An automated battery pack stacking installation and lifting device

Abstract

The present application discloses an automated battery pack stacking installation and lifting device, which belongs to the technical field of battery pack production, and includes a frame, a loading device, a stacking device and a transfer device. The loading device includes a loading moving mechanism and a loading clamping mechanism; the stacking device includes a stacking moving mechanism, a stacking carrier and a stacking positioning mechanism. The stacking carrier includes a first carrier and a second carrier, and the second carrier is provided with an x-axis positioning assembly, and the x-axis positioning assembly includes a bearing fixing plate, a bearing driving member and a bearing positioning plate; the stacking positioning mechanism includes a stacking positioning plate and a stacking driving member, and the stacking driving member is used to drive the stacking positioning plate to move toward or away from the second carrier; the transfer device includes a transfer moving mechanism and a transfer clamping mechanism. The present application has the effect of making it difficult for the battery cell to be offset in position during the stacking process, thereby facilitating the guarantee of the assembly and stacking quality of the battery cell.

Description

Technical Field

[0001] The present application relates to the field of battery pack production, and in particular to an automated battery pack stacking, installation and lifting device. Background Art

[0002] A battery pack is an energy storage device that integrates multiple battery cells. In the manufacturing process, multiple rectangular battery cells usually need to be assembled and stacked in a specific order and manner. This step is not only to increase the energy storage capacity of the battery pack, but also to comprehensively improve its overall performance to meet the diverse needs of battery packs in different application scenarios. Through fine assembly and stacking, the battery pack is able to form a battery structure with a specific shape, size and performance, so as to better adapt to the use requirements of various electronic devices or vehicles. After the battery pack is assembled and stacked, it is usually necessary to clamp and transport it to facilitate subsequent processing and handling of the battery pack.

[0003] The equipment for assembling and stacking the cells of a battery pack and clamping and transporting the assembled and stacked battery pack usually includes a loading device, a stacking device and a transporting device, wherein the loading device is used to clamp the individual cells in turn and send them to the stacking device for assembly and stacking, and the battery pack after multiple cells are assembled and stacked is clamped and transported by the transporting device.

[0004] With respect to the above-mentioned related technologies, during the process of the loading device sequentially feeding individual battery cells into the stacking device for assembly and stacking, the battery cells are prone to positional displacement due to loading errors, which makes it difficult to ensure the assembly and stacking quality of the battery cells. Summary of the invention

[0005] In order to prevent the battery cells from being easily displaced in position during the stacking process, thereby ensuring the assembly and stacking quality of the battery cells, the present application provides an automated battery pack stacking, installation and lifting device.

[0006] The present application provides an automated battery pack stacking installation and lifting device that adopts the following technical solution:

[0007] An automated battery pack stacking, installation and lifting device comprises a frame, a loading device, a stacking device and a transfer device, wherein the loading device comprises a loading moving mechanism and a loading clamping mechanism, wherein the loading clamping mechanism is used to clamp the battery cells to be stacked, and the loading moving mechanism is arranged on the frame and used to drive the loading clamping mechanism to move in the horizontal and vertical directions; the stacking device comprises a stacking moving mechanism, a stacking carrier and a stacking positioning mechanism, wherein the stacking carrier comprises a first carrier and a second carrier, wherein the stacking moving mechanism is arranged on the frame and used to drive the first carrier to move in the x-axis direction, wherein the second carrier is arranged on the top of the first carrier, wherein the second carrier is provided with an x-axis positioning assembly, wherein the x-axis positioning assembly comprises a carrier fixing assembly The stacking device comprises a stacking positioning plate, a carrying driving member and a carrying positioning plate, wherein the carrying fixing plate is fixedly mounted on the second carrying frame, the carrying positioning plate and the carrying fixing plate are arranged opposite to each other along the x-axis direction, and the carrying driving member is used to drive the carrying positioning plate to move toward or away from the carrying fixing plate; the stacking positioning mechanism comprises a stacking positioning plate and a stacking driving member, wherein two stacking positioning plates are provided and are respectively located on both sides of the y-axis direction of the second carrying frame, and the stacking driving member is used to drive the stacking positioning plate to move toward or away from the second carrying frame; the transfer device comprises a transfer moving mechanism and a transfer clamping mechanism, wherein the transfer clamping mechanism is used to clamp the stacked battery packs, and the transfer moving mechanism is used to drive the transfer clamping mechanism to move in the horizontal and vertical directions.

[0008] By adopting the above technical scheme, during the production process of the battery pack, when it is necessary to stack the battery cells in sequence, the single battery cell is first clamped by the loading clamping mechanism, and then the loading clamping mechanism is driven to move to the second carrier by the loading moving mechanism, so as to realize the sequential transfer of the single battery cell, and the battery cells can be stacked by placing the single battery cells on the second carrier in sequence; the stacked battery cells are positioned in the x-axis direction by the load-bearing positioning plate and the load-bearing fixed plate, and the stacked battery cells are positioned in the y-axis direction by the two stacking positioning plates, and subsequently the stacked battery cells, i.e. the battery pack, are clamped by the transfer clamping mechanism after the first carrier is moved, and the transfer clamping mechanism is driven to move in the horizontal and vertical directions by the transfer moving mechanism to realize the transfer of the battery pack; during the production process of the battery pack, the stacked battery cells can be positioned in the x-axis and y-axis directions, so that the battery cells are not easily offset in position during the stacking process, thereby facilitating the assembly and stacking quality of the battery cells, and the loading of the single battery cell and the transfer of the battery pack can be carried out by the loading device and the transfer device, which is convenient and stable.

[0009] Optionally, there are three second carrier frames distributed along the y-axis direction, each of the second carrier frames is located between the two stacking positioning plates, the second carrier frame arranged near the middle of the first carrier frame is fixedly installed on the first carrier frame, the second carrier frames arranged near both sides of the y-axis of the first carrier frame are slidably matched with the first carrier frame along the y-axis direction, and the first carrier frame is provided with a bearing moving part for moving the second carrier frames near both sides of the y-axis of the first carrier frame toward or away from each other.

[0010] By adopting the above technical solution, the arrangement of the three second carriers facilitates the synchronous carrying of more battery cells to be stacked, which is beneficial to further ensure the production efficiency of the battery pack, and after the three second carriers carry the battery cells, the second carriers close to both sides of the y-axis of the first carrier are driven by the carrying moving parts to move towards each other in coordination with the movement of the two stacking positioning plates towards each other, which facilitates the stable positioning of the positions of each battery cell after the battery cells are stacked, thereby helping to fully ensure the assembly and stacking quality of each battery cell.

