control module is configured to control the first drive cylinder (410) to move so as to move the first negative pressure suction nozzle (411) closer to or away from the second-specification bipolar plate; and The control module is also electrically connected to the air supply source of the first negative pressure nozzle (411). The control module is configured to control the opening and closing of the air supply source of the first negative pressure nozzle (411) so that the first negative pressure nozzle (411) can draw in the bipolar plate of the second specification.

2. The combined gripping device as described in claim 1, characterized in that, The pneumatic finger (42) includes: a second drive cylinder (420) and a pair of snap-fit ​​fingers (421); The fixed end of the second drive cylinder (420) is fixedly connected to the connecting plate (1); The engaging finger (421) is disposed on the telescopic end of the second drive cylinder (420); and A third drive cylinder is provided between the two card-connecting fingers (421).

3. The combined gripping device as described in claim 2, characterized in that, The control module is electrically connected to the second drive cylinder (420), and the control module is configured to control the movement of the second drive cylinder (420) to insert the snap-fit ​​finger (421) into the oblong hole of the bipolar plate; and The control module is electrically connected to the third drive cylinder, and the control module is configured to control the movement of the third drive cylinder to push one of the latching fingers (421) laterally to the outside of the waist-shaped hole.

4. The combined gripping device as described in claim 3, characterized in that, The third gripping component (5) includes: a pair of negative pressure suction cups; The negative pressure suction cup is located at the short edge of the connecting plate (1); and The distance between the negative pressure suction cup and the connecting column is greater than the distance between the pneumatic suction cup (41) and the connecting column.

5. The combined gripping device as described in claim 4, characterized in that, The negative pressure suction cup includes: a fourth driving cylinder (51) and a second negative pressure suction nozzle (52). The fixed end of the fourth drive cylinder (51) is fixedly connected to the connecting plate (1); The second negative pressure suction nozzle (52) is connected to the telescopic end of the fourth drive cylinder (51) via a suction cup mounting plate; and The control module is electrically connected to the fourth drive cylinder (51), and the control module is configured to control the fourth drive cylinder (51) to move so as to move the second negative pressure nozzle (52) closer to or further away from the third-specification bipolar plate; and The control module is also electrically connected to the air supply source of the second negative pressure nozzle (52). The control module is configured to control the opening and closing of the air supply source of the second negative pressure nozzle (52) so that the second negative pressure nozzle (52) can draw in the bipolar plate of the third specification.

6. A stacking system, characterized in that, include: The combined gripping device as described in any one of claims 1-5; as well as A robotic arm (6) is connected to the connecting plate (1) via a connecting post (2); wherein The robotic arm (6) is configured to drive the combined grippers to move sequentially to each loading platform to grab bipolar plates of different specifications.

7. The stacking system as described in claim 6, characterized in that, Also includes: Feeding platform (7); The robotic arm (6) is configured to place the gripped bipolar plates sequentially onto the loading platform (7) to complete the stacking of the bipolar plates.

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