A bb cap wave pad assembly device

Abstract

The application provides a BB cover gasket assembling device, which comprises a base, a rotating disc mechanism arranged on the base, a BB cover feeding mechanism arranged on the outer side of the rotating disc mechanism in a circumferential direction, a gasket feeding mechanism, a BB cover detection and pre-pressing mechanism, a central shaft righting mechanism, a BB cover pressing mechanism, a carrying and discharging mechanism and an oiling mechanism arranged at the BB cover feeding mechanism. The gasket feeding mechanism feeds the gasket to the BB cover, the BB cover detection and pre-pressing mechanism detects the position of the gasket, the central shaft righting mechanism corrects the position of the gasket, the BB cover detection and pre-pressing mechanism pre-presses the gasket to the BB cover, then the oiling mechanism oils the pre-pressed BB cover, the BB cover pressing mechanism presses the gasket and the BB together, the BB cover feeding mechanism feeds the pressed BB cover to the rotating disc mechanism, and the carrying and discharging mechanism carries and discharges, thereby realizing automatic gasket feeding, BB cover feeding, gasket pressing, BB cover pre-pressing and pressing, and product discharging.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing technology, and in particular to a BB cover wave pad assembly device. Background Technology

[0002] In motor manufacturing, the stator needs to be produced, including assembling insulating sheets and heat sinks on it. After assembly, the BB cover needs to be assembled onto the stator, and then the wave pads need to be assembled on the BB cover. During assembly, the dimensions between the BB cover and the wave pads need to be adjusted, and oil needs to be applied to the BB cover. After all assembly is completed, the stator needs to be cut into pieces. Manual assembly and inspection is a complex process, wastes manpower, has low production efficiency, and is prone to inspection and assembly errors. Summary of the Invention

[0003] The technical problem solved by this invention is to provide a BB cover wave pad assembly device.

[0004] To solve the above-mentioned technical problems, the present invention provides a BB cap corrugated pad assembly device, including a base, a turntable mechanism disposed on the base, a BB cap feeding mechanism disposed circumferentially outside the turntable mechanism, a corrugated pad feeding mechanism, a BB cap detection and pre-pressing mechanism, a central shaft straightening mechanism, a BB cap pressing mechanism, a conveying and unloading mechanism, and an oiling mechanism disposed at the BB cap feeding mechanism.

[0005] Furthermore, the oiling mechanism includes an oiling frame, an oiling wiping head mounted on the oiling frame, and an oiling cylinder for driving the oiling wiping head forward and backward.

[0006] Furthermore, the BB cap feeding mechanism includes a first frame, a lifting unit disposed in the first frame, a BB cap feeding turntable disposed at the output end of the lifting unit, and a cam divider for driving the BB cap feeding turntable to rotate.

[0007] Furthermore, the BB cap loading turntable includes a base, a top plate connected to the base via a connecting rod, a plurality of BB cap receiving slots evenly distributed on the base and the top plate, a first horizontal module disposed on the first frame, a first lifting cylinder disposed at the output end of the first horizontal module, and a first transport suction cup disposed at the output end of the first lifting cylinder.

[0008] Furthermore, the corrugated pad feeding mechanism includes a second frame, a corrugated pad feeding vibratory feeder unit disposed on one side of the second frame, a second transport horizontal drive module disposed on the second frame, a second lifting module slidably engaged with the second transport horizontal drive module, a BB cap suction head disposed at the output end of the second lifting module, a corrugated pad adjusting platform disposed on one side of the second transport horizontal drive module, a corrugated pad positioning block disposed on one side of the corrugated pad adjusting platform, a first horizontal adjusting block unit disposed on the other side of the corrugated pad adjusting platform, a second horizontal adjusting block unit disposed at one end of the corrugated pad adjusting platform, a positioning pressure head disposed above the corrugated pad adjusting platform, a pressure head lifting cylinder for driving the positioning pressure head to rise and fall, and a corrugated pad pressing unit disposed at one end of the second transport horizontal drive module.

