Lining replacement device, gripping mechanism and gripping device

Abstract

A liner replacement device, the device being configured to replace a first liner (1A) in a retaining pallet mechanism (110), and comprising:a storage mechanism (120) configured to store an empty pallet or a pallet with a second liner, the specifications of the second liner being different from those of the first liner (1A);a liner gripping mechanism (130) configured to grip the first liner (1A) from the retaining pallet mechanism (110) and place it into the empty pallet, and further grip the second liner and insert it into the retaining pallet mechanism (110).

Description

CROSS REFERENCES TO RELATED APPLICATIONSThe application claims the benefit of Chinese Patent Application No. 2024206509122 filed with the Chinese Patent Office on Mar. 30, 2024, and the benefit of Chinese Patent Application No. 2024206508524, filed with the Chinese Patent Office on Sep. 30, 2024. The disclosures of these applications are incorporated herein by reference in their entirety.TECHNICAL FIELDThe present application relates to the field of battery production, and more particularly to a liner replacement apparatus, a gripping mechanism, and a gripping apparatus.BACKGROUNDIn the prior art, liners of different specifications are typically manually replaced in the pallets. However, manual replacement of liners increases labor costs and extends the production cycle of battery cells.During the battery cell production process, the liners in the pallets serve to fix the locations of the battery cells. However, when battery cells having different specifications are processed, it is necessary to replace the liners in the pallets. During this replacement operation, abnormal conditions of the liners may occur, which may degrade the quality of production of the battery cells.DISCLOSUREIn response to the above-mentioned shortcomings in the related art, the present application discloses a liner replacement apparatus, a gripping mechanism, and a gripping apparatus that can replace the manual manner of replacing the liner by workers and reduce the risk of anomalies in the liner, thereby saving labor costs, shortening the production cycle of battery cells, and at the same time improving the production quality of battery cells.In order to solve the above technical problems, the present application provides, in a first aspect, a liner replacing apparatus configured to replace a first liner within a retaining pallet mechanism. The liner replacement apparatus comprises:a storage mechanism configured to store an empty pallet or a pallet having a second liner, wherein specifications of the second liner are different from those of the first liner;a liner gripping mechanism configured to grip and place the first liner from the retaining pallet mechanism into the empty pallet, and grip and insert the second liner into the retaining pallet mechanism.In one embodiment, the empty pallet and the second liner pallet are alternately transported to the storage mechanism.In one embodiment, the liner gripping mechanism includes a first drive member, a second drive member, and a liner gripping pawl. The first driving member is configured to reciprocate the liner gripping claw between the retaining pallet mechanism and the storage mechanism, while the second driving member is configured to raise or lower the liner gripping claw.In one embodiment, the liner gripping claw is connected to the second driving member, and the first driving member is connected to the liner gripping claw via the second driving member. The first driving member is configured to reciprocate the liner gripping claw along the first direction between the retaining pallet mechanism and the storage mechanism.In one embodiment, the abnormal condition includes the lack of the first liner in the retention pallet mechanism, the failure of the liner gripping claw to grip the first or second liner, and / or an excessive height of the second liner placed in the retention pallet mechanism.In an embodiment, the detection assembly includes a connection base, a detection member movably disposed on the connection base along the vertical direction, a light shielding member connected to the end of the detection member, and a counter-beam detection assembly cooperating with the light shielding member. The first end of the detection element, which is remote from the light shielding member, is configured to contact the first or second liner.In an embodiment, the anti-beam detection assembly comprises a first detection fiber group and a second detection fiber group. In the vertical direction, the position of the first detection fiber group is lower than that of the second detection fiber group. The light shielding member is configured to shield the light of the first or second detection fiber group.In an embodiment, the detection assembly further comprises an elastic element disposed on the detection element near the first end.In one embodiment, the retaining pallet mechanism includes a support member and a first retaining plate and a second retaining plate disposed on the support member. The first and second retaining plates are spaced apart along the second direction, and the second retaining plate is movable along the second direction relative to the first retaining plate. A plurality of the first liners are sequentially arranged along the second direction between the first and second retaining plates.The liner replacement apparatus further includes a stress relief mechanism configured to move the second retaining plate away from the first retaining plate in the second direction.In an embodiment, a first engagement element is arranged on a side surface of the second retaining plate that is facing away from the first retaining plate.The relaxation mechanism includes a first relaxation drive member, a second relaxation drive member, and a second engagement member engaged with the first engagement member. The first relaxing driving member is configured to move the second engaging member toward the first engaging member such that the second engaging member is engaged with the first engaging member. The second relaxing driving member is configured to move the second engaging member such that the first engaging member is moved away from the first retaining plate in the second direction.In an embodiment, a snap-fit portion is formed on the first engagement member, and a groove is disposed on the second engagement member. The groove engages with the snap-connection portion by a snap-connection.In one embodiment, the first engagement member includes a head and a neck that are connected together. The end of the neck remote from the head is connected to the surface of the second retaining plate that is remote from the first retaining plate. The snap-fit portion is formed on the neck. The width of the neck is less than the width of the groove and the width of the head is greater than the width of the groove.In an embodiment, the liner replacement apparatus further comprises a relaxation mechanism configured to move the second retaining plate away from the first retaining plate in the second direction.In one embodiment, the retention mechanism includes a pressure drive member and a pressure member connected to the pressure drive member. The pressing driving member moves the pressing member to abut against the second retaining plate and push the second retaining plate toward the first retaining plate in the second direction.In an embodiment, the retaining pallet mechanism further comprises a mounting member and a retaining member disposed on the support member. The mounting element is arranged on the side of the second retaining plate that is facing away from the first retaining plate and has a predefined distance from the second retaining plate. The retaining element is connected to the mounting element via a threaded connection.The retention mechanism further comprises a drive assembly configured to move the retention member relative to the mounting member toward the second retention plate until the retention member abuts the second retention plate.In one embodiment, the drive assembly includes a rotational drive member and a rotational gripping pawl connected to the rotational drive member. The rotation gripping claw is coupled to the retaining member, and the rotation driving member is configured to move the rotation gripping claw such that the end of the retaining member abuts against the second retaining plate.In one embodiment, the liner replacement apparatus further comprises a cabinet and a conveyor disposed in the cabinet. The conveyor is configured to transport the retaining pallet mechanism entering the cabinet to a predefined position.In one embodiment, the liner replacement device further comprises a restriction member disposed in the cabinet. The limiting member is configured to block the retention pallet mechanism entering the cabinet to prevent the retention pallet mechanism from exiting the predefined position.In one embodiment, the liner replacement device further comprises a lifting and positioning element arranged in the cabinet. The lift and position member is configured to lift and position the retention pallet mechanism at the predefined position.In a second aspect, the present application discloses a gripping mechanism. The gripping mechanism comprises:a mounting assembly;a plurality of gripping members, the plurality of gripping members spaced apart along a first direction and disposed on the mounting assembly, and the plurality of gripping members configured to simultaneously grip a plurality of liners;a detection assembly, wherein the detection assembly comprises a plurality of detection elements arranged on the mounting assembly. The number of the detection elements corresponds to the number of the gripping elements, and the plurality of detection elements is configured to detect whether the plurality of liners are each in an abnormal state.In one embodiment, the abnormal conditions include the absence of at least one of the plurality of liners, the failure of at least one of the plurality of gripping members to correctly grasp, and / or an excessive height of at least one of the plurality of liners.In an embodiment, the detection assembly further comprises a light shielding member disposed on the detection member and a counter-beam detection assembly cooperating with the light shielding member. The detection element is disposed movably in the vertical direction on the mounting assembly, and the first end of the detection element, which is remote from the light shielding member, is configured to contact the liner.In an embodiment, the anti-beam detection assembly includes a first fiber group and a second fiber group spaced in the vertical direction. The position of the first fiber group in the vertical direction is lower than that of the second fiber group, and the light shielding member is configured to shield the light of the first or second fiber group.In an embodiment, the light is