[0011] Optionally, the feeding clamping mechanism includes a feeding clamping seat, a feeding clamping cylinder, a feeding driving block, a feeding jaw and a feeding reset member. The feeding clamping cylinder is installed on the feeding clamping seat and is used to drive the feeding driving block to move in a vertical direction. Two feeding jaws are arranged opposite each other, and both feeding jaws are rotatably installed on the feeding clamping seat. The feeding driving block has two driving pressure surfaces, and one end of the two feeding jaws respectively abuts against the two driving pressure surfaces. The feeding reset member is arranged on the feeding clamping seat and is used to make the two feeding jaws move in directions away from each other. When the feeding driving block moves in the vertical direction, the ends of the two feeding jaws away from the driving pressure surface move in directions towards or away from each other.

[0012] By adopting the above technical solution, when clamping and conveying a single battery cell, the loading clamping cylinder drives the loading drive block to move in the vertical direction so that the two loading clamping claws move toward each other, thereby achieving stable clamping of both sides of the single battery cell, which is convenient and fast.

[0013] Optionally, a pressing movable groove is provided at the bottom of the feeding drive block, a pressing movable part is slidably fitted in the pressing movable groove, a buffer spring is provided between the pressing movable part and the pressing movable groove, and when the two feeding jaws clamp the two sides of a single battery cell, the pressing movable part presses against the top of the single battery cell.

[0014] By adopting the above technical solution, when a single battery cell is clamped by two feeding clamps, the pressing movable part presses the top of the single battery cell, so that the position of the single battery cell when clamped is not easy to tilt or shake, which is beneficial to further ensure the stability of the single battery cell when it is clamped and fixed.

[0015] Optionally, the feeding moving mechanism includes a feeding x-axis linear module, a feeding y-axis linear module, a feeding z-axis linear module and a feeding rotating assembly, the feeding x-axis linear module is arranged on the frame and is used to drive the feeding y-axis linear module to move along the x-axis direction, the feeding y-axis linear module is used to drive the feeding z-axis linear module to move along the y-axis direction; the feeding rotating assembly includes a feeding rotating motor, a feeding rotating worm and a feeding rotating worm wheel, the feeding clamping seat is fixedly installed with a feeding rotating rod, the feeding rotating rod rotates around the x-axis and is installed on a slider of the feeding z-axis linear module, the feeding rotating worm wheel is coaxially fixed on the feeding rotating rod, the feeding rotating worm rotates the slider installed on the feeding z-axis linear module and engages with the feeding rotating worm wheel, and the feeding rotating motor is used to drive the feeding rotating worm to rotate.

[0016] By adopting the above technical solution, when the loading rotating motor drives the loading rotating worm to rotate, the loading rotating worm wheel drives the loading rotating rod and the loading clamping seat to rotate in the x-axis direction, which is beneficial to reduce the vertical avoidance space with other components when a single battery cell is transported to the second carrier, and is convenient for use in a more compact space. In addition, the self-locking effect between the loading rotating worm and the loading rotating worm wheel is beneficial to ensure the stability of the position of the loading clamping seat after rotation.

[0017] Optionally, the transfer clamping mechanism includes a clamping fixing seat, a first clamping plate, a second clamping plate, a first clamping drive assembly and a second clamping drive assembly, two first clamping plates are arranged opposite each other along the x-axis direction, the first clamping drive assembly is arranged on the clamping fixing seat and is used to drive the two first clamping plates to move towards or away from each other, two second clamping plates are arranged opposite each other along the y-axis direction, the second clamping drive assembly is arranged on the clamping fixing seat and is used to drive the two second clamping plates to move towards or away from each other; positioning ridges are fixedly installed on the side where the bearing fixing plate and the bearing positioning plate are close to each other, and the bottom of the first clamping plate is provided with yield grooves which are arranged one by one corresponding to the position of the positioning ridges, and each of the positioning ridges is respectively plugged into and matched with each yield groove.

[0018] By adopting the above technical scheme, the first clamping drive component drives the two first clamping plates to move in a direction approaching each other, and cooperates with the second clamping drive component to drive the two second clamping plates to move in a direction approaching each other, so as to realize stable clamping of the stacked battery cells. It is convenient and fast, and the cooperation of the positioning convex strips and the give way grooves makes it easy for the stacked battery cells to avoid the original clamping components under the clamping action of the second carrier frame which is firmly fixed at the position, thereby realizing the clamping of the stacked battery cells, which is beneficial to fully ensure the stability of the stacked battery cells during transportation and clamping.

[0019] Optionally, the transfer and movement mechanism includes a horizontal transfer component and a vertical transfer component, the vertical transfer component includes a vertical fixed seat, an electric hoist and a vertical guide rod, the vertical guide rod is fixedly installed on the top of the clamping fixed seat, the vertical guide rod is passed through the vertical fixed seat and slidably cooperates with the vertical fixed seat, the electric hoist is installed on the vertical fixed seat, and the steel cable of the electric hoist is fixedly installed on the clamping fixed seat.

[0020] By adopting the above technical solution, when the electric hoist drives its own steel cable to reel in, the clamping seat moves stably in the vertical direction under the limiting action of the vertical guide rod. The setting of the electric hoist makes the movement of the clamping seat in the vertical direction more automated, convenient and fast.

[0021] Optionally, the vertical fixed seat is provided with a guide roller, and the guide roller is rollingly engaged with the side wall of the vertical guide rod, and mounting guide grooves are provided at both ends of the guide roller, and a mounting guide rod is slidingly engaged in the mounting guide groove, and the guide roller is provided with a mounting spring driving the mounting guide rod to move away from the guide roller; the vertical fixed seat is provided with a mounting guide seat arranged one-to-one with the guide roller, and the mounting guide seat is provided with two mounting sockets which are plug-matched with the mounting guide rod, and when the two mounting guide rods of the guide roller are inserted into the two mounting sockets, the guide roller is installed on the vertical fixed seat.

[0022] By adopting the above technical scheme, the setting of the guide roller is beneficial to reducing the friction between the vertical guide rod and the vertical fixed seat during the movement of the vertical guide rod in the vertical direction, which facilitates the vertical guide rod to move in a straight line more smoothly, and is beneficial to improving the movement accuracy and response speed of the equipment. At the same time, the installation guide rod is pressed so that the installation guide rod is stored in the installation guide groove. When the positions of the two installation guide rods and the two installation sockets are directly opposite, the two installation guide rods are automatically inserted into the two installation sockets under the elastic force of the installation spring, thereby making the installation and fixing operation of the guide roller simple, convenient and fast.