[0009] Furthermore, the corrugated pad pressing unit includes a corrugated pad pressing frame mounted on the second frame, a BB cover platform mounted on the corrugated pad pressing frame, corrugated pad pressing positioning blocks mounted on both sides of the BB cover platform, a corrugated pad pressing positioning cylinder for driving the corrugated pad pressing positioning blocks to clamp the corrugated pad, a corrugated pad pressing horizontal module mounted on the second frame, a corrugated pad pressing vertical module that slides with the corrugated pad pressing horizontal module, and a corrugated pad pressing head mounted at the output end of the corrugated pad pressing vertical module.

[0010] Furthermore, the BB cap detection and pre-compression mechanism includes a third frame, a third horizontal module mounted on the third frame, a third vertical module slidably coupled to the third horizontal module, a third lifting plate slidably coupled to the third vertical module, a BB cap pre-compression head mounted on the third lifting plate, a pre-compression guide rod cylinder that moves up and down with the BB cap pre-compression head, a pre-compression drive motor that drives the pre-compression guide rod cylinder to rotate, and a pre-compression detection camera mounted on one side of the third lifting plate; the straightening mechanism is located below the pre-compression detection camera.

[0011] Furthermore, the BB cap pressing mechanism includes a fourth frame, a fourth lifting plate that is slidably fitted to the fourth frame, a pressing head located at the bottom of the fourth lifting plate, a fourth cylinder that drives the fourth lifting plate to rise and fall, a pressing platform located below the pressing head, and a spoke-type sensor located on the pressing platform.

[0012] Furthermore, the central axis straightening mechanism includes a fifth frame, a fifth lifting plate mounted on the fifth frame, a fifth cylinder for driving the fifth lifting plate to rise and fall, a slide cylinder mounted on the fifth lifting plate, a gripper cylinder mounted at the output end of the slide cylinder, a gripper mounted at the output end of the gripper cylinder, and a fifth detection sensor mounted on one side of the gripper.

[0013] Furthermore, the turntable mechanism includes a turntable, a plurality of positioning units evenly distributed circumferentially on the turntable, and a rotary drive cylinder assembly for driving the turntable to rotate; the positioning unit includes a lower mounting plate, an upper mounting plate connected to the lower mounting plate through a plurality of connecting columns, a buffer spring sleeved on the plurality of connecting columns, a positioning groove disposed in the middle of the upper mounting plate, positioning claws disposed on both sides of the positioning groove, and a positioning clamping cylinder disposed on the inner side of the upper mounting plate for driving the positioning claws to clamp, wherein the inner side of the positioning claws is respectively provided with positioning slots.

[0014] Furthermore, the conveying and unloading mechanism includes a first unloading transmission unit, a second unloading transmission unit, unloading conveying grippers that transport the products of the turntable mechanism to the first unloading transmission unit or the second unloading transmission unit, an unloading clamping cylinder that drives the unloading conveying grippers to clamp, an unloading vertical module that drives the unloading clamping cylinder to rise and fall, and an unloading first X-axis module and an unloading second X-axis module that drive the unloading vertical module to move along the X-axis and Y-axis directions.

[0015] The BB cap corrugated pad assembly equipment of the present invention includes a corrugated pad feeding mechanism that feeds the corrugated pad onto the BB cap, a BB cap detection and pre-pressing mechanism that detects the position of the corrugated pad, a central shaft straightening mechanism that corrects the position of the corrugated pad, a BB cap detection and pre-pressing mechanism that pre-presses the corrugated pad onto the BB cap, an oiling mechanism that applies oil to the pre-pressed BB cap, a BB cap pressing mechanism that presses the corrugated pad and the BB cap together, and a BB cap feeding mechanism that feeds the pressed BB cap onto the turntable mechanism, whereby the conveying and unloading mechanism transports and unloads the product. This achieves automated corrugated pad feeding, BB cap feeding, corrugated pad pressing, BB cap pre-pressing and pressing, and product unloading. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the BB cover wave pad assembly equipment of the present invention;

[0018] Figure 2 This is a schematic diagram of the turntable mechanism of the BB cover wave pad assembly equipment of the present invention;

[0019] Figure 3 This is a schematic diagram of the BB cap feeding mechanism of the BB cap wave pad assembly equipment of the present invention;

[0020] Figure 4This is a schematic diagram of the corrugated pad feeding mechanism of the BB cover corrugated pad assembly equipment of the present invention;