transmitted along the first direction in both the first fiber group and the second fiber group.In an embodiment, the second fiber group comprises two groups, and the two groups of the second fiber group are spaced along the second direction. The second direction is perpendicular to the first direction, and both the first and second directions are perpendicular to the vertical direction.In one embodiment, the light shielding member is a disk-shaped light shielding member. The disk-shaped light shielding member includes a first shielding portion near the center and a second shielding portion near the edge. The first shielding portion is configured to shield the light of the second fiber group, and the second shielding portion is configured to shield the light of the first fiber group.In one embodiment, the detection assembly further comprises an elastic element disposed thereon near the first end of the detection element.In one embodiment, the gripping member includes a pawl driving member, a first gripping pawl, and a second gripping pawl. The pawl drive member is configured to move the first and second gripping pawls to approach each other to grip the liner or to separate from each other to release the liner.In one embodiment, the detection element is arranged between the first and the second gripping claw.In an embodiment, the gripping mechanism further comprises a second driving member disposed on the support frame, and the second driving member is configured to raise or lower the gripping member.In one embodiment, the gripping mechanism further comprises a first drive member and a second drive member. The first driving member is configured to synchronously move the gripping member and the detection assembly, and the second driving member is configured to raise or lower the gripping member.In a third aspect, the present application discloses a gripping device. The gripping device comprises:a supporting frame;the gripping mechanism of the second aspect, wherein the mounting assembly in the gripping mechanism is movably disposed on the support frame.In a fourth aspect, the present application discloses a liner replacement apparatus. The liner replacement apparatus comprises:a storage mechanism, the storage mechanism having a storage position configured to alternately store an empty pallet and a second liner pallet;the gripping device of the third aspect, wherein the gripping device is configured to grip a first liner in the retaining pallet mechanism into the empty pallet at the depositing position, and the gripping device is further configured to grip the second liner in the pallet with the second liner at the depositing position and insert the second liner into the retaining pallet mechanism. The specification of the second liner is different from that of the first liner.Compared with the prior art, the present application has at least the following advantageous effects:In the present application, the liner gripping mechanism may grip and place the first liner from the retaining pallet mechanism into an empty pallet, and grip and insert the second liner into the retaining pallet mechanism, the specifications of the first and second liners being different. Therefore, when it is necessary to replace the first liner in the retaining pallet mechanism, the liner gripping mechanism can first take out the first liner from the retaining pallet mechanism and put it into an empty pallet on the storage mechanism to store the replaced first liner. After all the first liners in the retaining pallet mechanism are placed in the empty pallets, the liner gripping mechanism takes the second liner and places it in the retaining pallet mechanism. When all the second liners in the pallets with the second liners have been set in the retaining pallet mechanism, the replacement of liners of different specifications in the retaining pallet mechanism is completed. It will be appreciated that in this application, by the provision of the storage mechanism and the liner gripping mechanism, the first liner in the retaining pallet mechanism can be automatically replaced with the second liner, thereby replacing the manual manner of replacing the liner by workers. This saves labor costs and shortens the production cycle of battery cells.In the present application, a plurality of gripping members are spaced apart along the first direction and arranged on the mounting assembly, and the number of the detecting members in the detecting assembly corresponds to the number of the gripping members, and their installation positions coincide with each other. Therefore, a plurality of detection elements can simultaneously grasp the liners gripped by the gripping elements. In other words, a plurality of detection elements may determine whether abnormal conditions are present in a plurality of liners when the gripping elements respectively grip a plurality of liners. A plurality of detection elements may also detect the gripping states of the gripping elements to determine whether abnormal states are present in the liners. Of course, a plurality of detection elements may also determine whether abnormal conditions are present in the liners when the gripping elements place a plurality of liners. As can be seen, the provision of a plurality of detection elements whose number and positions correspond to the gripping elements enables the timely detection of abnormal states in the liners, so that the abnormal liners can be timely adjusted to ensure the production quality of the battery cells.BRIEF DESCRIPTION OF THE DRAWINGSIn order to more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings will be briefly presented below for describing the embodiments. It is understood that the accompanying drawings in the following descriptions show only some embodiments of this application, and a person skilled in the art can derive other drawings from these accompanying drawings without any creative efforts. FIG. 1 is a plan view of a cabinet of the liner replacement apparatus according to an embodiment of the present application; FIG. 2 is a side view of the liner gripping mechanism according to an embodiment of the present application; FIG. 3 is a front view of the liner gripping mechanism according to an embodiment of the present application; FIG. 4 is a plan view of the liner gripping mechanism according to an embodiment of the present application; FIG. 5 is a front view of the detection assembly according to an embodiment of the present application; FIG. 6 is a side view of the detection assembly according to an embodiment of the present application; FIG. 7 is a plan view of the detection assembly according to an embodiment of the present application; FIG. 8 is a front view of the retaining pallet mechanism according to an embodiment of the present application; FIG. 9 is a plan view of the retaining pallet mechanism according to an embodiment of the present application; FIG. 10 is a front view of the relaxation mechanism according to an embodiment of the present application; FIG. 11 is a side view of the relaxation mechanism according to an embodiment of the present application; FIG. 12 is a plan view of the relaxation mechanism according to an embodiment of the present application; FIG. 13 is a front view of the retaining mechanism according to an embodiment of the present application; FIG. 14 is a plan view of the retaining mechanism according to an embodiment of the present application; FIG. 15 is a front view of the cabinet according to an embodiment of the present application; FIG. 16 is a schematic diagram of the pallet entry limiting component limiting the retaining pallet mechanism according to an embodiment of the present application; FIG. 17 is a schematic diagram of the elevating and positioning member that raises the retaining pallet mechanism according to an embodiment of the present application; FIG. 18 is a front view of the gripping mechanism according to an embodiment of the present application; FIG. 19 is a plan view of the gripping mechanism according to an embodiment of the present application; FIG. 20 is a front view of the detection assembly according to an embodiment of the present application; FIG. 21 is a side view of the detection assembly according to an embodiment of the present application; FIG. 22 ais a plan view of the detection assembly according to an embodiment of the present application; FIG. 22 bis a plan view of the light shielding member according to an embodiment of the present application; FIG. 23 is a partially enlarged schematic diagram of the position A in FIG. 18 ; FIG. 24 is a side view of the gripping mechanism according to an embodiment of the present application; FIG. 25 is a plan view of the liner replacement apparatus according to an embodiment of the present application.Description of the Main Reference Numerals100 - Liner exchange device; 110 - Retaining pallet mechanism; 111 - Support member; 112 - First retaining plate; 113 - Second retaining plate; 114 - Mounting member; 115 - Retaining member; 116 - First engaging member; 1161 - Neck; 1162 - Head; 120 - Storage mechanism; 130 - Liner gripping mechanism; 131 - First driving member; 132 - Second driving member; 133 - Liner gripping claw; 140 - Detection assembly; 141 - Connection base; 142 - Detection member; 143 - Light shielding member; 144 - Anti-beam detection assembly; 1441 - First detection fiber group; 1442 - Second detection fiber group; 145 - Elastic member; 150 - Relaxing mechanism; 151 - First relaxing driving member; 152 - Second relaxing driving member; 153 - Second engaging member; 1531 - Groove; 160 - retaining mechanism; 161 - pressure driving member; 162 - pressure member; 163 - rotation driving member; 164 - rotation gripping claw; 170 - cabinet; 181 - conveying member; 182 - restricting member; 183 - lifting and positioning member; 1A - first liner;1 - Gripping mechanism; 2 - Supporting frame; 3 - Mounting assembly; 4 - Gripping member; 41 - First gripping claw; 42 - Second gripping claw; 40 - Claw driving member, 5 - Detection assembly; 51 - Detection member; 52 - Light shielding member; 520 - First shielding portion; 521 - Second shielding portion; 53 - Anti-beam detection assembly; 531 - First fiber group; 532 - Second fiber group; 54 - Elastic member; 6 - First driving member; 7 - Second driving member; 200 - Liner exchange device; 210 - Retaining pallet mechanism; 220 - Storage mechanism.DETAILED DESCRIPTIONHereinafter, a clear and complete description will be given of the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative efforts fall within the scope of the present application.In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "upper", "lower", "inner", "outer", "center", "vertical", "horizontal", "transverse", "longitudinal", etc. indicating directions or positional relationships refer to the directions or positional relationships shown in the accompanying drawings. These terms are used primarily to better describe the present application and its embodiments, and are not intended to limit