[0023] Optionally, the mounting guide seat is provided with two pushing components corresponding to the two mounting holes, the pushing components including a pushing rod and a pushing spring, the pushing rod is slidably engaged with the mounting hole, the pushing spring is used to make the pushing rod move in a direction away from the mounting guide rod, the pushing rod is fixedly installed with a pushing limit rod, the pushing spring is sleeved outside the pushing limit rod, and when the pushing limit rod is in contact with the mounting guide seat, the mounting guide rod is received in the mounting guide groove.

[0024] By adopting the above technical solution, when the guide roller needs to be disassembled for inspection and maintenance of the guide roller, the guide roller can be disassembled by pressing the push rod so that the installation guide rod is pushed into the installation guide groove. The setting of the push limit rod is convenient for ensuring the elastic stability of the push spring on the one hand, and for limiting the position of the push rod on the other hand, so that the push rod can be quickly moved to the position where the guide roller is limited.

[0025] Optionally, the clamping and fixing seat includes a clamping and fixing part and a clamping and pressing part, the clamping and fixing part is provided with a pressing and lifting assembly, the pressing and lifting assembly is used to drive the clamping and pressing part to lift and lower, and the bottom of the clamping and pressing part is provided with a plurality of pneumatic suction cups distributed in a rectangular array, and the clamping and pressing part is provided with an adjustment assembly arranged one-to-one corresponding to the pneumatic suction cup.

[0026] The adjusting assembly comprises a suction cup fixing block, a suction cup unlocking block and a suction cup spring, the suction cup fixing block is fixedly mounted on the clamping and pressing portion, the suction cup fixing block is provided with a plurality of suction cup clamping portions which are circumferentially distributed around its own axis and have elasticity, the suction cup unlocking block is slidably fitted with the suction cup fixing block, the suction cup spring applies an elastic force to the suction cup unlocking block to move toward the suction cup clamping portion, and the pneumatic suction cup is sequentially penetrated and slidably fitted with the clamping and pressing portion, the suction cup fixing block and the suction cup unlocking block; in normal state, the suction cup clamping portion clamps and fixes the pneumatic suction cup, and when the suction cup spring contracts, the suction cup fixing block moves in a direction away from the suction cup clamping portion, and the suction cup clamping portion moves in a direction away from the pneumatic suction cup due to its own elastic force.

[0027] By adopting the above technical solution, the pneumatic suction cup arranged on the clamping and pressing part is convenient for providing a stronger adsorption force to the stacked battery cells, i.e., the battery pack, during the clamping and transportation process, which is beneficial to further ensure the stability of the formed battery pack during transportation, and by pressing the suction cup fixing block to make the suction cup spring expand and contract, the suction cup clamping part can fix or loosen the pneumatic suction cup, thereby facilitating the rapid adjustment of the height position of the pneumatic suction cup, facilitating adaptation to different clamping conditions, and having strong applicability.

[0028] In summary, the present application includes at least one of the following beneficial technical effects:

[0029] 1. During the production process of the battery pack, the stacked battery cells can be positioned in the x-axis and y-axis directions, so that the battery cells are not easily offset in position during the stacking process, thereby ensuring the assembly and stacking quality of the battery cells. The loading of a single battery cell and the transportation of the battery pack can be carried out through the loading device and the transportation device, which is convenient and stable.

[0030] 2. When the feeding rotating motor drives the feeding rotating worm to rotate, the feeding rotating worm wheel drives the feeding rotating rod and the feeding clamping seat to rotate in the x-axis direction, which is beneficial to reduce the vertical avoidance space with other components when a single battery cell is transported to the second carrier, making it easier to use in a more compact space.

[0031] 3. The setting of the guide roller is conducive to reducing the friction between the vertical guide rod and the vertical fixed seat during the vertical movement, which facilitates the vertical guide rod to move in a straight line more smoothly, and is conducive to improving the movement accuracy and response speed of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0033] Figure 2 It is a schematic diagram of the main structures of the feeding device and the stacking device in the embodiment of the present application.

[0034] Figure 3 yes Figure 2 A partial enlarged schematic diagram of part A.

[0035] Figure 4 It is a partial cross-sectional schematic diagram of the loading clamping seat in the embodiment of the present application.

[0036] Figure 5 It is a schematic diagram of the main structure of the transfer device in the embodiment of the present application.

[0037] Figure 6 It is a schematic diagram of the main connection relationship between the clamping and pressing part and the pneumatic suction cup in the embodiment of the present application.

[0038] Figure 7 yes Figure 6 A partial enlarged schematic diagram of part B.

[0039] Figure 8 It is a schematic diagram of the connection relationship between the guide roller and the guide sleeve in the embodiment of the present application.

[0040] Fig. 9 yes Figure 8 A partial enlarged schematic diagram of part C in the middle.

[0041] Fig.10 It is a schematic diagram of the main structure of the horizontal transfer component in the embodiment of the present application.

[0042] Description of reference numerals:

[0043] 1. Frame; 2. Feeding x-axis linear module; 3. Feeding y-axis linear module; 4. Feeding z-axis linear module; 5. Feeding clamping seat; 6. Feeding clamping cylinder; 7. Feeding drive block; 8. Feeding clamping claw; 9. Driving pressing surface; 10. Feeding reset spring; 11. Pressing movable groove; 12. Pressing movable part; 13. Buffer spring; 14. Feeding rotating rod; 15. Feeding rotating motor; 16. Feeding rotating worm; 17. Feeding rotating worm wheel; 18. Stacking carrier; 1 81, first carrier; 182, second carrier; 19, stacked x-axis linear module; 20, bearing motion cylinder; 21, bearing motion guide rail; 22, bearing fixing plate; 23, bearing electric cylinder; 24, bearing positioning plate; 251, stacked positioning plate; 252, stacked y-axis cylinder; 26, clamping fixed seat; 261, clamping fixed part; 262, clamping pressing part; 27, first clamping plate; 28, second clamping plate; 29, pressing electric cylinder; 30, pressing guide rod; 31 , pneumatic suction cup; 32, clamping installation hole; 33, suction cup installation block; 34, suction cup fixing block; 341, suction cup inner tube; 342, suction cup outer tube; 35, suction cup unlocking block; 36, suction cup spring; 37, suction cup clamping part; 38, sliding unlocking groove; 39, sliding unlocking rod; 40, driving guide surface; 41, first two-way screw rod; 42, first guide rod; 43, first hand wheel; 44, positioning convex strip; 45, giving way groove; 46, second two-way screw rod; 47, second guide Rod; 48, second hand wheel; 49, vertical fixing seat; 491, vertical fixing part; 492, guide sleeve; 50, electric hoist; 51, vertical guide rod; 52, guide roller; 53, perforation; 54, installation guide groove; 55, installation guide rod; 56, installation spring; 57, installation guide seat; 58, installation socket; 59, push rod; 60, push spring; 61, drive rod; 62, push limit rod; 63, horizontal guide rail; 64, horizontal slider; 65, horizontal roller. DETAILED DESCRIPTION

[0044] The following is combined with Figure 1-10 This application is described in further detail.