[0021] Figure 5 This is a schematic diagram of the BB cap detection and pre-compression mechanism of the BB cap wave pad assembly equipment of the present invention;

[0022] Figure 6 This is a schematic diagram of the central shaft alignment mechanism of the BB cover wave pad assembly equipment of the present invention;

[0023] Figure 7 This is a schematic diagram of the BB cap pressing mechanism of the BB cap wave pad assembly equipment of the present invention;

[0024] Figure 8 This is a schematic diagram of the material handling and unloading mechanism of the BB cover wave pad assembly equipment of the present invention;

[0025] Figure 9 This is a schematic diagram of the oiling mechanism of the BB cover wave pad assembly equipment of the present invention;

[0026] The diagram is marked as follows:

[0027] Base 1, turntable mechanism 10, turntable 11, positioning unit 12, lower mounting plate 121, connecting column 122, upper mounting plate 123, buffer spring 124, positioning groove 125, positioning gripper 126, positioning clamping cylinder 127, positioning slot 128, rotary drive cylinder assembly 13.

[0028] BB cap feeding mechanism 2, first frame 21, lifting unit 22

[0029] BB cap feeding turntable 23, base 231, connecting rod 232, top plate 233, BB cap receiving slot 234, first horizontal module 235, first lifting cylinder 236, first conveying suction cup 237, cam divider 24.

[0030] The system includes: a corrugated pad feeding mechanism 3, a second frame 30, a corrugated pad feeding vibratory feeder unit 31, a second horizontal conveying drive module 32, a second lifting module 33, a BB cap suction head 34, a corrugated pad adjusting platform 35, a corrugated pad positioning block 351, a first horizontal adjusting block unit 36, a second horizontal adjusting block unit 37, a positioning pressure head 38, a pressure head lifting cylinder 381, a corrugated pad pressing unit 39, a corrugated pad pressing frame 391, a BB cap platform 392, a corrugated pad pressing positioning block 393, a corrugated pad pressing positioning cylinder 394, a corrugated pad pressing horizontal module 395, and a corrugated pad pressure head 396.

[0031] BB cap detection and pre-compression mechanism 4, third horizontal module 41, third vertical module 42, third lifting plate 43, BB cap pre-compression head 44, pre-compression guide rod cylinder 45, pre-compression drive motor 46, pre-compression section detection camera 47.

[0032] Central shaft alignment mechanism 5, fifth frame 51, fifth lifting plate 52, fifth cylinder 53, slide cylinder 54, gripper cylinder 55, gripper 56, fifth detection sensor 57.

[0033] BB cap pressing mechanism 6, fourth frame 61, fourth lifting plate 62, pressing head 63, fourth cylinder 64, pressing platform 65, spoke-type sensor 66.

[0034] The material handling and unloading mechanism 7 includes a first unloading transmission unit 71, a second unloading transmission unit 72, an unloading transport gripper 73, an unloading clamping cylinder 74, an unloading vertical module 75, a first X-axis module 76, and a second unloading X-axis module 77.

[0035] Oiling mechanism 8, oiling frame 81, oiling wipe head 82, oiling cylinder 83. Detailed Implementation

[0036] The above-described solution will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. The implementation conditions used in the embodiments may be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are generally those in routine experiments.

[0037] See Figures 1 to 9 As shown, a BB cap corrugated pad assembly device includes a base 1, a turntable mechanism 10 disposed on the base 1, a BB cap feeding mechanism 2 disposed circumferentially outside the turntable mechanism 10, a corrugated pad feeding mechanism 3, a BB cap detection and pre-pressing mechanism 4, a central shaft straightening mechanism 5, a BB cap pressing mechanism 6, a conveying and unloading mechanism 7, and an oiling mechanism 8 disposed at the BB cap feeding mechanism 2. The corrugated pad feeding mechanism 3 feeds the corrugated pad onto the BB cover. The BB cover detection and pre-pressing mechanism 4 detects the position of the corrugated pad. After the central shaft straightening mechanism 5 corrects the position of the corrugated pad, the BB cover detection and pre-pressing mechanism 4 pre-presses the corrugated pad onto the BB cover. Then, the oiling mechanism 8 applies oil to the pre-pressed BB cover. The BB cover pressing mechanism 6 presses the corrugated pad and the BB cover together. The BB cover feeding mechanism 2 feeds the pressed BB cover onto the turntable mechanism 10, and the conveying and unloading mechanism 7 transports and unloads the product, thus realizing automated corrugated pad feeding, BB cover feeding, corrugated pad pressing, BB cover pre-pressing and pressing, and product unloading.