the stated devices, elements, or components to a particular orientation or to be constructed and operated in a particular orientation.Moreover, some of the above terms may be used to represent other meanings in addition to the representation of directions or positional relationships. For example, in certain cases, the term "top" may also represent a particular attachment or connection relationship. Those skilled in the art can understand the specific meanings of these terms in the present application depending on the specific situation.Moreover, the terms "attach", "arrange", "connect" and "attach" should be understood in the broader sense. For example, it may be a fixed connection, a releasable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection via an intermediate medium or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meanings of the above terms in the present application depending on the specific situation.Moreover, the terms "first", "second", etc. are mainly used to distinguish various devices, components or components (the specific types and structures may be the same or different) and are not used to indicate or imply the relative importance and number of the indicated devices, components or components. Unless otherwise stated, "more" means two or more.The technical solutions of the present application will be further described below in conjunction with specific embodiments and the accompanying drawings.Referring to FIG. 1, the embodiment of the present application provides a liner replacing apparatus 100 configured to replace the first liner 1A in the retaining pallet mechanism 110. The liner replacement apparatus 100 includes a storage mechanism 120 and a liner gripping mechanism 130. Here, the storage mechanism 120 is configured to store an empty pallet or a pallet having a second liner, the specification of the second liner being different from that of the first liner 1A. The liner gripping mechanism 130 is configured to grip and place the first liner 1A from the retaining pallet mechanism 110 into the empty pallet, and grip and insert the second liner into the retaining pallet mechanism 110.Since the above-mentioned retaining pallet mechanism 110 is equipped with the first liner 1A, it can place battery cells in the first liner 1A to fix the battery cells. However, when the specifications of the battery cells are different, it is necessary to replace the first liner 1A in the retention pallet mechanism 110 in order to meet the requirements for fixing battery cells of another specification. There may be only one installation position for the first liner 1A in the retaining pallet mechanism 110, or there may be multiple installation positions for the first liner 1A. In consideration of the actual processing efficiency of the battery cells, the arrangement of a plurality of installation positions for the first liner 1A in the retention pallet mechanism 110 enables a plurality of first liners 1A to be installed to fix a plurality of battery cells at the same time, thereby ensuring the processing efficiency of the battery cells.In this embodiment, the liner gripping mechanism 130 may grip and place the first liner 1A from the retaining pallet mechanism 110 into an empty pallet, and grip and insert the second liner into the retaining pallet mechanism 110, wherein the specifications of the first liner 1A and the second liner are different. Therefore, when it is necessary to replace the first liner 1A in the retaining pallet mechanism 110, it is first necessary for the liner gripping mechanism 130 to take out the first liner 1A from the retaining pallet mechanism 110 and put it in an empty pallet on the storage mechanism 120 to store the replaced first liner 1A. After all the first liners 1A in the retaining pallet mechanism 110 are placed in the empty pallets, the liner gripping mechanism 130 takes the second liner and places it in the retaining pallet mechanism 110. When all the second liners in the pallets with the second liners have been inserted into the retaining pallet mechanism 110, the replacement of liners of different specifications in the retaining pallet mechanism 110 is completed. It is understood that in this embodiment, by the provision of the storage mechanism 120 and the liner gripping mechanism 130, the first liner 1A in the retaining pallet mechanism 110 can be automatically replaced with the second liner, thereby replacing the manual manner of replacing the liner by workers. This saves labor costs and shortens the production cycle of battery cells.It should be noted that the above-mentioned first liner 1A and the second liner do not mean that the solution of this embodiment enables only the replacement of liners of these two specifications. The first liner 1A and the second liner are only named to distinguish two liners having different specifications, and those skilled in the art should not understand them as limitations on the order of replacement or the number of liners.Moreover, optionally, empty pallets and pallets with the second liner may be placed simultaneously in the storage mechanism 120 or may be placed alternately in the storage mechanism 120. Hereinafter, the example that empty pallets and second liner pallets are alternately placed in the storage mechanism 120 is mainly used to illustrate this.In some embodiments, the empty pallet and the second liner pallet are alternately transported to the storage mechanism 120.Since empty pallets and pallets with the second liner are alternately moved to the storage mechanism 120, when liners of different specifications are exchanged in the retaining pallet mechanism 110, it is first ensured that the empty pallets are moved to the storage mechanism 120. Then, the liner gripping mechanism 130 grips all the first liners 1A in the retaining pallet mechanism 110 and sets them into the empty pallets. When the empty pallets with the exchanged first liners 1A are fully loaded, the empty pallets with the first liners 1A are moved out of the storage mechanism 120. Then, the pallets with the second liner are moved to the storage mechanism 120. Subsequently, the liner gripping mechanism 130 replaces all the second liners in the retaining pallet mechanism 110, so that the retaining pallet mechanism 110 completes the process of replacing the first liner 1A with the second liner, and at the same time, the movement path of the liner gripping mechanism 130 is simplified.In some embodiments, referring to FIGS. 2, 3, and 4, the liner gripping mechanism 130 includes a first driving member 131, a second driving member 132, and a liner gripping claw 133. The first driving member 131 is configured to reciprocate the liner gripping claw 133 between the retaining pallet mechanism 110 and the storage mechanism 120, while the second driving member 132 is configured to raise or lower the liner gripping claw 133.In this connection, each of the first driving member 131 and the second driving member 132 includes, but is not limited to, linear motors, telescopic cylinders, and the like.In this embodiment, when it is necessary to replace the first liner 1A in the retaining pallet mechanism 110 with the second liner, first, the first driving member 131 is caused to move the liner gripping claw 133 via the retaining pallet mechanism 110. Then, the second driving member 132 is caused to lower the liner gripping claw 133 until the liner gripping claw 133 grips the first liner 1A. Then, the second driving member 132 is caused to lift the liner gripping claw 133. Thereafter, the first driving member 131 is caused to move the liner gripping claw 133 toward the first storage position 120 a, thereby completing the process of removing the first liner 1A from the retaining pallet mechanism 110 and returning to the first storage position 120 a.Next, the first driving member 131 is caused to move the liner gripping claw 133 over the second storage position 120 b. Then, the second driving member 132 is caused to lower the liner gripping claw 133 to grip the second liner. Then, the second driving member 132 is caused to lift the liner gripping claw 133. Finally, the first driving member 131 is caused to move the liner gripping claw 133 toward the retaining pallet mechanism 110, and the second driving member 132 is caused to move the liner gripping claw 133 to install the second liner in the retaining pallet mechanism 110. At this point, the replacement of the first liner 1A and the second liner in the retaining pallet mechanism 110 is completed.It is understood that the control process for realizing the replacement of the first liner 1A and the second liner in the retaining pallet mechanism 110 by the use of the liner gripping mechanism 130 in this embodiment is simple and easy to operate.Moreover, the liner gripping claw 133 includes a first claw and a second claw movably connected to each other. The liner gripping mechanism 130 also includes two jaw drive members. The two pawl driving members are connected to the first pawl and the second pawl, respectively. The two claw driving members may cooperate to cause the first claw and the second claw to approach each other so that the liner gripping claw 133 may grip the first liner 1A or the second liner, or the two claw driving members may cooperate to cause the first claw and the second claw to separate from each other so that the liner gripping claw 133 may release the first liner 1A or the second liner.Of course, the liner gripping mechanism 130 is not limited to the structure described above. In some other possible embodiments, the liner gripping mechanism 130 may also be a manipulator.In some embodiments, referring to FIGS. 1 to 4, the liner gripping claw 133 is connected to the second driving member 132, and the first driving member 131 is connected to the liner gripping claw 133 via the second driving member 132. The first driving member 131 is configured to reciprocate the liner gripping claw 133 along the first direction between the retaining pallet mechanism 110 and the storage mechanism 120.Here, the above-mentioned first direction refers to the direction indicated by the X arrow in FIG. 1.By using the first driving member 131 to reciprocate the liner gripping claw 133 along the first direction between the retaining pallet mechanism 110 and the storage mechanism 120, the movement path of the liner gripping claw 133 driven by the first driving member 131 can be simplified. This can reduce the control difficulty of the liner gripping mechanism 130 in replacing the first liner 1A and the second liner.Moreover, by connecting the first driving member 131 to the liner gripping claw 133 via the second driving member 132, the connection structure of the liner gripping claw 133 is simplified, and at the same time, the structural compactness of the liner replacing apparatus 100 is improved.In some embodiments, referring to FIG. 3, the liner gripping mechanism 130 also includes a detection assembly 140 configured to detect whether the first liner 1A or the second liner is in an