[0045] The present application embodiment discloses an automated battery pack stacking installation and lifting device. Figure 1 The automated battery pack stacking and installation lifting equipment includes a frame 1, a loading device, a stacking device and a transfer device, wherein the loading device includes a loading moving mechanism and a loading clamping mechanism, and the loading moving mechanism is arranged on the frame 1 and is used to drive the loading clamping mechanism to move in the horizontal and vertical directions.

[0046] Reference Figure 1 and Figure 2Specifically, the feeding moving mechanism includes a feeding x-axis linear module 2, a feeding y-axis linear module 3, a feeding z-axis linear module 4 and a feeding rotating assembly. The feeding x-axis linear module 2 is horizontally mounted on the frame 1. In the embodiment of the present application, the setting direction of the feeding x-axis linear module 2 is set as the x-axis direction, and the direction horizontally perpendicular to the feeding x-axis linear module 2 is set as the y-axis direction. The feeding y-axis linear module 3 is fixedly mounted on the slider of the feeding x-axis linear module 2 and is set along the y-axis direction. The feeding z-axis linear module 4 is vertically mounted on the slider of the feeding y-axis linear module 3. The feeding clamping mechanism is set on the slider of the feeding z-axis linear module 4 so that the feeding moving mechanism realizes the movement of the feeding clamping mechanism along the x-axis, y-axis and z-axis directions.

[0047] Reference Figure 2 and Figure 3 The loading clamping mechanism is used to clamp the battery cells to be stacked. Specifically, the loading clamping mechanism includes a loading clamping seat 5, a loading clamping cylinder 6, a loading driving block 7, a loading clamping claw 8 and a loading reset member. Two loading clamping claws 8 are arranged opposite to each other, and both loading clamping claws 8 are rotatably mounted on the loading clamping seat 5. The loading driving block 7 slides and cooperates with the loading clamping seat 5 in the vertical direction. The loading clamping cylinder 6 is vertically mounted on the loading clamping seat 5 and is used to drive the loading driving block 7 to move in the vertical direction. The loading driving block 7 has two driving pressing surfaces 9. One end of the top of the two loading clamping claws 8 respectively contacts the two driving pressing surfaces 9. When the loading driving block 7 moves downward in the vertical direction, one end of the bottom of the two loading clamping claws 8 moves in a direction close to each other, so as to facilitate the clamping and fixing of a single battery cell.

[0048] Reference Figure 3 and Figure 4 The feeding reset component includes a feeding reset spring 10. Two feeding reset springs 10 are corresponding to the feeding clamps 8. One end of the two feeding reset springs 10 is fixedly installed on the side away from the two feeding clamps 8, and the other end is fixedly installed on the feeding clamping seat 5. The two feeding reset springs 10 are arranged at one end close to the top of the feeding clamps 8, so that one end of the bottom of the two feeding clamps 8 moves in the direction away from each other under the elastic force of the feeding reset springs 10, thereby facilitating the reset of the feeding clamps 8 after clamping.

[0049] Continue to refer to Figure 3 and Figure 4In order to further ensure the stability of the loading clamp 8 when clamping and fixing a single battery cell, a pressing movable groove 11 is opened at the bottom of the loading drive block 7, and a buffer spring 13 is arranged in the pressing movable groove 11 and is slidably matched with a pressing movable part 12. One end of the buffer spring 13 is rotated on the groove wall of the pressing movable groove 11 away from its own groove, and the other end is installed on the pressing movable part 12. When the two loading clamps 8 clamp the two sides of a single battery cell, the pressing movable part 12 is pressed against the top of the single battery cell under the elastic force of the buffer spring 13 to ensure the stability of the position of the single battery cell when clamping.

[0050] Reference Figure 2 and Figure 3 The loading clamping seat 5 is fixedly mounted with a horizontally arranged loading rotating rod 14, which passes through the loading rotating rod 14 along the x-axis direction and rotates the slider installed on the loading z-axis linear module 4. The loading rotating assembly includes a loading rotating motor 15, a loading rotating worm 16 and a loading rotating worm wheel 17, wherein the loading rotating worm wheel 17 is coaxially fixedly mounted on the loading rotating rod 14, the loading rotating worm 16 rotates the slider installed on the loading z-axis linear module 4 and meshes with the loading rotating worm wheel 17, the loading rotating motor 15 is mounted on the slider of the loading z-axis linear module 4 and is used to drive the loading rotating worm 16 to rotate, so as to finally realize the rotation of the loading clamping seat 5 around the x-axis through the loading rotating motor 15, thereby facilitating the reduction of the vertical avoidance space with other components when a single battery cell is transported, and facilitating the application in a more compact space.

[0051] Reference Figure 2 The stacking device includes a stacking moving mechanism, a stacking carrier 18 and a stacking positioning mechanism, wherein the stacking carrier 18 includes a first carrier 181 and a second carrier 182, the stacking moving mechanism includes a stacking x-axis linear module 19 horizontally arranged on the frame 1 and arranged along the x-axis direction, and the first carrier 181 is fixedly installed on the slider of the stacking x-axis linear module 19 so that the stacking moving mechanism drives the first carrier 181 to move along the x-axis direction.