[0038] The oiling mechanism 8 includes an oiling frame 81, an oiling wiping head 82 mounted on the oiling frame 81, and an oiling cylinder 83 that drives the oiling wiping head 82 to move forward and backward.

[0039] The BB cap feeding mechanism 2 includes a first frame 21, a lifting unit 22 disposed in the first frame 21, a BB cap feeding turntable 23 disposed at the output end of the lifting unit 22, and a cam divider 24 for driving the BB cap feeding turntable 23 to rotate.

[0040] The BB cap loading turntable 23 includes a base 231, a top plate 233 connected to the base 231 via a connecting rod 232, a plurality of BB cap receiving slots 234 evenly distributed on the base 231 and the top plate 233, a first horizontal module 235 mounted on the first frame 21, a first lifting cylinder 236 mounted on the output end of the first horizontal module 235, and a first transport suction cup 237 mounted on the output end of the first lifting cylinder 236.

[0041] The wave cushion feeding mechanism 3 includes a second frame 30, a wave cushion feeding vibratory feeder unit 31 disposed on one side of the second frame 30, a second transport horizontal drive module 32 disposed on the second frame 30, a second lifting module 33 slidably engaged with the second transport horizontal drive module 32, a BB cap suction head 34 disposed at the output end of the second lifting module 33, a wave cushion adjusting platform 35 disposed on one side of the second transport horizontal drive module 33, a wave cushion positioning block 351 disposed on one side of the wave cushion adjusting platform 35, a first horizontal adjusting block unit 36 ​​disposed on the other side of the wave cushion adjusting platform 35, a second horizontal adjusting block unit 37 disposed at one end of the wave cushion adjusting platform 35, a positioning pressure head 38 disposed above the wave cushion adjusting platform 35, a pressure head lifting cylinder 381 for driving the positioning pressure head 38 to rise and fall, and a wave cushion pressing unit 39 disposed at one end of the second transport horizontal drive module 32.

[0042] Specifically, the corrugated pad pressing unit 39 includes a corrugated pad pressing frame 391 mounted on the second frame 30, a BB cover carrier platform 392 mounted on the corrugated pad pressing frame 391, corrugated pad pressing positioning blocks 393 mounted on both sides of the BB cover carrier platform 392, a corrugated pad pressing positioning cylinder 394 for driving the corrugated pad pressing positioning blocks 393 to clamp, a corrugated pad pressing horizontal module 395 mounted on the second frame 30, a corrugated pad pressing vertical module that slides with the corrugated pad pressing horizontal module 395, and a corrugated pad pressing head 396 mounted at the output end of the corrugated pad pressing vertical module. The BB cover is fed onto the BB cover platform 392 by the BB cover feeding mechanism 2 and fixed by the wave pad pressing positioning block 393. The wave pad is located on the wave pad pressing head 396. After the wave pad pressing horizontal module 395 drives the wave pad pressing head 396 to move below the BB cover platform 392, the wave pad pressing vertical module drives the wave pad pressing head 396 to rise and press the wave pad onto the BB cover.

[0043] The BB cap detection and pre-pressing mechanism 4 includes a third frame 40, a third horizontal module 41 mounted on the third frame 40, a third vertical module 42 slidably engaged with the third horizontal module 41, a third lifting plate 43 slidably engaged with the third vertical module 42, a BB cap pre-pressing head 44 mounted on the third lifting plate 43, a pre-pressing guide cylinder 45 that moves up and down with the BB cap pre-pressing head 44, a pre-pressing drive motor 46 that drives the pre-pressing guide cylinder 45 to rotate, and a pre-pressing part detection camera 47 mounted on one side of the third lifting plate 43; the straightening mechanism 5 is located below the pre-pressing part detection camera 47. The pre-pressing part detection camera 47 is used to detect whether the BB cap position is correct. If correct, the pre-pressing guide cylinder 45 drives the BB cap pre-pressing head 44 to descend.