abnormal state.Here, the above-mentioned detection assembly 140 may include position sensors, pressure sensors, laser detectors, and the like.Moreover, the above-mentioned detection assembly 140 is configured to detect whether the first liner 1A or the second liner is in an abnormal state. It should be understood that when the liner gripping mechanism 130 grips the first liner 1A, first, the detection assembly 140 recognizes the first liner 1A in the retaining pallet mechanism 110. If the detection assembly 140 determines that there is no first liner 1A at the corresponding gripping position of the liner gripping mechanism 130, this means that the first liner 1A is abnormal at this gripping position. Or, when the second liner is gripped at the second deposition position 120 b, the detection assembly 140 may similarly detect whether the second liner is present. When the liner gripping mechanism 130 grips the second liner and places it in the retaining pallet mechanism 110, the detection assembly 140 will recognize the placed second liner again. If the height of the second liner exceeds the preset height, this means that the second liner is set too high and needs to be adjusted to ensure the quality of preparation of the battery cells.In order to promptly notify abnormalities of the first liner 1A and the second liner when they are in abnormal states, an alarm and / or a warning lamp electrically connected to the detection assembly 140 may be configured. Reminders may be given by sounding the alarm or illuminating the warning light.Therefore, by the provision of the detection assembly 140, anomalies in the first liner 1A and the second liner can be promptly alerted, thereby ensuring the quality of battery cell production.In some embodiments, the abnormal condition includes the absence of the first liner 1A in the retention pallet mechanism 110, the failure of the liner gripping claw 133 to grip the first liner 1A or the second liner, and / or an excessive height of the second liner placed in the retention pallet mechanism 110.Thereby, the detection assembly 140 can recognize whether there is an abnormal state of the first liner 1A or the second liner when the liner gripping claw 133 grips the first liner 1A or the second liner. The detection assembly 140 can also detect whether there is an abnormal state of the first liner 1A or the second liner gripped by the liner gripping claw 133. Moreover, the detection assembly 140 may also detect whether the placed first liner 1A or the second liner is too high, reflecting the integrity of the detection assembly 140 in detecting the first liner 1A and the second liner under different conditions.In some possible embodiments, referring to FIGS. 5, 6, and 7, the detection assembly 140 includes a connection base 141, a detection member 142 disposed movably in the vertical direction on the connection base 141, a light shielding member 143 connected to the end of the detection member 142, and a counter beam detection assembly 144 cooperating with the light shielding member 143. The first end of the detection element 142 remote from the light shielding member 143 is configured to contact the first liner 1A or the second liner to judge whether the first liner 1A or the second liner is missing or abnormally high based on whether the light shielding member 143 shields the anti-beam detection assembly 144.Since the detection member 142 is movably disposed on the connection base 141, the light shielding member 143 is connected to the end of the detection member 142, and the end of the detection member 142 remote from the light shielding member 143 is configured to contact the first liner 1A or the second liner, the detection member 142 cannot be pushed up when the first liner 1A or the second liner is absent, and then the light shielding member 143 is certainly not raised. When the first liner 1A or the second liner is too high, the detection member 142 is pushed up too much, and then the light shielding member 143 is raised relatively high. It is understood that by shielding the light emitted from the anti-beam detection assembly 144 at various positions from the light shielding member 143, it can be judged whether the first liner 1A and the second liner are in the above-mentioned abnormal states.In some embodiments, referring to FIG. 6, the anti-beam detection assembly 144 includes a first detection fiber group 1441 and a second detection fiber group 1442. In the vertical direction, the position of the first detection fiber group 1441 is lower than that of the second detection fiber group 1442. The light shielding member 143 is configured to shield the first detection fiber group 1441 or the second detection fiber group 1442. That is, the light shielding member 143 may shield the first detection fiber group 1441 when the first liner 1A or the second liner is absent or when the liner gripping claw 133 cannot grip the first liner 1A or the second liner. The light shielding member 143 may also shield the second detection fiber group 1442 when the first liner 1A or the second liner is higher than the preset position.Therefore, by the provision of the first detection fiber group 1441 and the second detection fiber group 1442, it can be simultaneously detected whether there are abnormality such as lack, empty gripping, or excessive positioning in the first liner 1A and the second liner. Compared with solutions in related technologies in which multiple sets of detection assemblies 140 are configured to separately recognize the mis- and over-crossing situations of the first liner 1A and the second liner, this embodiment reduces the number of detection assemblies 140, simplifies the structure of the detection assemblies 140, and improves the variety of detection functions of the detection assemblies 140.In some embodiments, referring to FIGS. 5 and 6, the detection assembly 140 further includes an elastic member 145 disposed near the first end on the detection member 142.Since the end of the detection element 142 remote from the light shielding member is in contact with the first liner 1A or the second liner, by disposing the elastic member 145 on the detection element 142 near the first end, the rigid contact between the detection element 142 and the first liner 1A and the second liner is converted into a flexible contact, thereby achieving the purpose of protecting the first liner 1A and the second liner.Moreover, the elastic member 145 may be a spring, a leaf spring, a rubber member, and the like.In some embodiments, referring to FIGS. 8 and 9, there are a plurality of first liners 1A sequentially arranged along the second direction. The retaining pallet mechanism 110 includes a support member 111, and a first retaining plate 112 and a second retaining plate 113 disposed on the support member 111. The first retaining plate 112 and the second retaining plate 113 are spaced apart along the second direction, and the second retaining plate 113 is movable along the second direction relative to the first retaining plate 112. A plurality of the first liners 1A are mounted between the first retaining plate 112 and the second retaining plate 113.The second direction can be parallel to the first direction, be perpendicular to the first direction or have an angle between the second direction and the first direction. In this embodiment, the second direction refers to the direction indicated by the Y arrow in FIG. 8.Moreover, the plurality of first liners 1A refer to the first liners 1A having a number of two or more.Since the second retaining plate 113 can move relative to the first retaining plate 112 along the second direction, it is possible to adjust the position of the second retaining plate 113. On the one hand, this facilitates the assembly of the plurality of first liners 1A. On the other hand, it may adapt to the assembly of liners of different specifications between the first retaining plate 112 and the second retaining plate 113.In some embodiments, referring to FIGS. 1, 9, 10, 11, and 12, the liner replacement apparatus further includes a relaxation mechanism 150 configured to move the second retaining plate 113 away from the first retaining plate 112 in the second direction.By the arrangement of the relaxing mechanism 150, when the first liner 1A in the retaining pallet mechanism 110 is to be replaced with the second liner, first, the relaxing mechanism 150 can move the second retaining plate 113 in the second direction away from the first retaining plate 112 to increase the distance between the plurality of first liners 1A. This facilitates the liner gripping mechanism 130 gripping the first liner 1A and also facilitates installation of the second liner into the retaining pallet mechanism 110.In some embodiments, referring to FIGS. 9, 10, 11 and 12, a first engagement member 116 is disposed on a side surface of the second retaining plate 113 that is opposite from the first retaining plate 112. The relaxation mechanism 112 includes a first relaxation drive member 151, a second relaxation drive member 152, and a second engagement member 153 that engages the first engagement member 116. The first relaxing driving member 151 is configured to move the second engaging member 153 toward the first engaging member 116 such that the second engaging member 153 is engaged with the first engaging member 116. The second relaxing driving member 152 is configured to move the second engaging member 153 to move the first engaging member 116 away from the first retaining plate 112 in the second direction.Therefore, when the first liner 1A in the retaining pallet mechanism 110 needs to be replaced with the second liner, first the first relaxing driving member 151 may move the second engaging member 153 toward the first engaging member 116 until it is engaged with the second engaging member 153. Then, the second relaxing driving member 152 moves the second engaging member 153 to move the first engaging member 116 away from the first retaining plate 112 in the second direction, thereby moving the second retaining plate 113 away from the first retaining plate 112 along the direction to provide space for the removal of the first liner 1A and the installation of the second liner.It is understood that by the relaxing drive members in this embodiment, both the retaining pallet mechanism 110 and the relaxing mechanism 150 can be made independent of each other, and the relaxing mechanism 150 can move the second retaining plate 113.Moreover, the first expansion driving element 151 and the second expansion driving element 152 may be motors, cylinders, and other driving devices.Of course, in some other embodiments, the relaxation mechanism 150 may also comprise a telescoping cylinder. The telescopic end of the telescopic cylinder is connected to the second retaining plate 113. By controlling the extension of the telescopic end of the telescopic cylinder, the second retaining plate 113 can be moved along the direction away from the first retaining plate 112.In some embodiments, a