[0052] Reference Figure 2 and Figure 3The second carrier 182 is arranged on the top of the first carrier 181. There are three second carriers 182 distributed along the y-axis direction. The second carrier 182 arranged near the middle of the first carrier 181 is fixedly installed on the first carrier 181. The second carriers 182 arranged near both sides of the y-axis of the first carrier 181 are slidably matched with the first carrier 181 along the y-axis direction. The first carrier 181 is provided with a bearing moving part, which includes a bearing moving cylinder 20 and a bearing moving guide rail 21. The bearing moving guide rod is fixedly installed on the top of the first carrier 181. The rod is passed through along the y-axis direction and slidably matched with the two second carrier frames 182 on both sides of the y-axis direction near the first carrier frame 181. One end of the cylinder body of the bearing motion cylinder 20 is fixedly installed on the second carrier frame 182 on one side of the y-axis direction near the first carrier frame 181. One end of the piston rod of the bearing motion cylinder 20 is fixedly installed on the second carrier frame 182 on one side of the y-axis direction near the first carrier frame 181, so that when the bearing motion cylinder 20 drives its own piston rod to move, it drives the two second carrier frames 182 on both sides of the y-axis near the first carrier frame 181 to move towards or away from each other.

[0053] Reference Figure 1 and Figure 2 Each second carrier frame 182 is provided with an x-axis positioning assembly, and the x-axis positioning assembly includes a carrier fixing plate 22, a carrier driving member and a carrier positioning plate 24, wherein the carrier fixing plate 22 is fixedly installed on the top of the second carrier frame 182, and the carrier positioning plate 24 is arranged opposite to the carrier fixing plate 22 along the x-axis direction. The carrier driving member includes a carrier electric cylinder 23 arranged on the second carrier frame 182 along the x-axis direction, and the carrier positioning plate 24 is fixedly installed on the output shaft of the carrier electric cylinder 23 to drive the carrier positioning plate 24 to move toward or away from the carrier fixing plate 22, thereby realizing the positioning of the stacked battery cells in the x-axis direction.

[0054] Reference Figure 2 and Figure 4 The stacking positioning mechanism includes a stacking positioning plate 251 and a stacking driving member. Two stacking positioning plates 251 are provided and are respectively located on both sides of the y-axis direction of the first carrier 181. Each second carrier 182 is located between the two stacking positioning plates 251. The stacking driving member includes a stacking y-axis cylinder 252. Two stacking y-axis cylinders 252 are provided and are respectively located on both sides of the y-axis direction of the first carrier 181. The two stacking positioning plates 251 are respectively fixedly installed on the output ends of the two stacking y-axis cylinders 252, so that the two stacking y-axis cylinders 252 drive the two stacking positioning plates 251 to move toward or away from the second carrier 182, thereby realizing the y-axis positioning of the stacked battery cells.

[0055] Reference Figure 5The transport device includes a transport moving mechanism and a transport clamping mechanism. The transport clamping mechanism includes a clamping fixed seat 26, a first clamping plate 27, a second clamping plate 28, a first clamping driving assembly and a second clamping driving assembly. The clamping fixed seat 26 includes a clamping fixed portion 261 and a clamping pressing portion 262. The clamping pressing portion 262 is arranged in a rectangular shape. The clamping fixed portion 261 is provided with a pressing lifting assembly. The pressing lifting assembly includes a pressing electric cylinder 29 vertically mounted on the clamping fixed portion 261. The clamping pressing portion 262 is fixedly mounted on the output shaft of the electric cylinder so that the clamping fixed portion 261 drives the clamping pressing portion 262 to move in the vertical direction through the pressing electric cylinder 29. In order to further ensure the stability of the clamping pressing portion 262 when moving in the vertical direction, four rectangularly distributed pressing guide rods 30 are fixedly connected to the top of the clamping pressing portion 262. Each pressing guide rod 30 is penetrated and slidably matched with the clamping fixed portion 261.

[0056] Reference Figure 6 and Figure 7 The bottom of the clamping and pressing part 262 is provided with a plurality of pneumatic suction cups 31 distributed in a rectangular array, so as to further ensure the stability of the formed battery pack during clamping and transportation. Specifically, the clamping and pressing part 262 is provided with a clamping mounting hole 32 which is penetrated, and a suction cup mounting block 33 is fixedly installed in the clamping mounting hole 32 by bolts. The cross-sections of the clamping mounting hole 32 and the suction cup mounting block 33 are both T-shaped, so as to quickly fix the suction cup mounting block 33 in the clamping mounting hole 32. Each pneumatic suction cup 31 is respectively installed on each suction cup mounting block 33, so as to realize the inspection and maintenance of the pneumatic suction cup 31.

[0057] Reference Figure 7 In order to facilitate the micro-adjustment of the height position of the pneumatic suction cup 31, thereby achieving adaptive adjustment to different battery pack clamping conditions, the suction cup mounting block 33 is provided with an adjustment component, which includes a suction cup fixing block 34, a suction cup unlocking block 35 and a suction cup spring 36, wherein the suction cup fixing block 34 is fixedly installed on the suction cup mounting block 33, the suction cup fixing block 34 includes a suction cup inner cylinder 341 and a suction cup outer cylinder 342, and the suction cup inner cylinder 341 is fixedly provided with a plurality of suction cup clamping parts 37 that are evenly distributed circumferentially around its own axis and have elasticity, and each suction cup clamping part 37 is wedge-shaped on the side away from the suction cup fixing block 34.

[0058] Continue to refer to Figure 7The outer tube 342 of the suction cup is provided with a sliding unlocking groove 38 extending in the vertical direction. The suction cup unlocking block 35 is slidably fitted between the inner tube 341 of the suction cup and the outer tube 342 of the suction cup. The suction cup unlocking block 35 is fixedly installed with a sliding unlocking rod 39, and the sliding unlocking rod 39 is slidably fitted in the sliding unlocking groove 38. One end of the suction cup spring 36 is connected to the bottom of the suction cup unlocking block 35 and the other end is connected to the outer tube 342 of the suction cup, so that the suction cup spring 36 applies elastic force to the suction cup unlocking block 35 to stably move toward the suction cup clamping part 37. A driving guide surface 40 is provided at one end of the suction cup unlocking block 35 facing the suction cup clamping part 37. The pneumatic suction cup 31 is sequentially penetrated and slidably fitted to the suction cup mounting block 33, the suction cup fixing block 34 and the suction cup unlocking block 35.

[0059] In normal state, the driving guide surface 40 is pressed against each suction cup clamping part 37 under the elastic force of the suction cup spring 36, so that each suction cup clamping part 37 can clamp and fix the pneumatic suction cup 31; when the sliding unlocking rod 39 is pressed to cause the suction cup spring 36 to contract, the suction cup fixing block 34 moves in a direction away from the suction cup clamping part 37, so that the suction cup clamping part 37 moves in a direction away from the pneumatic suction cup 31 due to its own elastic force, that is, the clamping and fixation of the pneumatic suction cup 31 is released, thereby facilitating the rapid adjustment of the height position of the pneumatic suction cup 31, facilitating adaptation to different clamping conditions, and having strong applicability.