[0044] The BB cap pressing mechanism 6 includes a fourth frame 61, a fourth lifting plate 62 slidably mounted on and fitted to the fourth frame 61, a pressing head 63 located at the bottom of the fourth lifting plate 62, a fourth cylinder 64 for driving the fourth lifting plate 62 to rise and fall, a pressing platform 65 located below the pressing head 63, and a spoke-type sensor 66 mounted on the pressing platform 65. The spoke-type sensor 66 is used to detect and control the pressure during the BB cap pressing process, ensuring that the pressure is within a preset range, thereby ensuring the BB cap pressing effect.

[0045] The central axis straightening mechanism 5 includes a fifth frame 51, a fifth lifting plate 52 mounted on the fifth frame 51, a fifth cylinder 53 for driving the fifth lifting plate 52 to rise and fall, a slide cylinder 54 mounted on the fifth lifting plate 52, a gripper cylinder 55 mounted at the output end of the slide cylinder 54, a gripper 56 mounted at the output end of the gripper cylinder 55, and a fifth detection sensor 57 mounted on one side of the gripper 56. The straightening mechanism 5 is used to adjust the position of the BB cover to prevent the BB cover from tilting or shifting.

[0046] The turntable mechanism 10 includes a turntable 11, a plurality of positioning units 12 evenly distributed circumferentially on the turntable 11, and a rotary drive cylinder assembly 13 for driving the turntable 11 to rotate. Each positioning unit 12 includes a lower mounting plate 121, an upper mounting plate 123 connected to the lower mounting plate 121 via a plurality of connecting posts 122, buffer springs 124 sleeved on the plurality of connecting posts 122, a positioning groove 125 located in the middle of the upper mounting plate 123, positioning claws 126 located on both sides of the positioning groove 125, and a positioning clamping cylinder 127 located inside the upper mounting plate 123 for driving the positioning claws 126 to clamp. The inner sides of the positioning claws 126 are respectively provided with positioning slots 128. The positioning clamping cylinder 127 drives the positioning claws 126 to clamp the BB cap.

[0047] The conveying and unloading mechanism 7 includes a first unloading transfer unit 71, a second unloading transfer unit 72, an unloading transport gripper 73 that transports the product from the turntable mechanism 10 to the first unloading transfer unit 71 or the second unloading transfer unit 72, an unloading clamping cylinder 74 that drives the unloading transport gripper 73 to clamp, an unloading vertical module 75 that drives the unloading clamping cylinder 74 to rise and fall, and an unloading first X-axis module 76 and an unloading second X-axis module 77 that drive the unloading vertical module 75 to move along the X-axis and Y-axis directions. The first unloading transfer unit 71 can be used for unloading qualified products, and the second unloading unit 72 can be used for unloading products that failed inspection in previous processes.

[0048] The above examples are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A BB cap wave pad assembly apparatus, characterized by: The base, the rotating disc mechanism arranged on the base, the BB cap feeding mechanism arranged on the outer side of the rotating disc mechanism, the wave pad feeding mechanism, the BB cap detection and pre-pressing mechanism, the central shaft righting mechanism, the BB cap pressing mechanism, the carrying and discharging mechanism, and the oiling mechanism arranged at the BB cap feeding mechanism; The wave pad feeding mechanism comprises a second rack, a wave pad feeding vibration disc unit arranged on one side of the second rack, a second carrying horizontal driving module arranged on the second rack, a second lifting module in sliding cooperation with the second carrying horizontal driving module, a BB cap suction head arranged on the output end of the second lifting module, a wave pad adjusting support arranged on one side of the second carrying horizontal driving module, a wave pad positioning block arranged on one side of the wave pad adjusting support, a first horizontal adjusting block unit arranged on the other side of the wave pad adjusting support, a second horizontal adjusting block unit arranged on one end of the wave pad adjusting support, a positioning pressing head arranged above the wave pad adjusting support, a pressing head lifting cylinder for driving the positioning pressing head to lift, and a wave pad pressing unit arranged on one end of the second carrying horizontal driving module. The wave pad pressing unit comprises a wave pad pressing rack arranged on the second rack, a BB cap support arranged on the wave pad pressing rack, wave pad pressing positioning blocks arranged on both sides of the BB cap support, wave pad pressing positioning cylinders for driving the wave pad pressing positioning blocks to clamp, a wave pad pressing horizontal module arranged on the second rack, a wave pad pressing vertical module in sliding cooperation with the wave pad pressing horizontal module, and a wave pad pressing head arranged on the output end of the wave pad pressing vertical module.