snap-fit portion is formed on the first engagement member 116, and a groove 1531 is disposed on the second engagement member 153. The groove 1531 is snap-engaged with the snap-engagement portion.Since the structure of the groove 1531 is simple and easy to machine, the snap-fit connection between the groove 1531 and the engaging portion connects the second engaging member 153 to the first engaging member 116, thereby simplifying the snap-fit connection structure between the second engaging member 153 and the first engaging member 116.In some embodiments, referring to FIGS. 9 and 10, the first engagement member 116 includes a head 1162 and a neck 1161 that are connected together. The end of the neck 1161 remote from the head 1162 is connected to the surface of the second retaining plate 113 remote from the first retaining plate 112. The snap-fit portion is formed on the neck 1161. The width of the neck 1161 is less than the width of the groove 1531, and the width of the head 1162 is greater than the width of the groove 1531.Here, the width direction of the above groove 1531 refers to the direction from one groove wall to the other between the two opposing groove walls of the groove 1531, i.e., the direction indicated by the x1 arrow in FIG. 10. The width directions of the neck 1161 and the head 1162 are the same, and both refer to the direction perpendicular to the direction from the neck 1161 to the head 1162, i.e., the direction indicated by the x2 arrow in FIG. 9.Since the width of the neck 1161 is smaller than that of the groove 1531 and the width of the head 1162 is larger than that of the groove 1531, the head 1162 can prevent the groove 1531 from coming off the neck 1161 when the groove 1531 mates with the neck 1161 and the first engagement member 116 is moved in the direction away from the first retaining plate 112. This ensures the stability of the engagement when the second engagement member 153 moves the first engagement member 116.In some possible embodiments, referring to FIGS. 1, 13, and 14, the liner replacement apparatus 100 further includes a retaining mechanism 160 configured to move the second retaining plate 113 in the second direction toward the first retaining plate 112.Therefore, by the configuration of the retaining mechanism 160, after the replacement of the first liner 1A and the second liner in the retaining pallet mechanism 110 is completed, the second retaining plate 113 can be made to move toward the first retaining plate 112 until the plurality of second liners are firmly pressed. This completes the fixation of the second liners to facilitate the processing of battery cells having specifications suitable for the second liners.In some embodiments, referring to FIGS. 13 and 14, the retention mechanism 14 includes a pressure drive member 161 and a pressure member 162 connected to the pressure drive member 161. The pressing driving member 161 moves the pressing member 162 to press the second retaining plate 113 and push the second retaining plate 113 in the second direction toward the first retaining plate 112.By the provision of the pressing drive member 161 and the pressing member 162 connected to the pressing drive member 161, when the replacement of the first liner 1A and the second liner is completed, the pressing drive member 161 can cause the pressing member 162 to push the second retaining plate 113 toward the first retaining plate 112 to firmly press the second liner located between the first retaining plate 112 and the second retaining plate 113. This facilitates processing battery cells with specifications suitable for the second liner.In this case, the pressure drive element 161 can comprise drive elements such as a linear motor or a telescopic cylinder.First, after the replacement of the first liner 1A and the second liner is completed, the pressing driving member 161 causes the pressing member 162 to press the second retaining plate 113 to firmly press the second liner. At this time, when the force applied from the pressing driving member 161 to the pressing member 162 is removed, the second retaining plate 113 still moves in the direction away from the first retaining plate 112, so that a gap is formed between two adjacent second liners. In some possible embodiments, referring to FIGS. 9, 13, and 14, in order to ensure the stability of the second liner after the driving force of the pressing driving member 161 is removed, the retaining pallet mechanism 110 further includes a mounting member 114 and a retaining member 115 disposed on the supporting member 111. The mounting element 114 is arranged on the side of the second retaining plate 113 which is remote from the first retaining plate 112 and has a predefined distance from the second retaining plate 113. The retaining element 115 is connected to the mounting element 114 via a threaded connection. The retention mechanism 160 further includes a drive assembly configured to move the retention member 115 relative to the mounting member 114 toward the second retention plate 113 until the retention member 115 abuts the second retention plate 113.In this connection, the retention member 115 may move relative to the mounting member 114, and it is understood that the retention member 115 may spirally rotate, linearly move, etc. relative to the mounting member 114.Since the mounting element 114 is arranged on the side of the second retaining plate 113 which is remote from the first retaining plate 112 and has a predefined distance from the second retaining plate 113, the retaining element 115 is arranged movably on the mounting element 114. The drive assembly moves the retainer 115 relative to the mounting member 114 toward the second retainer plate 113 until it abuts against the second retainer plate 113. Therefore, even after the force applied from the driving assembly is removed, the retaining member 115 continues to be pressed against the second retaining plate 113 after being pressed against the second retaining plate 113, thereby ensuring the stability of the second retaining plate 113 in fixing the second liner.In some possible embodiments, the retention member 115 is threadedly connected to the mounting member 114. The drive assembly includes a rotational drive member 163 and a rotational gripping claw 164 connected to the rotational drive member 163. The rotation gripping claw 164 is coupled to the retaining member 115, and the rotation driving member 163 is configured to move the rotation gripping claw 164 to press the end of the retaining member 115 against the second retaining plate 113.Since the retainer 115 is threadedly connected to the mounting member 114 and the rotation gripping claw 164 is engageable with the retainer 115, the rotation driving member 163 may cause the rotation gripping claw 164 to rotate so that the end of the retainer 115 moves toward the second retainer plate 113 until abutting against the same. Therefore, after the end thereof is pressed against the second retaining plate 113, even after the rotational force applied from the rotational driving member 163 is removed, the retaining member 115 continues to be pressed against the second retaining plate 113, thereby ensuring the stability of the second retaining plate 113 in the fixation of the second liner.However, when the second retaining plate 113 is required to move in the direction away from the first retaining plate 112, first, the retaining member 115 must be caused to rotate so that a gap is formed between the end of the retaining member 115 and the second retaining plate 113 to provide space for the movement of the second retaining plate 113.For example, the pressing member 162 is a structure consisting of two push rods spaced apart from each other, and the rotary gripping claw is located between the two push rods.Moreover, the above-mentioned rotation driving member 163 may be a synchronous motor, an asynchronous motor, and the like.The above-mentioned retaining member 115 may be designed according to the magnitude of the retaining force to ensure that the pressure of the first retaining plate 112 and the second retaining plate 113 on the first liner 1A or the second liner is appropriate and that it is easily disassembled.The above-mentioned retaining member 115 may be a lead screw, a screw, and the like.In some embodiments, referring to FIGS. 15 and 16, the liner replacement apparatus further includes a cabinet 170 and a conveyor 181 disposed in the cabinet 170. The conveyor 181 is configured to transport the retention pallet mechanism 110 entering the cabinet 170 to a predefined position.In this case, the conveying element 181 comprises, inter alia, conveyor belts, conveying rollers and the like.Therefore, by the provision of the conveying member 181, the moving direction of the retaining pallet mechanism 110 can be steered to prevent the retaining pallet mechanism 110 from deviating from its trajectory. At the same time, the convenience for the retaining pallet mechanism 110 to enter the cabinet 170 can also be improved.In some embodiments, referring to FIGS. 15 and 16, the liner replacement apparatus further includes a restriction member 182 disposed in the cabinet 170. The limiting member 182 is configured to block the retention pallet mechanism 110 entering the cabinet 170 to prevent the retention pallet mechanism 110 from exiting the predefined position.Therefore, when the retaining pallet mechanism 110 enters the cabinet 170, first, the retaining pallet mechanism 110 is placed on the conveying member 181 and transported to the predetermined position by the same. In order to prevent the retaining pallet mechanism 110 from being moved further forward, a restricting member 182 is installed at the predetermined position to prevent the retaining pallet mechanism 110 from moving further in its moving direction. Thereby, the retaining pallet mechanism 110 can be installed precisely at the predetermined position in the cabinet 170, thereby ensuring the effect of exchanging the first liner 1A and the second liner.In some embodiments, referring to FIG. 17, the liner replacement apparatus further includes a lift and positioning member 183 disposed in the cabinet 170. The lift and position member 183 is configured to lift and position the retaining pallet mechanism 110 at the predefined position.Therefore, the elevating and positioning member 183 descends during the process in which the retaining pallet mechanism 110 enters the cabinet 170, to facilitate the entry of the retaining pallet mechanism 110 into the cabinet 170. When the retaining pallet mechanism 110 reaches the predefined position, the lift and positioning member 183 lifts the retaining pallet mechanism 110 to be at the predefined height, which facilitates gripping by the liner gripping mechanism 130.Moreover, the lifting and positioning element 183 optionally comprises a lifting cylinder. The cabinet 170 also contains lane changes for position detection and positioning pins. In this way, the lane changes can detect whether the retention pallet