[0060] Reference Figure 5 Two first clamping plates 27 are arranged opposite to each other along the x-axis direction. The first clamping drive assembly is arranged on the clamping fixing seat 26 and is used to drive the two first clamping plates 27 to move towards or away from each other, thereby achieving clamping and fixing or loosening of the formed battery pack. Specifically, the first clamping drive assembly includes a first bidirectional screw rod 41 and a first guide rod 42, wherein the first bidirectional screw rod 41 is arranged along the x-axis direction and rotatably installed on the clamping fixing part 261 of the clamping fixing seat 26, the two ends of the first bidirectional screw rod 41 with opposite thread rotation directions are respectively penetrated and threadedly matched with the two first clamping plates 27, the first guide rod 42 is fixedly installed on the clamping fixing part 261 and is parallel to the first bidirectional screw rod 41, the first guide rod 42 is penetrated by the two first clamping plates 27 and slidingly matched with the two first clamping plates 27, so that when the first bidirectional screw rod 41 rotates, the two first clamping plates 27 move in the direction of approaching or moving away from each other along the x-axis direction under the limiting action of the first guide rod 42, in order to facilitate the application of force to realize the rotation of the first bidirectional screw rod 41, one end of the first bidirectional screw rod 41 is fixedly connected to the first hand wheel 43.

[0061] Reference Figure 2 and Figure 5A positioning convex strip 44 is fixedly installed on one side of the bearing fixing plate 22 and the bearing positioning plate 24, and a clearance groove 45 corresponding to the position of the positioning convex strip 44 is opened at the bottom of the two first clamping plates 27. Each positioning convex strip 44 is respectively plugged into and matched with each clearance groove 45, so that the stacked battery cells can avoid the original clamping parts under the clamping action of the second carrier frame 182 where the stacked battery cells are firmly fixed, thereby achieving the clamping of the stacked battery cells, which is beneficial to fully ensure the stability of the stacked battery cells during transportation and clamping.

[0062] Reference Figure 5 The second clamping drive assembly includes a second bidirectional screw rod 46 and a second guide rod 47. The second bidirectional screw rod 46 is arranged along the y-axis direction and rotatably installed on the clamping fixing part 261 of the clamping fixing seat 26. The two ends of the second bidirectional screw rod 46 with opposite thread rotation directions are respectively penetrated and threadedly matched with the two second clamping plates 28. The second guide rod 47 is fixedly installed on the clamping fixing seat 26 and is parallel to the second bidirectional screw rod 46. The second guide rod 47 is penetrated by the two second clamping plates 28 and slidably matched with the two second clamping plates 28, so that when the second bidirectional screw rod 46 rotates, the two second clamping plates 28 move in the direction of approaching or moving away from each other along the y-axis direction under the limiting action of the second guide rod 47. In order to facilitate the application of force to realize the rotation of the second bidirectional screw rod 46, one end of the second bidirectional screw rod 46 is fixedly connected to a second hand wheel 48.

[0063] Reference Figure 5 and Figure 8 The transport and movement mechanism includes a horizontal transport component and a vertical transport component. The vertical transport component includes a vertical fixed seat 49, an electric hoist 50 and a vertical guide rod 51. The vertical fixed seat 49 includes a vertical fixing portion 491 and a guide sleeve 492. The guide sleeve 492 is fixedly installed at the bottom of the vertical fixing portion 491. The vertical guide rod 51 is fixedly installed at the top of the clamping and fixing portion 261 of the clamping and fixing seat 26. The vertical guide rod 51 is sequentially inserted into the vertical fixing portion 491 and the guide sleeve 492 and slides with the vertical fixing portion 491 and the guide sleeve 492. The electric hoist 50 is installed on the vertical fixed seat 49. The steel cable of the electric hoist 50 is fixedly installed on the clamping and fixing portion 261 of the clamping and fixing seat 26, so that when the electric hoist 50 drives its own steel cable to rise and fall, the clamping and fixing seat 26 can stably move in the vertical direction under the limiting action of the vertical guide rod 51.

[0064] Reference Figure 5 and Fig. 9The cross-section of the guide sleeve 492 is rectangular, and the guide sleeve 492 is rotatably installed with a guide roller 52. In the embodiment of the present application, there are two groups of guide rollers 52 distributed along the length direction of the guide sleeve 492, and each guide roller 52 is circumferentially distributed around the axis of the guide sleeve 492 and is respectively located on each side wall of the guide sleeve 492. The guide sleeve 492 is provided with a through hole 53 which is arranged one by one corresponding to the guide roller 52. Each guide roller 52 is inserted into the guide sleeve 492 through the through hole 53 and rolls to fit the side wall of the vertical guide rod 51, so as to further limit the vertical guide rod 51 when it slides, and at the same time reduce the friction force when the vertical guide rod 51 moves in the vertical direction, thereby further ensuring the smoothness and stability of the vertical guide rod 51 when it is lifted and lowered.

[0065] Reference Fig. 9 Specifically, both ends of the guide roller 52 are provided with mounting guide grooves 54, and mounting guide rods 55 are slidably fitted in the mounting guide grooves 54. Mounting springs 56 are arranged in the mounting guide grooves 54, and one end of the mounting spring 56 is connected to the groove wall of the mounting guide groove 54, and the other end is fixedly connected to the mounting guide rod 55, so that the mounting guide rod 55 can pass through the mounting guide groove 54 under the elastic force of the mounting spring 56.

[0066] Continue to refer to Fig. 9 The guide sleeve 492 is provided with a mounting guide seat 57 corresponding to the guide roller 52. The mounting guide seat 57 is provided with two mounting sockets 58 plugged with the mounting guide rods 55. When the two mounting guide rods 55 of the guide roller 52 are inserted into the two mounting sockets 58, the guide roller 52 is mounted on the guide sleeve 492. Further, the mounting guide seat 57 is provided with two pushing components corresponding to the two mounting sockets 58. The pushing components include a pushing rod 59 and a pushing spring 60. The pushing rod 59 is slidably matched with the mounting sockets 58. One end of the pushing rod 59 away from the guide roller 52 is fixedly connected to the driving rod 61. One end of the pushing spring 60 is fixedly connected to the mounting guide seat 57 and the other end is fixedly connected to the driving rod 61. The pushing spring 60 has an elastic force that causes the pushing rod 59 to move in a direction away from the mounting guide rod 55.