2. The BB cap wave pad assembly apparatus of claim 1, wherein: The oiling mechanism comprises an oiling rack, an oiling rubbing head arranged on the oiling rack, and an oiling cylinder for driving the oiling rubbing head to move in and out.

3. The BB cap wave pad assembly apparatus of claim 1, wherein: The BB cap feeding mechanism comprises a first rack, a lifting unit arranged in the first rack, a BB cap feeding rotating disc arranged on the output end of the lifting unit, and a cam divider for driving the BB cap feeding rotating disc to rotate; the BB cap feeding rotating disc comprises a bottom disc, a top disc connected to the bottom disc through a connecting rod, a plurality of BB cap accommodating grooves evenly arranged on the bottom disc and the top disc, a first horizontal module arranged on the first rack, a first lifting cylinder arranged on the output end of the first horizontal module, and a first carrying suction disc arranged on the output end of the first lifting cylinder.

4. The BB cap wave pad assembly apparatus of claim 1, wherein: The BB cap detection and pre-pressing mechanism comprises a third rack, a third horizontal module arranged on the third rack, a third vertical module in sliding cooperation with the third horizontal module, a third lifting plate in sliding cooperation with the third vertical module, a BB cap pre-pressing head arranged on the third lifting plate, a pre-pressing guide rod cylinder for lifting the BB cap pre-pressing head, a pre-pressing driving motor for driving the pre-pressing guide rod cylinder to rotate, and a pre-pressing part detection camera arranged on one side of the third lifting plate; the righting mechanism is located below the pre-pressing part detection camera.

5. The BB cap wave pad assembly apparatus of claim 1, wherein: The BB cover pressing mechanism comprises a fourth rack, a fourth lifting plate arranged in sliding fit with the fourth rack, a pressing head arranged at the bottom of the fourth lifting plate, a fourth cylinder driving the fourth lifting plate to lift, a pressing loading platform arranged below the pressing head, and a spoke sensor arranged on the pressing loading platform.

6. The BB cap wave mat assembly apparatus of claim 5, wherein: The central shaft centering mechanism comprises a fifth rack, a fifth lifting plate arranged on the fifth rack, a fifth cylinder driving the fifth lifting plate to lift, a sliding table cylinder arranged on the fifth lifting plate, a gripper cylinder arranged at the output end of the sliding table cylinder, a gripper arranged at the output end of the gripper cylinder, and a fifth detection sensor arranged on one side of the gripper.

7. The BB cap wave pad assembly apparatus of claim 1, wherein: The rotating disc mechanism comprises a rotating disc, a plurality of positioning units arranged on the rotating disc in circumferential distribution, and a rotating drive cylinder assembly driving the rotating disc to rotate; the positioning unit comprises a lower mounting plate, an upper loading plate connected with the lower mounting plate through a plurality of connecting columns, a buffer spring sleeved on the connecting columns, a positioning groove arranged in the middle of the upper loading plate, positioning clamps arranged on both sides of the positioning groove, and a positioning clamping cylinder arranged on the inner side of the upper loading plate and driving the positioning clamps to clamp; the inner side of the positioning clamps is respectively provided with a positioning clamping groove.

8. The BB cap wave pad assembly apparatus of claim 1, wherein: The carrying and discharging mechanism comprises a first discharging transmission unit, a second discharging transmission unit, a discharging carrying gripper carrying the product of the rotating disc mechanism to the first discharging transmission unit or the second discharging transmission unit, a discharging clamping cylinder driving the discharging carrying gripper to clamp, a discharging vertical module driving the discharging clamping cylinder to lift, a discharging first X-axis module and a discharging second X-axis module driving the discharging vertical module to move along the X-axis and Y-axis directions.

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