mechanism 110 is in the proper position, and the positioning pins are configured to limit the lift height of the retention pallet mechanism 110.Referring to FIGS. 18 and 19, the embodiment of the present application provides a gripping mechanism 1 including a mounting assembly 3, a plurality of gripping members 4, and a detection assembly 5. The plurality of gripping members 4 includes a plurality of units spaced apart along a first direction and arranged on the mounting assembly 3. The plurality of gripping members 4 are configured to simultaneously grip a plurality of liners. The detection assembly 5 includes a plurality of detection elements 51 arranged on the mounting assembly 3. The number of the detection elements 51 corresponds to the number of the gripping elements 4, and the plurality of detection elements 51 is configured to respectively recognize whether the plurality of liners are in an abnormal state.Here, the term "a plurality of" refers to a number of three or more.The above-mentioned mounting assembly 3 includes a first mounting plate and a second mounting plate disposed on the first mounting plate. The gripping elements 4 are arranged on the first mounting plate and the detection elements 51 are arranged on the second mounting plate. Alternatively, the mounting assembly 3 includes a mounting frame and a mounting plate disposed on the mounting frame.Moreover, the above-mentioned first direction refers to the direction indicated by the x1 arrow in FIG. 19.Since a plurality of gripping members 4 are spaced apart along the first direction and arranged on the mounting assembly 3 and the number of the plurality of detection members 51 in the detection assembly 5 corresponds to the number of the plurality of gripping members 4, the plurality of detection members 51 can simultaneously recognize the liners gripped by the plurality of gripping members 4. In other words, the plurality of detection elements 51 can recognize whether abnormal states are present in the plurality of liners when the plurality of gripping elements 4 respectively grip a plurality of liners. The plurality of detection elements 51 can also detect the gripping states of the plurality of gripping elements 4 when gripping the liners to determine whether abnormal states are present in the plurality of liners. Of course, the plurality of detection members 51 can also detect whether abnormal conditions are present in the plurality of liners when the plurality of gripping members 4 place a plurality of liners. As can be seen, the provision of a plurality of detection elements 51 whose number and positions correspond to the gripping elements 4 enables the timely detection of abnormal states in the liners, so that the abnormal liners can be timely adjusted to ensure the production quality of the battery cells.In some embodiments, the abnormal conditions include the absence of at least one of the plurality of liners, the failure of at least one of the plurality of gripping members 4 to correctly grasp, and / or an excessive height of at least one of the plurality of liners.Accordingly, when the gripping members 4 grip a plurality of liners, a plurality of detection members 51 in the detection assembly 5 can simultaneously recognize whether the liners to be gripped are placed too high. When the gripping members 4 have gripped the liners, a plurality of detecting members 51 can simultaneously detect whether there is a situation where a plurality of gripping members 4 are not correctly gripped. When the gripping members 4 place the gripped liners, a plurality of detecting members 51 can simultaneously detect whether the placed liners are placed too high. It is understood that it can be detected by the detection assembly 5 whether abnormal conditions are present in the liners both before gripping, during the gripping process and after placing, which improves the comprisedness of the detection by the detection assembly 5.Moreover, the above liners may refer to the liners that need to be replaced, i.e. the first liner, or also to the liners that are to be replaced, i.e. the second liner.In some embodiments, referring to FIG. 20, the detection assembly 5 further includes a light shielding member 52 disposed at the end of the detection member 51 and a counter-beam detection assembly 53 cooperating with the light shielding member 52. The first end of the detection element 51 remote from the light shielding member 52 is configured to contact the liner, and the detection element 51 is movably disposed on the mounting assembly 3 in the vertical direction.Here, the vertical direction refers to the direction indicated by the Y arrow in FIG. 20.Moreover, the light shielding member 52 cooperates with the anti-beam detection assembly 53 means that the light shielding member 52 can block the optical signals emitted from the anti-beam detection assembly 53.Since the detection element 51 can move along the vertical direction, the first end of the detection element 51 is provided with a light shielding member 52, and the second end is in contact with the liner. Therefore, if the gripping member 4 does not correctly grip or the liner is missing, the detecting member 51 will not be able to contact the liner, and then the light shielding member 52 will be at a lower position. If the liner is placed too high, the detection element 51 will protrude to a greater extent from the mounting assembly 3, i.e. the light shielding element 52 will be in a higher position. Thus, the situations in which the gripping member 4 does not correctly grip, the liner is missing, or the liner is placed too high can be determined from the light shielding position of the light shielding member 52. This structure is simple and easy to operate.Of course, the above-mentioned detection assembly 5 is not limited to the above-described structure. The detection assembly 5 may also include a laser sensor, a height sensor, a limit switch, and the like.In an embodiment, referring to FIGS. 20 and 21, the anti-beam detection assembly 53 includes a first fiber group 531 and a second fiber group 532 spaced apart in the vertical direction. The position of the first fiber group 531 in the vertical direction is lower than that of the second fiber group 532, and the light shielding member 52 is configured to shield the light of the first fiber group 531 or the second fiber group 532. That is, the light shielding member 52 may shield the first fiber group 531 when the gripping member 4 is not correctly gripped or the liner is missing, and the light shielding member 52 may also shield the second fiber group 532 when the liner is placed too high.Since the first fiber group 531 is lower than the second fiber group 532 in the vertical direction, when it is at a lower position, the light shielding member 52 can block the light emitted from the first fiber group 531, indicating that the detection member 51 has not contacted the liner, that is, there is a situation in which the grip member 4 does not correctly grip or the liner is missing. When the light shielding member 52 is at a higher position, it may block the light emitted from the second fiber group 532, indicating that the detection member 51 has been lifted from the liner, that is, there is a situation where the liner is placed too high.It is understood that by matching the light shielding member 52 with the first fiber group 531 or the second fiber group 532, it can be determined whether the gripping member 4 does not correctly grip, whether the liner is missing, and whether the liner is placed too high. As compared with the prior art, in which a plurality of sensors are arranged to determine whether the gripping element 4 is not gripping correctly and whether the lining is placed too high, costs are saved.Moreover, each of the first fiber group 531 and the second fiber group 532 includes at least one fiber.In some embodiments, the gripping mechanism 1 also includes a controller and a warning device electrically connected to the controller. The controller is electrically connected to the first fiber group 531 and the second fiber group 532, and the warning device may issue a warning when the light shielding member 52 blocks the first fiber group 531 or the second fiber group 532.Here, the above controller includes, among other things, one-chip microcontrollers, PLC controllers, CPU controllers, and the like.Thus, when the light shielding member 52 blocks the first fiber group 531, the first fiber group 531 may transmit a signal to the controller, and the controller may control the warning device according to the signal transmitted from the first fiber group 531 to output a warning. Also, when the light shielding member 52 blocks the second fiber group 532, the second fiber group 532 may transmit a signal to the controller, and the controller may control the warning device according to the signal transmitted from the second fiber group 532 to output a warning. In this way, the personnel can be promptly alerted to the abnormal situations of the liner in various conditions.Moreover, the above-mentioned warning device may be a warning lamp, an alarm, and the like.In some embodiments, the light is transmitted along the first direction in both the first fiber group 531 and the second fiber group 532.Since a plurality of gripping members 4 are spaced apart along the first direction and the plurality of detection members 51 are arranged along the first direction corresponding to the gripping members 4, the light in the first fiber group 531 and the second fiber group 532 is transmitted along the first direction to improve the detection effect of whether abnormal states are present in the liners gripped by the gripping members 4.Since the light shielding member 52 can shield the second fiber group 532 when the liner is placed too high, in order to improve the accuracy of detecting whether the liner is placed too high, it is necessary to detect both opposite sides of the liner. In other words, when one side of the liner is lifted in the first direction while the other side is at the normal height, and only one side of the liner is detected, it is easy to treat the liner with the lifted other side as a normally placed liner, which would interfere with subsequent installation and processing of battery cells. Based thereon, in some embodiments, the second fiber group 532 includes two groups spaced along the second direction. The second direction is perpendicular to the first direction, and both the first and second directions are perpendicular to the vertical direction.Here, the first direction refers to the direction indicated by the x1 arrow in FIG. 22 a, and the second direction refers to the direction indicated by the y1 arrow in FIG. 22 a. The above first and second directions are not strictly the same as shown in Fig. 22a. In order to improve the accuracy of the liner recognition, it is preferable to make the second direction coincide with the longitudinal direction of the liner.Therefore, in this embodiment, since the