[0067] Continue to refer to Fig. 9 The driving rod 61 is fixedly connected with a pushing limit rod 62, and the pushing spring 60 is sleeved on the outside of the pushing limit rod 62. When the pushing limit rod 62 contacts the mounting guide seat 57, the mounting guide rod 55 is received in the mounting guide groove 54. The setting of the pushing limit rod 62 is convenient for ensuring the elastic stability of the pushing spring 60 on the one hand, and for limiting the position of the pushing rod 59 on the other hand, so that the pushing rod 59 can be quickly moved to the position where the limit on the guide roller 52 is released, thereby facilitating the rapid disassembly and assembly of the guide roller 52 to quickly realize the inspection and maintenance of the guide roller 52.

[0068] Reference Figure 5and Fig.10 The horizontal transfer assembly includes a horizontal guide rail 63, a horizontal slider 64 and a horizontal roller 65, wherein two horizontal guide rails 63 are arranged in parallel, and in the embodiment of the present application, the horizontal guide rail 63 is fixedly arranged along the y-axis direction. Two groups of horizontal sliders 64 are arranged corresponding to the horizontal guide rails 63, and the two groups of horizontal sliders 64 are respectively slidably matched with the two horizontal guide rails 63 and fixedly installed on both sides of the x-axis direction of the vertical fixing portion 491. There are multiple groups of horizontal rollers 65 corresponding to the horizontal sliders 64, and each horizontal roller 65 is respectively rotatably installed on each horizontal slider 64 and each horizontal roller 65 is rollingly matched with the horizontal guide rail 63. One of the horizontal sliders 64 is provided with a rotating motor (not shown in the figure) for driving the horizontal roller 65 to rotate, so that when the horizontal roller 65 rotates, the horizontal slider 64 drives the vertical fixing portion 491 to move horizontally along the x-axis direction.

[0069] The implementation principle of an automated battery pack stacking, installation and lifting device in an embodiment of the present application is as follows: during the battery pack production process, when the battery cells need to be stacked in sequence, first, a single battery cell is clamped by the two loading claws 8 of the loading clamping mechanism, and then the loading clamping mechanism is driven by the loading moving mechanism to move to the second carrier rack 182, so as to realize the sequential transfer of the single battery cell, and the battery cells can be stacked on the second carrier rack 182 by placing the single battery cell on the second carrier rack 182 in sequence.

[0070] The stacked battery cells are positioned in the x-axis direction by the bearing positioning plate 24 and the bearing fixing plate 22, and are positioned in the y-axis direction by the two stacking positioning plates 251. Subsequently, the stacked battery cells, i.e., the battery pack, are clamped by the two first clamping plates 27 and the two second clamping plates 28 after the first bearing frame 181 is moved, and the battery pack is transported by driving the transport clamping mechanism to move in the horizontal and vertical directions through the transport moving mechanism. During the production process of the battery pack, the stacked battery cells can be positioned in the x-axis and y-axis directions, so that the battery cells are not prone to positional displacement during the stacking process, thereby facilitating the assembly and stacking quality of the battery cells. The loading of a single battery cell and the transport of the battery pack can be carried out by the loading device and the transport device, which is convenient and stable.

[0071] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automated battery pack stacking installation and lifting device, characterized in that: It comprises a frame (1), a loading device, a stacking device and a transfer device, the loading device comprises a loading moving mechanism and a loading clamping mechanism, the loading clamping mechanism is used to clamp the battery cells to be stacked, and the loading moving mechanism is arranged on the frame (1) and is used to drive the loading clamping mechanism to move in the horizontal and vertical directions; The stacking device comprises a stacking moving mechanism, a stacking carrier (18) and a stacking positioning mechanism, wherein the stacking carrier (18) comprises a first carrier (181) and a second carrier (182), wherein the stacking moving mechanism is arranged on the frame body (1) and is used to drive the first carrier (181) to move along the x-axis direction, wherein the second carrier (182) is arranged on the top of the first carrier (181), and the second carrier (182) is provided with an x-axis positioning assembly, wherein the x-axis positioning assembly comprises a bearing fixing plate (22), a bearing driving member and a bearing positioning plate (24), wherein the bearing fixing plate (22) is fixedly mounted on the second carrier (182), and the bearing positioning plate (24) is arranged opposite to the bearing fixing plate (22) along the x-axis direction, and the bearing driving member is used to drive the bearing positioning plate (24) to move in a direction close to or away from the bearing fixing plate (22); The stacking positioning mechanism comprises a stacking positioning plate (251) and a stacking driving member, wherein two stacking positioning plates (251) are provided and are respectively located on both sides of the second carrier frame (182) in the y-axis direction, and the stacking driving member is used to drive the stacking positioning plates (251) to move in a direction close to or away from the second carrier frame (182); The transfer device includes a transfer moving mechanism and a transfer clamping mechanism, wherein the transfer clamping mechanism is used to clamp the stacked battery packs, and the transfer moving mechanism is used to drive the transfer clamping mechanism to move in the horizontal and vertical directions; The transport clamping mechanism comprises a clamping fixed seat (26), a first clamping plate (27), a second clamping plate (28), a first clamping drive assembly and a second clamping drive assembly, wherein two first clamping plates (27) are arranged opposite to each other along the x-axis direction, the first clamping drive assembly is arranged on the clamping fixed seat (26) and is used to drive the two first clamping plates (27) to move in a direction approaching or moving away from each other, and two second clamping plates (28) are arranged opposite to each other along the y-axis direction, the second clamping drive assembly is arranged on the clamping fixed seat (26) and is used to drive the two second clamping plates (28) to move in a direction approaching or moving away from each other; the side where the bearing fixed plate (22) and the bearing positioning plate (24) are close to each other is fixedly installed with a positioning convex strip (44), and the bottom of the first clamping plate (27) is provided with a clearance groove (45) arranged in a one-to-one correspondence with the position of the positioning convex strip (44), and each of the positioning convex strips (44) is respectively plugged into and matched with each of the clearance grooves (45).

2. The automatic battery pack stacking installation and lifting device according to claim 1 is characterized in that: There are three second carrier frames (182) distributed along the y-axis direction, and each of the second carrier frames (182) is located between the two stacking positioning plates (251). The second carrier frame (182) arranged near the middle of the first carrier frame (181) is fixedly installed on the first carrier frame (181). The second carrier frames (182) arranged near both sides of the y-axis of the first carrier frame (181) are slidably matched with the first carrier frame (181) along the y-axis direction. The first carrier frame (181) is provided with a bearing moving part for moving the second carrier frames (182) near both sides of the y-axis of the first carrier frame (181) towards or away from each other.

3. The automatic battery pack stacking installation and lifting device according to claim 1 is characterized in that: The feeding clamping mechanism comprises a feeding clamping seat (5), a feeding clamping cylinder (6), a feeding driving block (7), a feeding clamping claw (8) and a feeding reset member. The feeding clamping cylinder (6) is mounted on the feeding clamping seat (5) and is used to drive the feeding driving block (7) to move in a vertical direction. Two feeding clamping claws (8) are arranged opposite to each other. Both of the two feeding clamping claws (8) are rotatably mounted on the feeding clamping seat (5). The feeding driving block (7) has two driving pressing surfaces (9). One end of the two feeding clamping claws (8) respectively abuts against the two driving pressing surfaces (9). The feeding reset member is arranged on the feeding clamping seat (5) and is used to make the two feeding clamping claws (8) move in directions away from each other. When the feeding driving block (7) moves in a vertical direction, the ends of the two feeding clamping claws (8) away from the driving pressing surface (9) move in directions close to or away from each other.

4. The automatic battery pack stacking installation and lifting device according to claim 3 is characterized in that: The bottom of the feeding drive block (7) is provided with a pressing movable groove (11), a pressing movable part (12) is slidably engaged in the pressing movable groove (11), a buffer spring (13) is provided between the pressing movable part (12) and the pressing movable groove (11), and when the two feeding clamps (8) clamp the two sides of a single battery cell, the pressing movable part (12) presses against the top of the single battery cell.

5. The automatic battery pack stacking installation and lifting device according to claim 3 is characterized in that: The feeding moving mechanism comprises a feeding x-axis linear module (2), a feeding y-axis linear module (3), a feeding z-axis linear module (4) and a feeding rotating assembly, wherein the feeding x-axis linear module (2) is arranged on a frame (1) and is used to drive the feeding y-axis linear module (3) to move along the x-axis direction, and the feeding y-axis linear module (3) is used to drive the feeding z-axis linear module (4) to move along the y-axis direction; the feeding rotating assembly comprises a feeding rotating motor (15), a feeding rotating worm (16) and a feeding rotating assembly. The feeding clamping seat (5) is fixedly mounted with a feeding rotating rod (14), the feeding rotating rod (14) is rotated around the x-axis and is mounted on a slider of the feeding z-axis linear module (4), the feeding rotating worm wheel (17) is coaxially fixedly mounted on the feeding rotating rod (14), the feeding rotating worm (16) is rotated and is mounted on a slider of the feeding z-axis linear module (4) and is meshed with the feeding rotating worm wheel (17), and the feeding rotating motor (15) is used to drive the feeding rotating worm (16) to rotate.

6. The automatic battery pack stacking installation and lifting device according to claim 1, characterized in that: The transfer and movement mechanism comprises a horizontal transfer component and a vertical transfer component, the vertical transfer component comprises a vertical fixed seat (49), an electric hoist (50) and a vertical guide rod (51), the vertical guide rod (51) is fixedly installed on the top of the clamping fixed seat (26), the vertical guide rod (51) is penetrated through the vertical fixed seat (49) and slidably cooperates with the vertical fixed seat (49), the electric hoist (50) is installed on the vertical fixed seat (49), and the steel cable of the electric hoist (50) is fixedly installed on the clamping fixed seat (26).

7. The automatic battery pack stacking installation and lifting device according to claim 6, characterized in that: The vertical fixed seat (49) is provided with a guide roller (52), the guide roller (52) rollingly cooperates with the side wall of the vertical guide rod (51), both ends of the guide roller (52) are provided with mounting guide grooves (54), a mounting guide rod (55) is slidably cooperated in the mounting guide groove (54), and the guide roller (52) is provided with a mounting spring (56) for driving the mounting guide rod (55) to move in a direction away from the guide roller (52); the vertical fixed seat (49) is provided with a mounting guide seat (57) arranged one-to-one with the guide roller (52), the mounting guide seat (57) is provided with two mounting sockets (58) plugged with the mounting guide rod (55), and when the two mounting guide rods (55) of the guide roller (52) are inserted into the two mounting sockets (58), the guide roller (52) is installed on the vertical fixed seat (49).

8. The automatic battery pack stacking installation and lifting device according to claim 7, characterized in that: The installation guide seat (57) is provided with two pushing components corresponding to the two installation sockets (58), and the pushing components include a pushing rod (59) and a pushing spring (60). The pushing rod (59) is slidably matched with the installation socket (58), and the pushing spring (60) is used to make the pushing rod (59) move in a direction away from the installation guide rod (55). The pushing rod (59) is fixedly installed with a pushing limit rod (62), and the pushing spring (60) is sleeved outside the pushing limit rod (62). When the pushing limit rod (62) contacts the installation guide seat (57), the installation guide rod (55) is received in the installation guide groove (54).

9. The automatic battery pack stacking installation and lifting device according to claim 1, characterized in that: The clamping and fixing seat (26) comprises a clamping and fixing portion (261) and a clamping and pressing portion (262); the clamping and fixing portion (261) is provided with a pressing and lifting assembly, and the pressing and lifting assembly is used to drive the clamping and pressing portion (262) to move up and down; a plurality of pneumatic suction cups (31) distributed in a rectangular array are provided at the bottom of the clamping and pressing portion (262); and the clamping and pressing portion (262) is provided with an adjustment assembly arranged in a one-to-one correspondence with the pneumatic suction cups (31); The adjustment assembly comprises a suction cup fixing block (34), a suction cup unlocking block (35) and a suction cup spring (36); the suction cup fixing block (34) is fixedly mounted on the clamping and pressing portion (262); the suction cup fixing block (34) is provided with a plurality of suction cup clamping portions (37) which are circumferentially distributed around its own axis and have elasticity; the suction cup unlocking block (35) is slidably matched with the suction cup fixing block (34); the suction cup spring (36) applies an elastic force to the suction cup unlocking block (35) toward the suction cup clamping portion (37) ) to generate an elastic force for movement, the pneumatic suction cup (31) is sequentially penetrated and slidably matched with the clamping and pressing portion (262), the suction cup fixing block (34) and the suction cup unlocking block (35); in normal state, the suction cup clamping portion (37) clamps and fixes the pneumatic suction cup (31), and when the suction cup spring (36) contracts, the suction cup fixing block (34) moves in a direction away from the suction cup clamping portion (37), and the suction cup clamping portion (37) moves in a direction away from the pneumatic suction cup (31) due to its own elastic force.

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