two groups of the second fiber group 532 are spaced along the second direction, the two groups of the second fiber group 532 can respectively recognize both sides of the liner in the second direction, thereby improving the recognition accuracy whether the liner is placed too high.In some embodiments, referring to FIG. 22 b, the light shielding member 52 is a disk-shaped light shielding member including a first shielding portion 520 near the center and a second shielding portion 521 near the edge. The first shielding portion 520 is configured to shield the light of the second fiber group 532, and the second shielding portion 521 is configured to shield the light of the first fiber group 531.Since the disk-shaped light shielding member includes a first shielding portion 520 near the center and a second shielding portion 521 near the edge, and the first shielding portion 520 can shield the light of the second fiber group 532 while the second shielding portion 521 can shield the light of the first fiber group 531, the light shielding of the first fiber group 531 and the second fiber group 532 can be achieved by the provision of a light shielding member 52. As compared with the provision of two independent light shielding members 52, the number of components of the detection assembly 5 is reduced, and at the same time, the assembly process of the detection assembly 5 is simplified.In some embodiments, with reference to FIGS. 20 and 21, the detection assembly 5 further comprises an elastic member 54 disposed thereon near the first end of the detection member 51.Since the first end of the detection element 51 remote from the light shielding member 52 contacts the liner to determine whether the liner is placed too high, whether the liner is missing, or whether the gripping member 4 does not correctly grip, the arrangement of the elastic member 54 on the light shielding member 52 near the first end of the detection element 51 allows the detection element 51 to contact the liner through the elastic member 54. As a result, the rigid contact between the detection element 51 and the lining is converted into a flexible contact, which furthermore plays a protective role for the lining and prevents damage to the structure of the lining due to the relatively large contact pressure force of the detection element 51 on the lining.Moreover, the above-mentioned elastic member 54 includes, among other things, elastic members such as rubber pads, spring plates, and springs.In some embodiments, referring to FIG. 23, the gripping member 4 includes a claw driving member 40, a first gripping claw 41 and a second gripping claw 42. the claw driving member 40 is configured to move the first gripping claw 41 and the second gripping claw 42 to approach each other to grip the liner or to separate from each other to release the liner. The detection member 51 is disposed between the first gripping claw 41 and the second gripping claw 42.Here, the above-mentioned claw driving element may be an opening and closing cylinder, or may be a telescopic cylinder, a linear motor, and the like.For example, there are two claw driving members 40 connected to the first gripping claw 41 and the second gripping claw 42, respectively. When the liner needs to be gripped, the two claw driving members 40 move the first gripping claw 41 and the second gripping claw 42 to approach each other to grip the liner. When the liner needs to be released, the two claw driving members 40 move the first gripping claw 41 and the second gripping claw 42 to separate from each other, so that the liner is released from the gripping member 4. That is, the two claw driving members 40 cooperate to control the opening or closing of the first gripping claw 41 and the second gripping claw 42.Moreover, the gripping element 4 further comprises a first mounting plate and a second mounting plate. A plurality of first gripping claws 41 are disposed on the first mounting plate, and a plurality of second gripping claws 42 are disposed on the second mounting plate. One of the two claw driving members 40 is connected to the first mounting plate, and the other is connected to the second mounting plate. Thus, by the two claw driving members 40, opening or closing of the plurality of first gripping claws 41 and the plurality of second gripping claws 42 can be simultaneously controlled.Since the detection member 51 is disposed between the first gripping claw 41 and the second gripping claw 42, when the first gripping claw 41 and the second gripping claw 42 approach each other to grip the liner, the detection member 51 can recognize whether there is a situation in which the first gripping claw 41 and the second gripping claw 42 do not correctly grip. When the first gripping claw 41 and the second gripping claw 42 separate from each other to release the liner, the liner is placed at the placement position, and then the detection element 51 can recognize whether the placed liner is placed too high. Therefore, when the detection member 51 is disposed between the first gripping claw 41 and the second gripping claw 42, the condition of the liner can be detected in time when the first gripping claw 41 and the second gripping claw 42 are in different conditions, which improves the detection accuracy and time.In some embodiments, referring to FIG. 24, the gripping mechanism further includes a first driving member 6 and a second driving member 7. the first driving member 6 is configured to synchronously move the gripping member 4 and the detection assembly 5, and the second driving member 7 is configured to raise or lower the gripping member 4.In this case, both the first drive element 6 and the second drive element 7 can be telescopic cylinders, linear motors or the like.By the provision of the first driving member 6, when the gripping member 4 is caused to grip or place the liner, the detection assembly 5 can promptly recognize whether abnormal states are present in the liner during the gripping and placing process. By the second driving member 7, when the gripping member 4 grips the liner, the second driving member 7 can cause the gripping member 4 to lower and grip the liner, and then raise the gripping member 4. The same applies to the process of placing the liner.There are a plurality of connection relationships between the second driving member 7 and the first driving member 6. for example, the second driving member 7 and the first driving member 6 are independent from each other and are each connected to the gripping member 4, or the second driving member 7 is connected to the first driving member 6, and the second driving member 7 is connected to the gripping member 4. Hereinafter, the case where the second driving member 7 is connected to the first driving member 6 will be mainly illustrated as an example.In some embodiments, the gripping element 4 is arranged on the second drive element 7 and the second drive element 7 is arranged on the first drive element 6.Therefore, when the first driving member 6 makes the second driving member 7 move, the second driving member 7 and the gripping member 4 can be synchronously moved, thereby improving the compactness of the installation structure of the first driving member 6 and the second driving member 7.The embodiment of the present application also provides a gripping device comprising a supporting frame 2 and a gripping mechanism 1. In this case, the mounting assembly 3 is arranged movably on the supporting frame 2 in the gripping mechanism 1.More specifically, since the detection assembly 5 and the gripping member 4 in the gripping mechanism 1 are both disposed on the mounting assembly 3, the first driving member 6 is connected to the mounting assembly 3. Therefore, when the first driving member 6 makes the mounting assembly 3 move, the detection assembly 5 and the gripping member 4 can be synchronously moved simultaneously, improving the integrity of the movement of the detection assembly 5 and the gripping member 4.Moreover, the detection element 51 in the detection assembly 5 is arranged on the mounting assembly 3 so as to be movable in the vertical direction. The realizable solutions include: a through hole extending in the vertical direction is opened in the mounting assembly 3, and the detection element 51 is movably inserted into the through hole, or an installation portion is disposed on the mounting assembly 3, a through hole extending in the vertical direction is disposed on the installation portion, and the detection element 51 is movably inserted into the through hole.Moreover, the gripping mechanism 1 in the embodiment of the present application may have the same structure as one of the gripping mechanisms 1 in the above-mentioned embodiments and achieve the same or similar advantageous effects. For specific details, the descriptions in the above-mentioned embodiments may be referred to, and details are not repeated in the present embodiment.Referring to FIG. 25, the embodiment of the present application also provides a liner replacing apparatus including a storage mechanism 220 and the above-mentioned gripping device. The storage mechanism 220 has a storage position configured to alternately store an empty pallet and a second-liner pallet. The gripping device is configured to grip the first liner in the retaining pallet mechanism 210 at the depositing position, and the gripping device is also configured to grip the second liner in the pallet with the second liner at the depositing position and insert it into the retaining pallet mechanism 210.In this embodiment, when it is necessary to replace the first liner in the retaining pallet mechanism 210, first, the gripping device is caused to take out the first liner from the retaining pallet mechanism 210 and put it in the empty pallet at the depositing position. Then, the gripping device is caused to take out the second liner in the pallet with the second liner at the depositing position and insert it into the retaining pallet mechanism 210, thereby completing the replacement of liners of different specifications in the retaining pallet mechanism 210. It is understood that in this embodiment, by the provision of the storage mechanism 220 and the liner gripping mechanism, the first liner in the retaining pallet mechanism 210 can be automatically replaced with the second liner, thereby replacing the manual manner of replacing the liner by workers, saving labor costs, and simultaneously shortening the production cycle of battery cells.Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present application, but not for limiting them. Although the application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that it is still possible to make changes to the technical solutions recorded in the foregoing embodiments or to equivalently replace some or all of the technical features included therein. These changes or substitutions do not depart from the gist of the respective technical solutions to the technical solutions of the embodiments of the present application.

Claims

A liner replacing apparatus, the apparatus configured to replace a first liner (1A) in a retaining pallet mechanism (110), comprising: a storage mechanism (120) configured to store an empty pallet or a pallet with a second liner, wherein specifications of the second liner are different from those of the first liner (1A); a liner grasping mechanism (130) configured to grasp the first liner (1A) from the retaining pallet mechanism (110) and place it in the empty pallet, and further grasp the second liner and insert it in the retaining pallet mechanism (110).The liner replacement apparatus according to claim 1, wherein the empty pallet and the second liner pallet are alternately transported to the storage mechanism (120).The liner replacement apparatus according to claim 1, wherein the liner gripping mechanism (130) comprises a first driving member (131), a second driving member (132), and a liner gripping claw (133), wherein the first driving member (131) is configured to reciprocate the liner gripping claw (133) between the retaining pallet mechanism (110) and the storage mechanism (120) while the second driving member (132) is configured to raise or lower the liner gripping claw (133).The liner replacement apparatus according to claim 3, wherein the liner gripping claw (133) is connected to the second driving member (132), and the first driving member (131) is connected to the gripping claw (133) via the second driving member (132), wherein the first driving member (131) is configured to reciprocate the liner gripping claw (133) in a first direction between the retaining pallet mechanism (110) and the storage mechanism (120).The liner replacement apparatus according to claim 3, wherein the liner gripping mechanism (130) further comprises a detection assembly (140) configured to detect whether the first liner (1A) or the second liner is in an abnormal state.The liner replacing apparatus according to claim 5, wherein the abnormal state includes the absence of the first liner (1A) in the retaining pallet mechanism (110), the failure of the liner gripping claw (133) to grip the first liner (1A) or the second liner, and / or an excessive height of the second liner placed in the retaining pallet mechanism (110).The liner replacement apparatus according to claim 5, wherein the detection assembly (140) includes a connection base (141), a detection member (142) disposed on the connection base (141) movably along the vertical direction, a light shielding member (143) connected to the end of the detection member (142), and a counter beam detection assembly (144) cooperating with the light shielding member (143), wherein the first end of the detection member (142) remote from the light shielding member (143) is configured to contact the first liner (1A) or the second liner.The liner replacement apparatus according to claim 7, wherein the anti-radiation detection assembly (144) includes a first detection fiber group (1441) and a second detection fiber group (1442), wherein the position of the first detection fiber group (1441) is lower than that of the second detection fiber group (1442) in the vertical direction, wherein the light shielding member (143) is configured to shield the light of the first detection fiber group (1441) or the second detection fiber group (1442).The liner replacement apparatus of claim 7, wherein the detection assembly (140) further comprises an elastic member (145) disposed near the first end on the detection member (142).The liner replacement apparatus according to claim 1, wherein the retaining pallet mechanism (110) comprises a support member (111), and a first retaining plate (112) and a second retaining plate (113) disposed on the support member (111), the first retaining plate (112) and the second retaining plate (113) being spaced apart along the second direction, the second retaining plate (113) being movable along the second direction relative to the first retaining plate (112), a plurality of the first liners (1A) being sequentially disposed along the second direction between the first retaining plate (112) and the second retaining plate (113); wherein the liner replacement apparatus further comprises a relaxing mechanism (150) configured to move the second retaining plate (113) away from the first retaining plate (112) in the second direction.The liner replacement apparatus according to claim 10, wherein a first engagement member (116) is disposed on a side surface of the second retaining plate (113) opposite to the first retaining plate (112); wherein the relaxation mechanism (150) comprises a first relaxation driving element (151), a second relaxation driving element (152) and a second engagement element (153) engaged with the first engagement element (116), wherein the first relaxation driving element (151) is configured to move the second engagement element (153) towards the first engagement element (116) such that the second engagement element (153) is engaged with the first engagement element (116), while the second relaxation driving element (152) is configured to move the second engagement element (153) such that the first engagement element (116) is moved away from the first retaining plate (112) in the second direction.The liner replacement device according to claim 11, wherein a snap-fit portion is formed on the first engagement member (116), and a groove (1531) is disposed on the second engagement member (153), the groove (1531) being snap-fit engaged with the snap-fit portion.The liner replacement apparatus of claim 12, wherein the first engagement member (116) comprises a head (1162) and a neck (1161) connected to each other, the end of the neck (1161) remote from the head (1162) is connected to the surface of the second retaining plate (113) facing away from the first retaining plate (112), the snap-fit portion being formed on the neck (1161), the width of the neck (1161) being less than the width of the groove (1531), and the width of the head (1162) being greater than the width of the groove (1531).The liner replacement apparatus of claim 10, wherein the liner replacement apparatus further comprises a retaining mechanism (160), wherein the retaining mechanism (160) is configured to move the second retaining plate (113) in the second direction toward the first retaining plate (112).The liner replacement apparatus according to claim 14, wherein the retaining mechanism (160) comprises a pressing drive member (161) and a pressing member (162) connected to the pressing drive member (161), wherein the pressing drive member (161) moves the pressing member (162) to abut against the second retaining plate (113) and push the second retaining plate (113) toward the first retaining plate (112) in the second direction.The liner replacement apparatus of claim 15, wherein the retaining pallet mechanism (110) further comprises a mounting member (114) and a retaining member (115) disposed on the support member (111), the mounting member (114) being disposed on the side of the second retaining plate (113) facing away from the first retaining plate (112) and having a predefined distance from the second retaining plate (113), the retaining member (115) being threadedly connected to the mounting member (114); wherein the retaining mechanism (160) further comprises a drive assembly configured to move the retaining member (115) relative to the mounting member (114) toward the second retaining plate (113) until the retaining member (115) abuts the second retaining plate (113).The liner replacement apparatus of claim 16, wherein the drive assembly comprises a rotational drive member (163) and a rotational gripping claw (164) connected to the rotational drive member (163), wherein the rotational gripping claw (164) is coupled to the retaining member (115), and the rotational drive member (163) is configured to move the rotational gripping claw (164) such that the end of the retaining member (115) abuts against the second retaining plate (113).The liner replacement apparatus of claim 1, wherein the liner replacement apparatus further comprises a cabinet (170) and a conveyor (181) disposed in the cabinet (170), wherein the conveyor (181) is configured to transport the retention pallet mechanism (110) entering the cabinet (170) to a predefined position.The liner replacement apparatus of claim 18, wherein the liner replacement apparatus further comprises a restriction member (182) disposed in the cabinet (170), the restriction member (182) configured to block the retention pallet mechanism (110) entering the cabinet (170) to prevent the retention pallet mechanism (110) from exiting the predefined position.The liner replacement apparatus of claim 19, wherein the liner replacement apparatus further comprises a lift and positioning member (183) disposed in the cabinet (170), the lift and positioning member (183) configured to lift and position the retention pallet mechanism (110) at the predefined position.A gripping mechanism, the gripping mechanism comprising: a mounting assembly (3); a plurality of gripping members (4), the plurality of gripping members (4) being spaced apart along a first direction and arranged on the mounting assembly (3), and the plurality of gripping members (4) being configured to simultaneously grip a plurality of liners; a detection assembly (5), the detection assembly (5) comprising a plurality of detection members (51) arranged on the mounting assembly (3), wherein the number of detection members (51) corresponds to the number of gripping members (4), and the plurality of detection members (51) is configured to detect whether the plurality of liners are each in an abnormal state.The gripping mechanism of claim 21, wherein the abnormal conditions comprise the absence of at least one of the plurality of liners, the failure of at least one of the plurality of gripping members (4) to correctly grip, and / or an excessive height of at least one of the plurality of liners.The gripping mechanism according to claim 21, wherein the detection assembly (5) further comprises a light shielding member (52) disposed on the detection member (51), and a counter beam detection assembly (53) cooperating with the light shielding member (52), wherein the detection member (51) is disposed movably in the vertical direction on the mounting assembly (3), and the first end of the detection member (51) remote from the light shielding member (52) is configured to contact the liner.The gripping mechanism according to claim 23, wherein the anti-beam detection assembly (53) includes a first fiber group (531) and a second fiber group (532) spaced apart in the vertical direction, wherein the position of the first fiber group (531) in the vertical direction is lower than that of the second fiber group (532), and the light shielding member (52) is configured to shield the light of the first fiber group (531) or the second fiber group (532).The gripping mechanism of claim 24, wherein the light is transmitted along the first direction in both the first fiber group (531) and the second fiber group (532).The gripping mechanism of claim 24, wherein the second fiber group (532) comprises two groups, and the two groups of the second fiber group (532) are spaced along the second direction, wherein the second direction is perpendicular to the first direction, and both the first direction and the second direction are perpendicular to the vertical direction.The gripping mechanism according to claim 24, wherein the light shielding member (52) is a disk-shaped light shielding member, the disk-shaped light shielding member comprising a first shielding portion near the center and a second shielding portion near the edge, the first shielding portion being configured to shield the light of the second fiber group (532), and the second shielding portion being configured to shield the light of the first fiber group (531).The gripping mechanism according to claim 21, wherein the detection assembly (5) further comprises an elastic member (54), and the elastic member (54) is arranged near the first end of the detection member (51) on the detection member (51).The gripping mechanism according to claim 21, wherein the gripping member (4) comprises a claw driving member (40), a first gripping claw (41), and a second gripping claw (42), wherein the claw driving member (40) is configured to move the first gripping claw (41) and the second gripping claw (42) to approach each other to grip the liner or move away from each other to release the liner.The gripping mechanism according to claim 29, wherein the detection member (51) is disposed between the first gripping claw (41) and the second gripping claw (42).The gripping mechanism according to any of claims 21-30, wherein the gripping mechanism further comprises a first driving member (6) and a second driving member (7), wherein the first driving member (6) is configured to synchronously move the gripping member (4) and the detection assembly (5), and the second driving member (7) is configured to raise or lower the gripping member (4).A gripping device, the gripping device comprising: a support frame (2); the gripping mechanism (1) according to any of claims 21-30, wherein the mounting assembly (3) in the gripping mechanism (1) is movably arranged on the support frame (2).A liner replacement apparatus, the liner replacement apparatus comprising: a storage mechanism (220), the storage mechanism (220) having a storage position configured to alternately store an empty pallet and a second liner pallet; the gripping apparatus according to claim 32, wherein the gripping apparatus is configured to grip a first liner in the retaining pallet mechanism (210) into the empty pallet at the storage position, and the gripping apparatus is further configured to grip the second liner in the pallet with the second liner at the storage position and insert the second liner into the retaining pallet mechanism (210), wherein the specification of the second liner is different from that of the first liner.

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